CN113207381A - Whole row seedling end effector of getting of servo electric jar driven cave dish seedling - Google Patents
Whole row seedling end effector of getting of servo electric jar driven cave dish seedling Download PDFInfo
- Publication number
- CN113207381A CN113207381A CN202110674447.7A CN202110674447A CN113207381A CN 113207381 A CN113207381 A CN 113207381A CN 202110674447 A CN202110674447 A CN 202110674447A CN 113207381 A CN113207381 A CN 113207381A
- Authority
- CN
- China
- Prior art keywords
- seedling
- servo electric
- end effector
- bolt
- electric cylinder
- 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 26
- 210000000078 claw Anatomy 0.000 claims abstract description 33
- 230000008859 change Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000000903 blocking effect Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 2
- 229910000737 Duralumin Inorganic materials 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000002054 transplantation Methods 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 1
Images
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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention relates to a tray seedling whole row seedling taking end effector driven by a servo electric cylinder, which can be used for transplanting pot seedlings of various sizes. The method comprises the following steps: servo electric cylinder, big bolt, locating plate, little bolt, connecting plate, connecting rod, hinder seedling piece, ring flange, mounting panel, piston rod, get seedling claw. Servo electric cylinder passes through the mode of front end flange mounting to be fixed on the mounting panel, and the piston rod is connected with the connecting plate, and the connecting rod passes through big bolt and is connected with the locating plate, and locating plate rethread small bolt is connected with the connecting plate, gets the seedling claw and links to each other with the connecting rod again through the small bolt, hinders the seedling piece then to be connected and adjustable height with the mounting panel, can independently design change locating plate and get the seedling claw in order to realize pressing from both sides the clamp of unidimensional cave dish seedling and get and put in. The whole actuator can be arranged on different transplanting machines by opening holes on the mounting plate. The seedling taking end effector has the advantages of simple structure, flexible movement, wide seedling taking range and the like, can realize full-automatic operation, and is a seedling taking end effector capable of meeting the requirements of high-speed low-loss seedling taking and throwing.
Description
Technical Field
The invention relates to a tray seedling whole-row seedling taking end effector driven by a servo electric cylinder, in particular to a study on high-speed low-loss seedling throwing of a tray seedling full-automatic transplanter, solves the problems of complex structure, low control precision and high seedling damage rate of the conventional end effector, and belongs to the field of agricultural machinery.
Background
The seedling transplantation has the advantages of climate compensation, seedling survival rate improvement, yield per mu improvement and the like, and in recent years, the rapid development of the factory plug seedling technology and the advancement and adaptability of the technology provide new requirements for the plug seedling field transplantation technology. At present, domestic full-automatic exploration research on the plug seedling transplanter is less, the researched intelligent machines are still in an experimental stage, and the control system of the plug seedling transplanter has the problems of low positioning precision, poor reliability, low intelligent degree and the like on the whole, so that the transplanting efficiency is limited. The seedling taking mechanism serves as a key mechanism of the field transplanter, the seedling taking mechanism with stable and efficient performance can effectively reduce the seedling damage rate, and the transplanting efficiency is improved.
The existing end effector needs to add a transverse clamping action to clamp the pot seedlings in the moving process for the purpose of clamping and releasing, so that the structure of the effector is complicated and is difficult to control accurately. And the existing actuator has poor capacity of clamping pot seedlings with different sizes, and different models need to be replaced. In order to solve the problems, the whole-row seedling taking end effector of the plug seedlings, driven by the servo electric cylinder, is designed, and has the advantages of convenience in control, simple and compact structure and the like due to the fact that only vertical reciprocating motion is needed. The automatic seedling picking and placing device not only can independently design the size structures of the positioning plates and the seedling picking claws so as to realize clamping and placing of pot seedlings with different sizes, but also can add and reduce the number of the positioning plates and the seedling picking claws so as to be applied to hole trays with different sizes, and has important significance for development of high-speed low-loss full-automatic transplanting machines.
Disclosure of Invention
In view of the above, the present invention provides a tray seedling full-row seedling-picking end effector driven by a servo electric cylinder, which has high control precision, simple and compact structure, flexible movement, and can independently design accessories and mount and adjust the seedling-picking number.
