CN112205289A - Device and method for vertically clamping rows of kelp seedlings - Google Patents
Device and method for vertically clamping rows of kelp seedlings Download PDFInfo
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- CN112205289A CN112205289A CN202011180552.7A CN202011180552A CN112205289A CN 112205289 A CN112205289 A CN 112205289A CN 202011180552 A CN202011180552 A CN 202011180552A CN 112205289 A CN112205289 A CN 112205289A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G33/00—Cultivation of seaweed or algae
Abstract
The invention relates to a device for vertically clamping rows of kelp seedlings, wherein the direction of a seedling rope is along the left-right direction, and the direction horizontally vertical to the seedling rope is the front-back direction, and the device comprises a seedling clamping device and a seedling box; the seedling clamping device comprises a left seedling clamping finger and a right seedling clamping finger, the end parts of the left seedling clamping finger and the right seedling clamping finger are downward in an ellipsoidal shape when the left seedling clamping finger and the right seedling clamping finger are folded, a groove is formed in the seedling clamping finger along the front-back direction, and the cross section of the pair of grooves when the grooves are folded is square or polygonal and is used for accommodating a kelp root handle; the seedling boxes are positioned below the corresponding seedling clamps, the kelp seedlings are horizontally placed in the seedling boxes along the front-back direction, and when the left seedling clamp and the right seedling clamp of the seedling clamps clamp the kelp seedlings and upwards penetrate through gaps of a seedling rope, the kelp seedlings are in a Z shape from left to right under a visual angle. Because the kelp seedling is laid horizontally in the seedling box, the direction of clamping the seedling is horizontal, a 'root system protector' can be saved, the integral structure of the device is simplified, and the difficulty of equipment arrangement caused by overlarge required gap opening between three strands of seedling ropes due to the root system protector is avoided.
Description
Technical Field
The invention relates to a device and a method for vertically clamping rows of kelp seedlings, belonging to the technical field of fishery equipment.
Background
At present, the kelp is generally cultivated in a raft mode, the kelp is neatly attached to seedling ropes in the cultivation process, the length of each seedling rope is about 2.3-2.5 meters, and 30-40 kelp pieces are attached to each seedling rope. At present, seedling ropes wound by three ropes are unscrewed one by one at intervals of 50-70 mm by applying torque force through fingers in a manual mode, and 1 kelp seedling is inserted into each unscrewed section. And then screwing the seedling rope tightly to fix the seedling roots of the kelp on the seedling rope. Then the back section 1 is unscrewed until the kelp seedling is planted into the whole seedling rope, and the seedling clamping work of the kelp is finished. The kelp seedling clamping completely depends on manual work, the seedling clamping workload is large, the speed is low, the efficiency is low, in addition, the northern weather is already cooled, and fingers need to be in contact with the ice-cold kelp, so the working environment is poor, the long-time manual seedling clamping operation is not facilitated, and the manual mechanical equipment can be replaced by forced cutting under the condition of labor shortage. Through continuous efforts of scientific research technicians, semi-automatic devices such as a rope clamp type seedling clamping machine, a rope dividing machine head type seedling clamping machine, a pedal type kelp seedling clamping machine and the like are developed in sequence, and a kelp seedling clamping mechanical system for inserting kelp seedlings into seedling ropes in a post-inserting mode is adopted, so that semi-automatic seedling inserting of the kelp seedling clamping machine can be realized, the seedling damage rate is high, and the seedling clamping speed is close to manual operation.
Chinese patent publication No. CN111374039A, published as 2020, 7 and 7, discloses "a seedling rope untwisting method and device for kelp seedling in-line, in which a root system protector is used, resulting in a complex structure of the whole device, a large growth of individual kelp seedling root systems, the root system protector is difficult to completely cover the root system of the seedling, reliability is difficult to guarantee, if the overall size of the root system protector is increased, in a limited opening degree of the seedling rope, the protector cannot pass through the gap of the seedling rope, and the failure of inserting the seedling rope is caused.
