CN110972653A - Novel plug seedling whole-row seedling taking end effector - Google Patents
Novel plug seedling whole-row seedling taking end effector Download PDFInfo
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- CN110972653A CN110972653A CN202010012484.7A CN202010012484A CN110972653A CN 110972653 A CN110972653 A CN 110972653A CN 202010012484 A CN202010012484 A CN 202010012484A CN 110972653 A CN110972653 A CN 110972653A
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- 239000012636 effector Substances 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000003825 pressing Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
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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
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention relates to a novel plug seedling whole-row seedling taking end effector, which comprises: seedling clamping mechanism, bearing frame and guide rail support. The seedling clamping mechanism consists of a seedling clamping sheet, a seedling clamping sheet mounting plate, a ball screw module and a servo motor. The bearing seat is composed of a bearing base, a bearing I, a connecting rod and a bearing cover. The guide rail bracket consists of a linear guide rail, a sliding block, a bracket and a mechanical arm tail end connecting piece. By controlling the steering and rotating speed of the servo motor, the ball screw module drives the seedling clamping piece mounting plate to do reciprocating motion, so that the seedling clamping pieces clamp and release the plug seedlings. The seedling picking device has the advantages of simple and reasonable structure, flexible movement, high seedling picking efficiency and the like, can meet the requirement of high-speed seedling picking operation in the plug seedling transplanting process, and improves the seedling picking efficiency.
Description
Technical Field
The invention belongs to the field of agricultural mechanization research, relates to a plug seedling taking device driven by a servo motor, and particularly relates to a plug seedling whole-row taking device of a full-automatic transplanter.
Background
The seedling transplantation is to raise seedlings in a greenhouse in advance, so that natural factors such as low temperature, frost and the like can be effectively avoided, seedlings are prevented from being damaged and frozen due to 'late spring cold' in direct seeding, natural disasters are reduced, the survival rate of the seedlings is improved, the growth period of crops is greatly prolonged, and the yield of the crops is remarkably increased. The end effector is a key component for automatic transplanting of the plug seedlings, and in the current stage, the plug seedling transplanting operation in China is at a semi-automatic level, the seedling taking and the seedling throwing are completed manually, the labor intensity is high, the operation efficiency is low, and the requirement of large-scale production is difficult to meet. Meanwhile, the operation objects of the aperture disk seedling picking end actuator designed and researched domestically are mostly single-plant aperture disk seedlings for greenhouse transplanting, the seedling picking efficiency is low, and the design research on the aperture disk seedling whole-row seedling picking end actuator for field transplanting is less. The seedling picking device replaces the conventional manual seedling picking and throwing, realizes the whole row clamping of the plug seedlings, and improves the seedling picking efficiency and effect.
Disclosure of Invention
The invention aims to provide a novel plug seedling whole-row seedling-taking end effector which can be used for a plug seedling transplanting process.
The above technical problem of the present invention is solved by the following means.
The invention discloses a novel plug seedling whole-row seedling taking end effector, which comprises: seedling clamping mechanism, bearing frame and guide rail support. The seedling clamping mechanism consists of a seedling clamping sheet, a seedling clamping sheet mounting plate, a ball screw module and a servo motor. The bearing seat is composed of a bearing base, a bearing I, a connecting rod and a bearing cover. The guide rail bracket consists of a linear guide rail, a sliding block, a bracket and a mechanical arm tail end connecting piece. By controlling the steering and rotating speed of the servo motor, the ball screw module drives the seedling clamping piece mounting plate to do reciprocating motion, so that the seedling clamping pieces clamp and release the plug seedlings.
The novel plug seedling whole-row seedling taking end effector is characterized in that: the plug seedling whole-row seedling taking end actuator consists of a seedling clamping mechanism, a bearing seat and a guide rail bracket, wherein the seedling clamping mechanism consists of a seedling clamping sheet 6, a seedling clamping sheet mounting plate I7, a seedling clamping sheet mounting plate II 8, a bearing II 19, a lead screw 14, a lead screw nut 10, a lead screw fixing seat 9, a coupling 13, a motor seat 11 and a servo motor 12, the bearing seat consists of a bearing base 15, a bearing I16, a connecting rod 18 and a bearing seat cover 17, the guide rail bracket consists of a linear guide rail 3, a sliding block 4, a sliding block connecting seat 5, a bracket 2 and a mechanical arm end connecting piece 1, the linear guide rail 3 is arranged on the bracket 2, the sliding block 4 is arranged on the linear guide rail 3, the sliding block connecting seat 5 is arranged on the sliding block 4, the seedling clamping sheet mounting plate I7 is arranged on the sliding block connecting seat 5, the seedling clamping sheet mounting plate II 8 is arranged on the sliding block, the end-of-arm linkage 1 is mounted on a support 2.