A seedling end effector is got to servo electric jar driven cave dish seedling whole row, including servo electric jar (1), big bolt (2), locating plate (3), little bolt (4), connecting plate (5), connecting rod (6), hinder seedling piece (7), ring flange (8), mounting panel (9), piston rod (10), get seedling claw (11). Servo electric cylinder (1) is fixed on mounting panel (9) through the mode of front end ring flange (8) installation, piston rod (10) are connected with connecting plate (5), connecting rod (6) are connected with locating plate (3) through big bolt (2), locating plate (3) rethread undersize bolt (4) are connected with connecting plate (5), get seedling claw (11) and link to each other with connecting rod (6) again through undersize bolt (4), hinder seedling piece (7) then be connected and height-adjustable with mounting panel (9).
According to the servo electric cylinder driven plug seedling whole row seedling taking end effector, the height of the seedling blocking piece (7) can be freely adjusted to change the lifting height of the seedling taking claw (11) to be suitable for plug seedlings with different sizes, and meanwhile, the size and the number of the positioning plates (3) can be independently designed and changed to add the number of the seedling taking claws (11) and change the positioning to aim at different plug sizes; the structure of the seedling taking claw (11) can be designed and replaced independently to realize the clamping and releasing of seedlings with different sizes; the number of the positioning plates (3) and the seedling taking claws (11) can be reduced by selectively adding the positioning plates (3) according to the seedling taking requirement.
When the tray seedling whole-row seedling taking end effector driven by the servo electric cylinder is driven by the servo electric cylinder (1), the piston rod (3) is connected with the connecting plate (5) to ensure the reciprocating linear motion of the actuator; the plug seedlings are clamped by the seedling taking claw (11), and the plug seedlings naturally fall to finish the throwing step under the blocking action of the seedling blocking sheet (7), so that only vertical reciprocating motion is needed under the action of transverse clamping force, and the clamping and throwing process of the plug seedlings is simplified.
The tray seedling whole-row seedling taking end effector driven by the servo electric cylinder only needs to vertically reciprocate, so that the tray seedling whole-row seedling taking end effector has the advantages of convenience in control, simple and compact structure and the like. The servo motor (1) is used for driving, so that the precision and the success rate of clamping and putting in plug seedlings are improved, the bowl seedling damage rate is reduced, and the full-row seedling taking end effector can meet the requirements of high-speed low-loss seedling putting.
A servo electric cylinder driven aperture disk seedling whole row get seedling end effector, can not only design the size structure of locating plate and getting seedling claw independently and press from both sides in order to realize getting the release to not unidimensional alms bowl seedling, also can add and reduce the locating plate and get seedling claw figure in order to be applied to not unidimensional aperture disk, it has important meaning to the development of high-speed low-loss full-automatic transplanter.
Drawings
FIG. 1 is an isometric view of the overall structure of the present invention.
Fig. 2 is a front view of the overall structure of the present invention.
FIG. 3 is a partial schematic view of a positioning plate and a connecting plate structure.
Fig. 4 is a partial schematic view of a seedling-taking claw and a connecting rod structure.
FIG. 5 is a perspective view of the seedling-stopping sheet.
Reference numbers in the figures: the device comprises a servo electric cylinder 1, a large bolt 2, a positioning plate 3, a small bolt 4, a connecting plate 5, a connecting rod 6, a seedling blocking sheet 7, a flange plate 8, a mounting plate 9, a piston rod 10 and a seedling taking claw 11.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in figure 1, the seedling picking device comprises a servo electric cylinder (1), a large bolt (2), a positioning plate (3), a small bolt (4), a connecting plate (5), a connecting rod (6), a seedling blocking sheet (7), a flange plate (8), a mounting plate (9), a piston rod (10) and a seedling picking claw (11). Servo electric cylinder (1) is fixed on mounting panel (9) through the mode of front end ring flange (8) installation, piston rod (10) are connected with connecting plate (5), connecting rod (6) are connected with locating plate (3) through big bolt (2), locating plate (3) rethread undersize bolt (4) are connected with connecting plate (5), get seedling claw (11) and link to each other with connecting rod (6) again through undersize bolt (4), hinder seedling piece (7) then be connected and height-adjustable with mounting panel (9).