Disclosure of Invention
The invention aims at kelp seedling ropes after subsection untwisting, and provides a device and a method for vertically clamping kelp seedlings in rows, which enable a seedling clamping device to be vertically and smoothly inserted into and penetrate through gaps of 3 strands of seedling ropes interwoven, clamp kelp seedling root stalks horizontally placed in a seedling box below the ropes, then return from the gaps and open, enable the kelp seedling root stalks to be remained in the seedling ropes, and finish the whole process of clamping the kelp seedling roots without damage.
The invention adopts the following technical scheme:
a device for vertically clamping rows of kelp seedlings is characterized in that the direction of a seedling rope is along the left-right direction, and the direction horizontally vertical to the seedling rope is the front-back direction, and comprises a seedling clamping device 1 and a seedling box 5; the seedling clamping device 1 comprises a left seedling clamping finger and a right seedling clamping finger, the end parts of the left seedling clamping finger and the right seedling clamping finger are downward in an ellipsoidal shape when the left seedling clamping finger and the right seedling clamping finger are folded, a groove is formed in the seedling clamping finger along the front-back direction, and the cross section of the pair of grooves when the grooves are folded is square or polygonal and is used for accommodating a kelp root handle; the seedling box 5 is positioned below each corresponding seedling clamping device 1, kelp seedlings are horizontally placed in the seedling box 5 along the front-back direction, and when the left seedling clamping finger and the right seedling clamping finger of the seedling clamping device 1 clamp the kelp seedlings 6 and upwards penetrate through a gap of a seedling rope 7, the kelp seedlings 7 are in a Z shape from left to right under a visual angle.
Preferably, the seedling clamping fingers are internally provided with spring pieces or elastic flexible bodies at square or hexagonal parts, so that the seedling clamping fingers can clamp kelp seedling root stalks with different diameters, and the root stalks are not easily damaged by sharp hard objects.
Preferably, the seedling clamping device further comprises a seedling clamping device inserting mechanism 2, a seedling clamping device opening and closing mechanism 3 and a unwinding device 4; the seedling gripper insertion mechanism 2 is driven by a linear transmission mechanism in the vertical direction; the seedling gripper opening and closing mechanism 3 is driven by a linear transmission mechanism in the left-right direction.
Further, press from both sides seedling ware operating mechanism 3 including removing frame 18, be equipped with horizontal oscillator 12 on removing frame 18, remove a stabilizer blade and be equipped with horizontal balance spring 11, under the excitation of oscillator 12, remove and put up horizontal high frequency vibration about for press from both sides seedling ware obtains arbitrary strand of rope center of skew in the twinkling of an eye, can follow the rope center and scratch into the gap, pass the seedling rope.
Furthermore, the oscillation frequency of the transverse oscillator 12 is 1000-6000 times/min, and the oscillation amplitude is 3 mm.
Preferably, the number of the seedling clamping devices is 30, the seedling clamping devices are divided into 2 groups, and each group comprises 15 pairs of seedling clamping fingers; wherein 15 left and right seedling clamping fingers are arranged on the corresponding strip plates; the long slat is arranged on the sliding table of the guide rail, and the sliding table is connected with the movable frame.
Preferably, the opening/clamping of the left seedling clamping finger and the right seedling clamping finger of the seedling clamping device 1 is driven by two finger cylinders 15, and each finger cylinder 15 comprises a cylinder body and a sliding block capable of moving left and right; the left slide block is connected with the strip plate corresponding to the left seedling clamping finger, the right slide block is connected with the strip plate corresponding to the right seedling clamping finger, and the strip plate drives a group of seedling clamping fingers on the strip plate to synchronously move; the two finger cylinders respectively control a group of seedling clamping fingers to complete synchronous opening and closing actions of the seedling clamping devices, so that 30 kelp seedlings can be simultaneously clamped and released; a pair of the strip plates 17 are arranged in parallel in the left-right direction.
Preferably, a servo motor is installed on one side of the rack, 2 driving gears are arranged at two ends of a long output shaft of the motor, racks on two sides of the moving frame are meshed with the driving gears, the moving frame supporting legs are installed on the sliding table and move up and down along a vertical guide rail, and the moving distance range is 0-200 mm; in the downward moving process, the movable frame drives the seedling clamping device to be inserted into the seedling rope gap from top to bottom.