The novel plug seedling whole-row seedling taking end effector is characterized in that: press from both sides seedling piece 6 install on pressing from both sides seedling piece mounting panel one 7 and two 8 of clamp seedling piece mounting panel, lead screw fixing base 9 is installed on pressing from both sides seedling piece mounting panel one 7, screw nut 10 is installed on two 8 of clamp seedling piece mounting panel, motor cabinet 11 is installed on one 7 of clamp seedling piece mounting panel, servo motor 12 is installed on motor cabinet 11, shaft coupling 13 is installed on servo motor 12, lead screw 14 is installed on lead screw fixing base 9, bearing two 19 are installed on one 7 of clamp seedling piece mounting panel and two 8 of clamp seedling piece mounting panel, connecting rod 18 is installed on bearing two 19.
The novel plug seedling whole-row seedling taking end effector is characterized in that: the bearing I16 is arranged on the bearing base 15, the bearing base cover 17 is arranged on the bearing base 15, and the connecting rod 18 is arranged on the bearing I16.
The novel plug seedling whole-row seedling taking end effector is characterized in that: bosses are arranged at two ends of the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8, and the second bearing 19 is arranged on the bosses.
The novel plug seedling whole-row seedling taking end effector is characterized in that: the seedling clamping pieces 6 are arranged in a horizontal linear mode at fixed intervals in 16 pairs, the seedling clamping pieces can be detached, the first seedling clamping piece mounting plates 7 and the second seedling clamping piece mounting plates 8 are provided with 16 pairs of installation positions of the seedling clamping pieces 6, and the number of pairs of the seedling clamping pieces 6 and the seedling taking intervals can be selected according to the seedling taking requirements.
The seedling picking device has the advantages of simple and reasonable structure, flexible movement, high seedling picking efficiency and the like, can meet the requirement of high-speed seedling picking operation in the plug seedling transplanting process, and improves the seedling picking efficiency.
Drawings
Fig. 1 and 2 are overall structural views of the present invention.
Fig. 3 is a partial schematic view of a guide rail bracket of the present invention.
FIG. 4 is a partial schematic view of the seedling clamping mechanism of the present invention.
Fig. 5 and 6 are partial schematic views of the bearing seat of the invention.
Fig. 7 and 8 are schematic views of the seedling clamping piece mounting plate of the invention.
Reference numbers in the figures: mechanical arm end connecting piece 1, support 2, linear guide 3, slider 4, slider connecting seat 5, seedling clamping piece 6, seedling clamping piece mounting panel 7, seedling clamping piece mounting panel two 8, lead screw fixing seat 9, lead screw nut 10, motor cabinet 11, servo motor 12, shaft coupling 13, lead screw 14, bearing base 15, bearing 16, bearing base lid 17, connecting rod 18, bearing two 19.
Detailed Description
To further clarify the explanation and understanding of the features and advantages of the present invention, a better understanding of the invention with reference to the accompanying drawings will be obtained by reference to the following detailed description:
as shown in figures 1 and 2, the novel plug seedling whole-row seedling-taking end effector is provided by the invention.
The novel plug seedling whole-row seedling taking end effector consists of a seedling clamping mechanism, a bearing seat and a guide rail bracket. By controlling the steering and rotating speed of the servo motor, the ball screw module drives the seedling clamping piece mounting plate to do reciprocating motion, so that the seedling clamping pieces clamp and release the plug seedlings.
The novel plug seedling whole-row seedling taking end effector is characterized in that: press from both sides seedling mechanism by pressing from both sides seedling piece 6, press from both sides seedling piece mounting panel 7, press from both sides seedling piece mounting panel two 8, bearing two 19, lead screw 14, screw nut 10, lead screw fixing base 9, shaft coupling 13, motor cabinet 11 and servo motor 12 and constitute, the bearing frame constitute by bearing base 15, bearing 16, connecting rod 18 and bearing housing lid 17, rail brackets by linear guide 3, slider 4, slider connecting seat 5, support 2 and arm end connector 1, linear guide 3 installs on support 2, slider 4 installs on linear guide 3, slider connecting seat 5 installs on slider 4, press from both sides seedling piece mounting panel 7 and installs on slider connecting seat 5, press from both sides seedling piece mounting panel two 8 and install on slider connecting seat 5, bearing base 15 installs on slider 4, arm end connector 1 installs on support 2.