The utility model provides a seedling end effector is got to servo electric cylinder driven plug seedling whole row which characterized in that: the seedling blocking sheets (7) can be freely adjusted in height to change the lifting height of the seedling taking claws (11) to be suitable for plug seedlings of different sizes, and meanwhile, the sizes and the number of the positioning plates (3) can be designed and changed independently to add the number of the seedling taking claws (11) and change the positioning to aim at different plug sizes; the structure of the seedling taking claw (11) can be designed and replaced independently to realize the clamping and releasing of seedlings with different sizes; the number of the positioning plates (3) and the seedling taking claws (11) can be reduced by selectively adding the positioning plates (3) according to the seedling taking requirement.
When the tray seedling whole-row seedling taking end effector driven by the servo electric cylinder is driven by the servo electric cylinder (1), the piston rod (3) is connected with the connecting plate (5) to ensure the reciprocating linear motion of the actuator; the plug seedlings are clamped by the seedling taking claw (11), and the plug seedlings naturally fall to finish the throwing step under the blocking action of the seedling blocking sheet (7), so that only vertical reciprocating motion is needed under the action of transverse clamping force, and the clamping and throwing process of the plug seedlings is simplified.
The utility model provides a seedling end effector is got to servo electric cylinder driven plug seedling whole row which characterized in that: only needs vertical reciprocating motion to make it have the advantages of convenient control, simple and compact structure, etc. The automatic seedling picking and placing device not only can independently design the size structures of the positioning plates and the seedling picking claws so as to realize clamping and placing of pot seedlings with different sizes, but also can add and reduce the number of the positioning plates and the seedling picking claws so as to be applied to hole trays with different sizes, and has important significance for development of high-speed low-loss full-automatic transplanting machines.
Claims (5)
1. The utility model provides a seedling end effector is got to servo electric jar driven plug seedling whole row, includes servo electric jar (1), big bolt (2), locating plate (3), little bolt (4), connecting plate (5), connecting rod (6), hinders seedling piece (7), ring flange (8), mounting panel (9), piston rod (10), gets seedling claw (11).
2. The servo electric cylinder driven plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: servo electric cylinder (1) is fixed on mounting panel (9) through the mode of front end ring flange (8) installation, piston rod (10) are connected with connecting plate (5), connecting rod (6) are connected with locating plate (3) through big bolt (2), locating plate (3) rethread undersize bolt (4) are connected with connecting plate (5), get seedling claw (11) and link to each other with connecting rod (6) again through undersize bolt (4), hinder seedling piece (7) then be connected and height-adjustable with mounting panel (9).
3. The servo electric cylinder driven plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: the seedling blocking sheets (7) can be freely adjusted in height to change the lifting height of the seedling taking claws (11) to be suitable for plug seedlings of different sizes, and meanwhile, the sizes and the number of the positioning plates (3) can be designed and changed independently to add the number of the seedling taking claws (11) and change the positioning to aim at different plug sizes; the structure of the seedling taking claw (11) can be designed and replaced independently to realize the clamping and releasing of seedlings with different sizes; the number of the positioning plates (3) and the seedling taking claws (11) can be reduced by selectively adding the positioning plates (3) according to the seedling taking requirement.
4. The servo electric cylinder driven plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: when the servo electric cylinder (1) is used for driving, the piston rod (3) is connected with the connecting plate (5) to ensure the reciprocating linear motion of the piston rod; the plug seedlings are clamped by the seedling taking claw (11), and the plug seedlings naturally fall to finish the throwing step under the blocking action of the seedling blocking sheet (7), so that only vertical reciprocating motion is needed under the action of transverse clamping force, and the clamping and throwing process of the plug seedlings is simplified.