Further, the seedling clamping device is driven by a pneumatic control system; 2 3-position 5-way electromagnetic valves are adopted to control the action of the finger cylinder of the seedling clamping device; when the seedling gripper is inserted into the seedling rope, the pneumatic control system provides air pressure at least above 0.5MPa, the first electromagnetic directional valve works, and the system pressure directly acts on the finger cylinder, so that the fingers of the seedling gripper are tightly and powerfully closed, and the seedling rope can be conveniently and smoothly inserted; when the finger of the seedling clamping device clamps the kelp root stalk, the first electromagnetic directional valve resets to the middle position, the magnet on the left side of the second electromagnetic directional valve is attracted, compressed air enters the finger cylinder through the pressure regulating valve, the pressure of the finger cylinder folding force is reduced to the pressure which just can clamp the kelp seedling root stalk by the pressure regulating valve, and the comprehensive action of the spring leaf or the flexible body with elasticity in the finger of the seedling clamping device avoids the kelp seedling root stalk from being excessively pressed and damaged.
The working method of the device for vertically clamping the rows of kelp seedlings sequentially comprises the following steps: the finger claws of the unwinding device are opened, the rope conveying device conveys the seedling rope to be clamped to the front of 31 clamping jaws of the unwinding device, the distance between the clamping jaws is 70mm, and the length section for conveying the seedling rope to clamp the seedlings is 2.3-2.5 meters; after the clamping jaws clamp the seedling rope in 30 sections, uniformly contracting the seedling rope until the length of each section is 50mm, and at the moment, each section of the kelp seedling rope is in a loose state; fingers folded by the seedling gripper arranged on the movable frame are inserted into the seedling rope from top to bottom to the lower edge of the seedling rope, the fingers of the seedling gripper are expanded from left to right, and the inner measuring distance of the fingers is 10 mm; at the moment, 30 kelp seedlings under the seedling clamping fingers and the horizontal seedling ropes are horizontally placed in the seedling box, are parallel to the seedling ropes and are vertical to the fingers of the seedling clamping device one by one, and the root stalks of each kelp seedling are parallel to square holes or hexagonal hollow axes at the end parts of the fingers of the corresponding seedling clamping device; after the seedling clamping fingers are expanded, the seedling clamping fingers continue to move downwards until the axial lead of a square hole at the end part of the finger is basically superposed with the axial lead of the root handle of the kelp seedling, the fingers of the seedling clamping device are slightly folded to clamp the root handle of the kelp seedling and then are lifted to the upper side of the seedling rope, and the fingers are expanded to release the root handle of the kelp seedling; the unwinding device is uniformly opened towards two sides at the same time, and the gap of the 3 strands of ropes is reduced, so that 30 uniformly distributed kelp seedlings are fixed on the seedling ropes; continuously moving the seedling gripper upwards to the initial position; and opening 31 clamping jaws of the unwinding device, and releasing the finished seedling rope after the seedling clamping is finished, thereby finishing the whole seedling clamping process.
The invention has the beneficial effects that:
1) the kelp seedlings are horizontally placed in the seedling box in the front-back direction, the seedling device penetrates through a gap formed by interweaving 3 strands of ropes, kelp seedling root stalks horizontally placed on the seedling box below the seedling ropes are horizontally clamped, then the kelp seedling root stalks are returned to the upper edge of the seedling ropes, and the root stalks are loosened afterwards, so that the seedling clamping process is completed;
2) the ellipsoidal end of the seedling clamping device penetrates through a gap formed by interweaving 3 strands of ropes into kelp seedling ropes in an oscillating mode, so that the problem that the end part is dead against the center of the 3 strands of ropes in the inserting process can be solved, and the end part can be inserted smoothly; meanwhile, the problems that the root stalk is broken and the recognition efficiency is extremely low due to the fact that the machine clamps the seedling and cannot rapidly recognize the gap are solved.