The novel plug seedling whole-row seedling taking end effector is characterized in that: press from both sides seedling piece 6 install on pressing from both sides seedling piece mounting panel one 7 and two 8 of clamp seedling piece mounting panel, lead screw fixing base 9 is installed on pressing from both sides seedling piece mounting panel one 7, screw nut 10 is installed on two 8 of clamp seedling piece mounting panel, motor cabinet 11 is installed on one 7 of clamp seedling piece mounting panel, servo motor 12 is installed on motor cabinet 11, shaft coupling 13 is installed on servo motor 12, lead screw 14 is installed on lead screw fixing base 9, bearing two 19 are installed on one 7 of clamp seedling piece mounting panel and two 8 of clamp seedling piece mounting panel, connecting rod 18 is installed on bearing two 19.
The novel plug seedling whole-row seedling taking end effector is characterized in that: the bearing I16 is arranged on the bearing base 15, the bearing base cover 17 is arranged on the bearing base 15, and the connecting rod 18 is arranged on the bearing I16.
The novel plug seedling whole-row seedling taking end effector is characterized in that: bosses are arranged at two ends of the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8, and the second bearing 19 is arranged on the bosses.
The novel plug seedling whole-row seedling taking end effector is characterized in that: the seedling clamping pieces 6 are arranged in a horizontal linear mode at fixed intervals in 16 pairs, the seedling clamping pieces can be detached, the first seedling clamping piece mounting plates 7 and the second seedling clamping piece mounting plates 8 are provided with 16 pairs of installation positions of the seedling clamping pieces 6, and the number of pairs of the seedling clamping pieces 6 and the seedling taking intervals can be selected according to the seedling taking requirements.
According to the invention, by controlling the rotating speed and the steering of the servo motor 12, the screw 14 is driven to rotate by the coupler 13 arranged on the shaft of the servo motor 12, the screw fixing seat 9 is arranged on the first seedling clamping piece mounting plate 7, the screw nut 10 is arranged on the second seedling clamping piece mounting plate 8, the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8 are driven to move by the rotation of the screw 14, the axial displacement of the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8 is controlled by the connecting rod 18, so that the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8 can move in equal strokes, and the clamping and the releasing of plug seedlings are further completed. When the seedling picking device works, the seedling picking end effector is installed on the mechanical arm, the mechanical arm drives the end effector to move right above a plug seedling hole, the mechanical arm drives the end effector to move downwards to do linear motion, meanwhile, the servo motor 12 of the end effector rotates forwards, the plug seedlings are clamped by the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8, after the plug seedlings are clamped, the servo motor stops moving, the mechanical arm drives the end effector to pick the plug seedlings out of the plug seedling, the plug seedlings move right above a delivery point, the servo motor 12 of the end effector rotates backwards to release the plug seedlings, and the whole seedling picking action is completed.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a novel seedling end effector is got to whole row of plug seedling which characterized in that: the novel plug seedling whole-row seedling taking end actuator comprises a seedling clamping mechanism, a bearing seat and a guide rail support, wherein the seedling clamping mechanism comprises a seedling clamping sheet 6, a seedling clamping sheet mounting plate I7, a seedling clamping sheet mounting plate II 8, a bearing II 19, a lead screw 14, a lead screw nut 10, a lead screw fixing seat 9, a coupler 13, a motor seat 11 and a servo motor 12, the bearing seat comprises a bearing base 15, a bearing I16, a connecting rod 18 and a bearing seat cover 17, the guide rail support comprises a linear guide rail 3, a sliding block 4, a sliding block connecting seat 5, a support 2 and a mechanical arm end connecting piece 1, the linear guide rail 3 is arranged on the support 2, the sliding block 4 is arranged on the linear guide rail 3, the sliding block connecting seat 5 is arranged on the sliding block 4, the seedling clamping sheet mounting plate I7 is arranged on the sliding block connecting seat 5, the seedling clamping sheet mounting plate II 8 is arranged on the sliding block connecting seat 5, the bearing, the end-of-arm linkage 1 is mounted on a support 2.
2. The novel plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: press from both sides seedling piece 6 install on pressing from both sides seedling piece mounting panel one 7 and two 8 of clamp seedling piece mounting panel, lead screw fixing base 9 is installed on pressing from both sides seedling piece mounting panel one 7, screw nut 10 is installed on two 8 of clamp seedling piece mounting panel, motor cabinet 11 is installed on one 7 of clamp seedling piece mounting panel, servo motor 12 is installed on motor cabinet 11, shaft coupling 13 is installed on servo motor 12, lead screw 14 is installed on lead screw fixing base 9, bearing two 19 are installed on one 7 of clamp seedling piece mounting panel and two 8 of clamp seedling piece mounting panel, connecting rod 18 is installed on bearing two 19.