5. The servo electric cylinder driven plug seedling full-row seedling-taking end effector as claimed in claim 1, wherein: big bolt (2), little bolt (4), ring flange (8), mounting panel (9), the material of adoption are 45# steel, locating plate (3), connecting plate (5), connecting rod (6), hinder seedling piece (7), get seedling claw (11), the material of adoption is 6061 duralumin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110674447.7A CN113207381A (en) | 2021-06-17 | 2021-06-17 | Whole row seedling end effector of getting of servo electric jar driven cave dish seedling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110674447.7A CN113207381A (en) | 2021-06-17 | 2021-06-17 | Whole row seedling end effector of getting of servo electric jar driven cave dish seedling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113207381A true CN113207381A (en) | 2021-08-06 |
Family
ID=77080593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110674447.7A Pending CN113207381A (en) | 2021-06-17 | 2021-06-17 | Whole row seedling end effector of getting of servo electric jar driven cave dish seedling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113207381A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113875369A (en) * | 2021-11-23 | 2022-01-04 | 石河子大学 | Pneumatic type multi-claw plug seedling grabbing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5842306A (en) * | 1994-11-17 | 1998-12-01 | Yanmar Agricultural Equipment Co., Ltd. | Transplanter |
| CN102342207A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | End actuator of dry land plug tray transplanter |
| CN102342206A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | Whole-row seedling-taking and spaced seedling-putting device of dry land transplanter |
| CN206790951U (en) * | 2017-04-27 | 2017-12-26 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| 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 |
| CN112136440A (en) * | 2020-09-29 | 2020-12-29 | 沈阳农业大学 | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine |
-
2021
- 2021-06-17 CN CN202110674447.7A patent/CN113207381A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5842306A (en) * | 1994-11-17 | 1998-12-01 | Yanmar Agricultural Equipment Co., Ltd. | Transplanter |
| CN102342207A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | End actuator of dry land plug tray transplanter |
| CN102342206A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | Whole-row seedling-taking and spaced seedling-putting device of dry land transplanter |
| CN206790951U (en) * | 2017-04-27 | 2017-12-26 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| 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 |
| CN112136440A (en) * | 2020-09-29 | 2020-12-29 | 沈阳农业大学 | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113875369A (en) * | 2021-11-23 | 2022-01-04 | 石河子大学 | Pneumatic type multi-claw plug seedling grabbing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102273348B (en) | Tissue culture seedling transplanting gripper with scratching function | |
| CN113207381A (en) | Whole row seedling end effector of getting of servo electric jar driven cave dish seedling | |
| CN116508606B (en) | End effector of intelligent tree planting robot | |
| EP3949726A1 (en) | Transplanting equal-distribution mechanism | |
| WO2024174429A1 (en) | Self-propelled full-automatic densely planted vegetable transplanter and planting control method | |
| CN111642202B (en) | Small-space parallel oblique-entering shrinkage type She Caibo seedling transplanting end effector | |
| CN102138379B (en) | Seedling transplanting device for sparsely planting plug seedlings | |
| CN114885651A (en) | High-speed transplanting robot with automatic manipulator distance adjustment function | |
| CN114642137A (en) | Row type seedling taking end effector for leaf vegetable pot seedling transplantation | |
| CN103270838B (en) | Hole seedling transplanting paw adaptive to hole trays with different models | |
| CN109792875A (en) | A kind of double fastener chip potted-seedling transplanting clamp device with double fastener hand | |
| CN212164170U (en) | But seedling device is got to cave dish seedling whole row of angle regulation and interval | |
| CN213784159U (en) | Pneumatic type mechanical claw for high-speed transplanting of plug seedlings | |
| CN212278820U (en) | Small-space parallel oblique-entering retractable leaf vegetable pot seedling transplanting end effector | |
| CN211881028U (en) | Seedling tray conveying device of plug seedling transplanter | |
| CN212936667U (en) | Automatic seedling taking device suitable for seedling tray transplanting | |
| CN212588857U (en) | Automatic change plant and plant clamping jaw and press from both sides and get device | |
| CN202050678U (en) | Spaced planting and pot transplanting device for plug seedlings | |
| CN116965210A (en) | Cylinder driven plug seedling variable-pitch seedling taking end effector | |
| CN107852916B (en) | Transplanting paw and punching and compacting integrated device | |
| CN113207378A (en) | Pneumatic seedling taking end effector | |
| CN210172355U (en) | Mold opening device for machining precision stamping mold for rice transplanter accessories | |
| CN114158314A (en) | Transplanting vibration punching machine and method thereof | |
| CN114274153A (en) | Hydraulic power manipulator with irradiation-resistant function | |
| CN113615360A (en) | Automatic change plant and plant clamping jaw and press from both sides and get device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210806 |