3) The left seedling clamping finger and the right seedling clamping finger are controlled by the air circuit to realize pneumatic pressure increase before being inserted into a seedling rope gap, and the left seedling clamping finger and the right seedling clamping finger are closed tightly until penetrating through the seedling rope gap. When clamping seedlings, the air pressure is adjusted to be low, the kelp root stalks can be clamped softly, and the pneumatic pressure can be adjusted steplessly according to actual conditions. The seedling clamping pneumatic control simplifies the control unit, is convenient to copy, is a core control unit of the row seedling clamping device, and improves the survival rate of the kelp after clamping.
4) As the root system protector is omitted, the seedling clamping device has 30 pairs of left and right seedling clamping fingers at a distance of 50mm, and the requirement of clamping 30 kelp seedlings at the same time is met. The seedling clamping fingers are 10mm apart, so that the requirement of clamping the kelp root stalks with the diameter of 2.5-4.0 mm is met, a certain redundancy is achieved, and the success rate of seedling clamping is improved.
Drawings
FIG. 1 is a schematic view of the steps 1-3 of the method for vertically clamping the rows of kelp seedlings in the invention.
FIG. 2 is a schematic view of the steps 4-6 of the method for vertically clamping the rows of kelp seedlings in the invention.
FIG. 3 is a schematic view of the process step 7 of the method for vertically clamping the rows of kelp seedlings in the invention.
FIG. 4 is a side view corresponding to FIG. 5 of the method for vertically clamping the rows of kelp seedlings according to the present invention.
FIG. 5 is a front view of the apparatus for vertically holding the row of kelp seedlings.
FIG. 6 is a side view of the apparatus for vertically holding the rows of kelp seedlings.
Fig. 7 is a partially enlarged view of fig. 6.
Fig. 8 is a front view of the gripper opening and closing mechanism.
Fig. 9 is a left side view of the gripper opening and closing mechanism.
FIG. 10 is a plan view of the gripper opening and closing mechanism.
Fig. 11 is a partially enlarged view of fig. 8.
Fig. 12 is a partially enlarged view of fig. 8.
Fig. 13 is a partially enlarged view of fig. 9.
Fig. 14 is a partially enlarged view of fig. 8.
Fig. 15 is a partially enlarged view of fig. 9.
FIG. 16 is a schematic diagram of a pneumatic control system.
In the figure, 1, a seedling gripper, 2, a seedling gripper insertion mechanism, 3, a seedling gripper opening and closing mechanism, 4, a unwinding device, 5, a seedling box, 6, kelp seedlings, 7, a seedling rope, 8, a servo motor, 9, a driving gear, 10, a rack, 11, a spring, 12, an oscillator, 13, a guide rail, 14, an auxiliary pressing device, 15, a finger cylinder, 16, a seedling gripper finger, 17, a strip plate, 18, a moving frame, 19, a three-position five-way electromagnetic valve, 20, a pressure regulating valve and 21, a one-way valve are arranged.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1-15, the kelp in-row vertical seedling clamping device is provided with a seedling clamp 1, a seedling clamp insertion mechanism 2, a seedling clamp opening and closing mechanism 3, a unwinding device 4, a seedling box 5, kelp seedlings 6, a seedling rope 7, a servo motor 8, a gear 9, a driving rack 10, a spring 11, an oscillator 12, a guide rail 13, an auxiliary pressing device 14, a finger cylinder 15, a seedling clamp finger 16, a strip plate 17 and the like. The seedling clamping device 1 is composed of a left seedling clamping finger 16 and a right seedling clamping finger 16, the ends of the fingers are in an ellipsoidal shape when being folded, the fingers can be conveniently inserted into gaps of three interwoven seedling ropes 7, square and hexagonal holes are formed in the positions of the 6 stem parts of kelp seedlings clamped by the ends of the seedling clamping fingers, the square and hexagonal holes are used for accommodating cylindrical stems, and the kelp seedlings are not easy to fall off when being clamped; the seedling clamping finger is internally provided with elastic (flexible) bodies such as spring pieces or sponges at square or hexagonal parts, so that the seedling clamping finger can clamp kelp seedling root stalks with different diameters, and the root stalks are not easily damaged by sharp hard objects.