3. The novel plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: the bearing I16 is arranged on the bearing base 15, the bearing base cover 17 is arranged on the bearing base 15, and the connecting rod 18 is arranged on the bearing I16.
4. The novel plug seedling whole-row seedling taking end effector is characterized in that: bosses are arranged at two ends of the first seedling clamping piece mounting plate 7 and the second seedling clamping piece mounting plate 8, and the second bearing 19 is arranged on the bosses.
5. The novel plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: the seedling clamping pieces 6 are arranged in a horizontal linear mode at fixed intervals in 16 pairs, the seedling clamping pieces can be detached, the first seedling clamping piece mounting plates 7 and the second seedling clamping piece mounting plates 8 are provided with 16 pairs of installation positions of the seedling clamping pieces 6, and the number of pairs of the seedling clamping pieces 6 and the seedling taking intervals can be selected according to the seedling taking requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012484.7A CN110972653A (en) | 2020-01-07 | 2020-01-07 | Novel plug seedling whole-row seedling taking end effector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012484.7A CN110972653A (en) | 2020-01-07 | 2020-01-07 | Novel plug seedling whole-row seedling taking end effector |
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| Publication Number | Publication Date |
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| CN110972653A true CN110972653A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010012484.7A Pending CN110972653A (en) | 2020-01-07 | 2020-01-07 | Novel plug seedling whole-row seedling taking end effector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328512A (en) * | 2020-05-07 | 2020-06-26 | 石河子大学 | Automatic row-arranging, seedling-taking and seedling-conveying device of plug seedling transplanter |
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|---|---|---|---|---|
| EP1505865A1 (en) * | 2002-05-07 | 2005-02-16 | Dirk Bruygom | Planting machine provided with a singulating system having a breaking mechanism, and singulating system as such |
| JP2007222029A (en) * | 2006-02-21 | 2007-09-06 | Iseki & Co Ltd | Seedling transplanter |
| CN102342207A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | End actuator of dry land plug tray transplanter |
| CN107182397A (en) * | 2017-05-08 | 2017-09-22 | 江苏大学 | One kind swings upset entire row seedling taking translation seedling launching mechanism and method |
| CN206790951U (en) * | 2017-04-27 | 2017-12-26 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| CN207099652U (en) * | 2017-04-01 | 2018-03-16 | 石河子大学 | A kind of entire row seedling picking mechanism of automatic transplanter |
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| CN110521361A (en) * | 2019-09-20 | 2019-12-03 | 扬州市职业大学(扬州市广播电视大学) | A kind of Plug seedling automatic transplanting device |
-
2020
- 2020-01-07 CN CN202010012484.7A patent/CN110972653A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1505865A1 (en) * | 2002-05-07 | 2005-02-16 | Dirk Bruygom | Planting machine provided with a singulating system having a breaking mechanism, and singulating system as such |
| JP2007222029A (en) * | 2006-02-21 | 2007-09-06 | Iseki & Co Ltd | Seedling transplanter |
| CN102342207A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | End actuator of dry land plug tray transplanter |
| CN207099652U (en) * | 2017-04-01 | 2018-03-16 | 石河子大学 | A kind of entire row seedling picking mechanism of automatic transplanter |
| CN206790951U (en) * | 2017-04-27 | 2017-12-26 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| CN107182397A (en) * | 2017-05-08 | 2017-09-22 | 江苏大学 | One kind swings upset entire row seedling taking translation seedling launching mechanism and method |
| CN109328572A (en) * | 2018-08-21 | 2019-02-15 | 石河子大学 | A kind of entire row Plug seedling fetches and delivers testing stand |
| CN110521361A (en) * | 2019-09-20 | 2019-12-03 | 扬州市职业大学(扬州市广播电视大学) | A kind of Plug seedling automatic transplanting device |
Non-Patent Citations (1)
| Title |
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| 申团辉等: "机械手夹持机构运动与控制联合仿真研究", 《计算机仿真》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328512A (en) * | 2020-05-07 | 2020-06-26 | 石河子大学 | Automatic row-arranging, seedling-taking and seedling-conveying device of plug seedling transplanter |
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Application publication date: 20200410 |