Referring to fig. 5-6, a servo motor 8 is arranged on one side of the frame, 2 driving gears 9 are arranged at two ends of a long output shaft of the motor, and racks 10 on two sides of a movable frame 18 are meshed with the driving gears. The movable frame installed on the sliding table can move up and down along the vertical guide rail, and the moving distance reaches 0-200 mm. In the downward moving process, the movable frame drives the seedling clamping device to be inserted into the seedling rope gap from top to bottom.
Referring to fig. 8-10, the number of the seedling grippers is 30, the seedling grippers are divided into 2 groups, and each group comprises 15 pairs of seedling gripping fingers. Wherein 15 left and right seedling clamping fingers are arranged on the corresponding strip plates 17. The strip plate is arranged on a sliding table of the guide rail, and the sliding table is connected with the movable frame 18. The finger cylinder 15 is composed of a cylinder body and two sliding blocks which can be folded inwards and expanded outwards. The left slide block is connected with the long strip plate corresponding to the left seedling clamping finger, and the right slide block is connected with the long strip plate corresponding to the right seedling clamping finger. 2 finger cylinders control the opening and closing action of 2 groups of seedling clamping devices respectively. 30 kelp seedlings can be simultaneously clamped and released. Referring to fig. 8-14, the movable frame is provided with a transverse oscillator 12, the oscillation frequency is 1000-6000 times/min, the oscillation amplitude is 3mm, and the support legs of the movable frame are provided with transverse balance springs 11, so that the movable frame can vibrate in a left-right transverse high-frequency mode under the excitation of the oscillator. The seedling gripper can instantly obtain the necessary condition of offsetting the center of any strand of rope, so that the seedling gripper can be scratched into the gap from the center of the rope and penetrates through the seedling rope.
Referring to fig. 16, the seedling gripper is driven by a pneumatic control system. The action of a finger cylinder of the seedling gripper is controlled by 2 3-to-5-way electromagnetic valves 19. When the seedling clamping device is inserted into the seedling rope, fingers of the seedling clamping device are required to be folded strongly, and the phenomenon that when the seedling rope is inserted, the fingers are separated by the thin fiber yarns on the rope to influence the process of inserting the seedling rope is avoided. The air pressure provided by the system is at least over 0.5MPa, so that the No. 1 electromagnetic directional valve works, and the pressure of 0.5MPa of the system directly acts on the finger cylinder, so that the fingers of the seedling gripper are tightly and strongly closed, and the seedling rope can be conveniently and smoothly inserted. When the seedling gripper fingers grip the kelp root stalks, the No. 1 electromagnetic directional valve is reset to the middle position, the No. 2 electromagnetic directional valve is attracted by the magnet on the left side, compressed air enters the finger cylinder through the pressure regulating valve, the pressure regulating valve 20 reduces the force for closing the finger cylinder to the pressure which just can clamp the kelp seedling root stalks, and the problem that the root stalks are excessively stressed and damaged is solved under the comprehensive action of the spring pieces (flexible materials) in the seedling gripper fingers. When the fingers of the seedling gripper are opened to open the gaps of the seedling ropes or release the root stalks of the kelp seedlings, compressed air flows through the one-way valve 21 to accelerate the opening force of the fingers of the seedling gripper.
When the seedling is clamped, the method sequentially comprises the following steps: the clamping jaw of the unwinding device is opened, and the rope feeding device is used for clamping the seedling rope (diameter) of the seedling to be clamped
) The seedling is conveyed to the front of 31 clamping jaws of the unwinding device, the distance between the clamping jaws is 70mm, and the length section of the seedling conveying rope for clamping the seedlings is 2-2.3 m. The clamping jaws clamp the seedling rope in 30 sections and then uniformly contract until the length of each section is 50mm, and at the moment, each section of the kelp seedling rope is in a loose stateState. Fingers which are tightly folded by the seedling clamping device arranged on the movable frame are inserted into the seedling rope from top to bottom to the lower edge of the seedling rope, the fingers of the seedling clamping device are expanded from left to right, and the distance between the inner sides of the fingers is 10 mm. At the moment, the fingers of the seedling gripper and 30 kelp seedlings under the horizontal seedling rope are horizontally placed in the seedling box, are parallel to the seedling rope and are vertical to the fingers of the seedling gripper, and the root stalk of each kelp seedling is parallel to the square hole and the hexagon hollow axis at the end part of the corresponding finger of the seedling gripper. After the seedling clamping fingers are expanded, the seedling clamping fingers continue to move downwards until the axial lead of the square hole at the end part of the finger is basically coincident with the axial lead of the root of the kelp seedling, the fingers of the seedling clamping device are slightly folded to clamp the root of the kelp seedling and then are lifted to the upper side of the seedling rope, and the fingers are expanded to release the root of the kelp seedling. The unwinding device is uniformly opened towards two sides at the same time, the gap of the 3 strands of ropes is reduced, and 30 uniformly distributed kelp seedlings are fixed on the seedling ropes. The seedling gripper moves upwards to the initial position continuously. And opening 31 clamping jaws of the unwinding device, and releasing the finished seedling rope after the seedling clamping is finished, thereby finishing the whole seedling clamping process.
The invention is further illustrated below:
as shown in fig. 1:
when in seedling clamping operation, the system controls the clamping jaw of the unwinding device to open, and the rope feeding device is used for clamping the seedling rope (diameter) of the seedling to be clamped
) The seedling is conveyed to the front of 31 clamping jaws of the unwinding device, the distance between the clamping jaws is 70mm, and the length section of the seedling conveying rope for clamping the seedlings is 2-2.3 m. The clamping jaws clamp the seedling rope in 30 sections and then uniformly contract until the length of each section is 50mm, and at the moment, each section of the kelp seedling rope is in a loose state. After the movement is in place, the system controls the No. 1 electromagnetic valve to move, so that the fingers of the seedling clamping device arranged on the moving frame are tightly closed, and the servo motor drives the rack meshed with the driving gear to drive the seedling inserting device to be inserted into the lower edge of the seedling rope from top to bottom. When inserting 3 strand rope gaps, open compressed air switch drive oscillator rapid oscillation, the vibration of excitation removal frame makes the finger that presss from both sides the seedling ware and close up about 2 ~ 3 millimeters amplitude round trip movement, avoids the central point of single strand rope to put at the in-process of inserting down, prevents to press from both sides the central top of seedling ware tip and seedling rope and dies.
And after the end part of the seedling gripper reaches the lower edge of the seedling rope, the oscillator stops oscillating. The fingers of the seedling gripper are expanded left and right, and the distance between the inner sides of the fingers is 10 mm. The seedling box conveying device conveys the kelp seedling boxes loaded with 30 orderly and horizontally arranged kelp seedling boxes to the lower part of a seedling rope, the kelp seedlings are parallel to the seedling rope and vertical to fingers of the seedling gripper, and the root stalks of each kelp seedling are parallel to square holes and hexagonal hollow axes at the end parts of the fingers of the seedling gripper. The seedling clamping fingers continue to descend after being expanded until the axial line of the square hole at the end part of the finger is basically coincident with the axial line of the root of the kelp seedling. The No. 2 electromagnetic valve of the finger cylinder of the seedling gripper acts, the fingers of the seedling gripper are slightly folded to grip the root stalks of the kelp seedlings and then lifted to the upper edge of the seedling rope, and the fingers are opened to release the root stalks of the kelp seedlings. The unwinding device is uniformly opened towards two sides at the same time, the gap of the 3 strands of ropes is reduced, and 30 uniformly distributed kelp seedlings are fixed on the seedling ropes. The seedling gripper moves upwards to the initial position continuously. And opening 31 clamping jaws of the unwinding device, releasing the finished seedling rope after the seedling clamping is finished, and finishing the whole seedling clamping process. And (4) withdrawing the empty seedling box, preparing the new seedling box in place, resetting the seedling inserting device, the seedling clamping device, the unwinding device and the like, and waiting for the next seedling clamping process.
The whole seedling gripper has a compact structure, can copy 30 seedlings, and is arranged at intervals in the width direction. The distance between the seedling clamping devices is only 50mm, and the opening and closing of the left and right seedling clamping fingers are driven by 2 finger cylinders to be 30 pairs, so that the complexity of the kelp seedling clamping device is reduced. The kelp seedling clamping adopts a mode of clamping and opening by means of finger translation, so that the centering performance of clamping the kelp root stalks can be improved, and the excessive left and right movement of the kelp root stalks driven by clamping deviation is reduced. 30 press from both sides seedling ware device and insert, press from both sides the seedling simultaneously, improved work efficiency by a wide margin, effectively solved current kelp seedling transplanting machine semi-automatic seedling transplanting speed than artifical slowly, inefficiency, the easy impaired problem of root system. The method is suitable for the problems of lack of manpower and lack of effective equipment for large-scale quick seedling planting of the kelp seedlings, and the method has the advantages of high automation degree of the forming device, low requirement on operators and convenience in popularization and application.
The left-right and front-back directions mentioned in the present embodiment are the same as those shown in the drawings, but they are actually interchangeable with each other, and therefore, the scope of the present invention is not limited thereto.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a kelp device of seedling is pressed from both sides perpendicularly in bank, seedling rope direction is along controlling to, and horizontal perpendicular to seedling rope direction is forward and backward, its characterized in that:
comprises a seedling gripper (1) and a seedling box (5); the seedling clamping device (1) comprises a left seedling clamping finger and a right seedling clamping finger, the end parts of the left seedling clamping finger and the right seedling clamping finger are downward in an ellipsoidal shape when the left seedling clamping finger and the right seedling clamping finger are folded, a groove is formed in the seedling clamping finger along the front-back direction, and the cross section of the pair of grooves when the grooves are folded is square or polygonal and is used for accommodating a kelp root handle;
seedling box (5) are located each corresponding press from both sides seedling ware (1) below, and the kelp seedling is put along the front and back direction horizontality in seedling box (5), and when the left and right press from both sides seedling of press from both sides seedling ware (1) indicates centre gripping kelp seedling (6) and upwards passes the gap of a seedling rope (7), kelp seedling (7) are the Z shape under to the visual angle about.
2. The device for vertically clamping the rows of kelp seedlings according to claim 1, wherein: the seedling clamping finger is internally provided with a spring piece or a flexible body with elasticity at a square or hexagonal part, so that the seedling clamping finger can clamp kelp seedling root stalks with different diameters, and the root stalks are not easily damaged by sharp hard objects.
3. The device for vertically clamping the rows of kelp seedlings according to claim 1, wherein: the seedling clamping device comprises a seedling clamping device inserting mechanism (2), a seedling clamping device opening and closing mechanism (3) and a unwinding device (4); the seedling clamping device inserting mechanism (2) is driven by a linear transmission mechanism in the vertical direction; the seedling clamping device opening and closing mechanism (3) is driven by a linear transmission mechanism in the left-right direction.
4. The device for vertically clamping the rows of kelp seedlings according to claim 3, wherein: press from both sides seedling ware operating mechanism (3) including removing frame (18), be equipped with horizontal oscillator (12) on removing frame (18), remove a stabilizer blade and be equipped with horizontal balance spring (11), under the excitation of oscillator (12), remove and put up horizontal high frequency vibration about the frame for press from both sides seedling ware in the twinkling of an eye and obtain arbitrary strand of rope center of skew, can follow during the rope center is drawn into the gap, pass the seedling rope.
5. The device for vertically clamping the rows of kelp seedlings according to claim 4, wherein: the oscillation frequency of the transverse oscillator (12) is 1000-6000 times/min, and the oscillation amplitude is 3 mm.
6. The device for vertically clamping the rows of kelp seedlings according to claim 1, wherein: the number of the seedling clamping devices is 30, the seedling clamping devices are divided into 2 groups, and each group comprises 15 pairs of seedling clamping fingers; wherein 15 left and right seedling clamping fingers are arranged on the corresponding strip plates; the long slat is arranged on the sliding table of the guide rail, and the sliding table is connected with the movable frame.
7. The device for vertically clamping the rows of kelp seedlings according to claim 1, wherein: the opening/clamping of the left seedling clamping finger and the right seedling clamping finger of the seedling clamping device (1) is driven by two finger cylinders (15), and each finger cylinder (15) comprises a cylinder body and a sliding block capable of moving left and right; the left slide block is connected with the strip plate corresponding to the left seedling clamping finger, the right slide block is connected with the strip plate corresponding to the right seedling clamping finger, and the strip plate drives a group of seedling clamping fingers on the strip plate to synchronously move; the two finger cylinders respectively control a group of seedling clamping fingers to complete synchronous opening and closing actions of the seedling clamping devices, so that 30 kelp seedlings can be simultaneously clamped and released; the pair of strip plates (17) are arranged in parallel in the left-right direction.
8. The device for vertically clamping the rows of kelp seedlings according to claim 1, wherein: a servo motor is installed on one side of the rack, 2 driving gears are arranged at two ends of a long output shaft of the motor, racks on two sides of the movable frame are meshed with the driving gears, supporting legs of the movable frame are installed on the sliding table and move up and down along a vertical guide rail, and the moving distance range is 0-200 mm; in the downward moving process, the movable frame drives the seedling clamping device to be inserted into the seedling rope gap from top to bottom.
9. The device for vertically clamping the rows of kelp seedlings according to claim 2, wherein:
the seedling gripper is driven by a pneumatic control system; 2 3-position 5-way electromagnetic valves are adopted to control the action of the finger cylinder of the seedling clamping device;
when the seedling gripper is inserted into the seedling rope, the pneumatic control system provides air pressure at least above 0.5MPa, the first electromagnetic directional valve works, and the system pressure directly acts on the finger cylinder, so that the fingers of the seedling gripper are tightly and powerfully closed, and the seedling rope can be conveniently and smoothly inserted;
when the finger of the seedling clamping device clamps the kelp root stalk, the first electromagnetic directional valve resets to the middle position, the magnet on the left side of the second electromagnetic directional valve is attracted, compressed air enters the finger cylinder through the pressure regulating valve, the pressure of the finger cylinder folding force is reduced to the pressure which just can clamp the kelp seedling root stalk by the pressure regulating valve, and the comprehensive action of the spring leaf or the flexible body with elasticity in the finger of the seedling clamping device avoids the kelp seedling root stalk from being excessively pressed and damaged.
10. The working method of the device for vertically clamping the kelp seedlings in rows is characterized by sequentially comprising the following steps of:
the finger claws of the unwinding device are opened, the rope conveying device conveys the seedling rope to be clamped to the front of 31 clamping jaws of the unwinding device, the distance between the clamping jaws is 70mm, and the length section for conveying the seedling rope to clamp the seedlings is 2.3-2.5 meters; after the clamping jaws clamp the seedling rope in 30 sections, uniformly contracting the seedling rope until the length of each section is 50mm, and at the moment, each section of the kelp seedling rope is in a loose state; fingers folded by the seedling gripper arranged on the movable frame are inserted into the seedling rope from top to bottom to the lower edge of the seedling rope, the fingers of the seedling gripper are expanded from left to right, and the inner measuring distance of the fingers is 10 mm; at the moment, 30 kelp seedlings under the seedling clamping fingers and the horizontal seedling ropes are horizontally placed in the seedling box, are parallel to the seedling ropes and are vertical to the fingers of the seedling clamping device one by one, and the root stalks of each kelp seedling are parallel to square holes or hexagonal hollow axes at the end parts of the fingers of the corresponding seedling clamping device; after the seedling clamping fingers are expanded, the seedling clamping fingers continue to move downwards until the axial lead of a square hole at the end part of the finger is basically superposed with the axial lead of the root handle of the kelp seedling, the fingers of the seedling clamping device are slightly folded to clamp the root handle of the kelp seedling and then are lifted to the upper side of the seedling rope, and the fingers are expanded to release the root handle of the kelp seedling; the unwinding device is uniformly opened towards two sides at the same time, and the gap of the 3 strands of ropes is reduced, so that 30 uniformly distributed kelp seedlings are fixed on the seedling ropes; continuously moving the seedling gripper upwards to the initial position; and opening 31 clamping jaws of the unwinding device, and releasing the finished seedling rope after the seedling clamping is finished, thereby finishing the whole seedling clamping process.
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