CN113615360A

CN113615360A - Automatic change plant and plant clamping jaw and press from both sides and get device

Info

Publication number: CN113615360A
Application number: CN202010389115.XA
Authority: CN
Inventors: 林晉铉; 林晉暐; 林晉嶸; 林晉颢; 林晉衡
Original assignee: Huaian Futeng Agricultural Technology Co ltd
Current assignee: Huaian Futeng Agricultural Technology Co ltd
Priority date: 2020-05-09
Filing date: 2020-05-09
Publication date: 2021-11-09

Abstract

The invention discloses a clamping jaw and a clamping device for automatic plant planting, wherein the clamping jaw for automatic plant planting consists of a driving device, a plurality of thimbles, a thimble fixing piece, a rotating shaft fixing piece, a main support, a plurality of rotating shafts and a plurality of springs; according to the invention, through the matching arrangement of the thimble fixing piece, the rotating shaft, the spring and other parts, the clamping jaws are higher in accuracy rate and firmer in clamping when clamping plants, meanwhile, through the arrangement of the expansion plate, a plurality of plants can be clamped at one time, and the X-shaped movable frame can change the distance between the clamping jaws and is suitable for planting pots with different sizes.

Description

Automatic change plant and plant clamping jaw and press from both sides and get device

Technical Field

The invention belongs to the technical field of agricultural planting, and particularly relates to an automatic clamping jaw and a clamping device for clamping plants from a planting plate during vegetable planting.

Background

The plug seedling technology has been widely applied in the market at present because of the advantages of high germination rate, neat seedling, less plant diseases and insect pests, short growth period, no season limitation, convenient mechanized operation and the like. After seedling cultivation is finished, seedlings need to be transferred, the movable clamping jaw is one of key parts of the plug seedling transplanting equipment, stable seedling taking and holding and effective pot seedling releasing can be achieved, and strong adaptability to different crop varieties and different plug specifications is achieved.

Patent CN 103477768A discloses a slant-in type plug seedling transplanting paw, which comprises a frame, a sliding table, steel needle fixing plates, sleeve fixing plates, sleeves, steel needles, reinforcing plates, buffering sleeves, pin shafts and a cylinder, wherein the cylinder is fixed on the upper portion of the frame, the middle of the sliding table is fixed at the end portions of push rods of the cylinder, 2 pin shafts are respectively fixed on the upper portions of the 2 steel needle fixing plates and are installed in long holes on two sides of the sliding table, the middle of each sleeve fixing plate is fixed at the bottom of the frame, 4 sleeves are respectively fixed at four corners of each sleeve fixing plate, the lower portions of the 4 steel needles are respectively installed in 4 sleeves, the top of each sleeve fixing plate is respectively fixed at the lower portions of the steel needle fixing plates on two sides, the four long holes are formed in the four corners of each reinforcing plate, the reinforcing plates are located at the lower portions of the sleeve fixing plates, the sleeves penetrate through the long holes at 4 corners of the reinforcing plates, and the 4 buffering sleeves are sleeved on the 4 steel needles 6 and are installed on the upper portions of the sleeve fixing plates; this technical scheme adopts the steel needle to insert the form of getting the plug seedling with certain angle, and the practicality is strong, and simple structure, stability, and degree of automation is high. For another example, patent CN103597939A discloses a single cylinder driven plug-pull clamping type plug tray seedling transplanting gripper, in which a driving cylinder is installed below an upper plate of a support, and a cylinder rod is fixedly connected with one end of a threaded push rod; the seedling needle mounting plate is fixed with the threaded push rod, and the four seedling needle fastening sliding parts are respectively fixed on the four side surfaces of the seedling needle mounting plate; the middle pressure plate and the needle tube mounting plate are separated by a spring to form a sliding pair, one ends of four needle tube fastening rotating pieces are respectively arranged in the grooves of the middle pressure plates to form a sliding pair with the cylindrical pin, the other ends of the four needle tube fastening rotating pieces are respectively arranged in the grooves of the needle tube mounting plate to form a rotating pair, the four seedling withdrawing needle tubes respectively penetrate through the needle tube fastening rotating pieces and then are fixedly connected, the other ends of the four seedling taking needles penetrate through the seedling withdrawing needle tubes to form a sliding pair, and the needle tube mounting plate is arranged on the lower plate of the bracket; the technical scheme finishes two actions of inserting and clamping in one pushing stroke of the cylinder, the depth and the angle of the seedling taking needle for inserting the pot seedlings are convenient to adjust, and the device has strong adaptability to different crop varieties and different plug tray specifications. However, in the two technical schemes, the inclination of the steel needle or the seedling taking needle is fixed when the steel needle or the seedling taking needle descends to take seedlings, and although the steel needle or the seedling taking needle can clamp plant seedlings, the clamping is not firm enough, and the plant seedlings are very easy to fall off in the moving process.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic clamping jaw and a clamping device for clamping and moving plants from a planting tray, wherein the clamping jaw has higher accuracy and is more firmly clamped when clamping the plants by matching the components such as an ejector pin fixing piece, a rotating shaft, a spring and the like, meanwhile, the device can clamp a plurality of plants at one time by arranging an expansion plate, and an X-shaped movable frame can change the distance between the clamping jaws and is suitable for planting pots with different sizes.

The technical scheme provided by the invention is as follows:

an automatic clamping jaw for plant planting comprises a driving device, a plurality of thimbles, a thimble fixing piece, a rotating shaft fixing piece, a main support, a plurality of rotating shafts and a plurality of springs, wherein the number of the thimbles, the rotating shaft piece and the springs is equal, the driving device penetrates through the main support to be connected with the thimble fixing piece and drives the thimble fixing piece to move up and down, the thimbles are movably fixed on the thimble fixing piece and are obliquely arranged inwards at a certain angle with the thimble fixing piece, the rotating shaft fixing piece is fixed on the main support, the rotating shafts are movably fixed on the rotating shaft fixing piece and are obliquely arranged inwards at a certain angle with the rotating shaft fixing piece, the thimbles penetrate through the rotating shafts and extend out of the rotating shafts, the thimbles between the rotating shaft fixing piece and the thimble fixing piece are respectively sleeved with a spring, when the thimble fixing piece presses the springs downwards, the springs press the rotating shafts to deviate from the original positions and rotate inwards, the thimble is driven to approach towards the direction of the central shaft of the clamping jaw, and the clamping of the target object is completed.

Preferably, the bottom of the rotating shaft is further fixed with a thimble tube, the thimble is located in the thimble tube, and when the cylinder pushes the thimble fixing member downwards, the thimble penetrates out of the thimble tube to complete clamping of the target object.

Preferably, the thimble fixing piece is provided with the same number of ends with the thimble, the end is the structure of "U" shape fixed slot, and the both sides of "U" shape fixed slot transversely respectively are provided with a aperture I, and the top of thimble transversely is provided with an aperture I, and the top of thimble is located "U" shape fixed slot, and fixing pin passes three aperture I, with the fixed of thimble and thimble fixing piece.

Preferably, the rotating shaft fixing part is provided with tail ends A which are the same as the rotating shafts in number, each rotating shaft is composed of a U-shaped part and a cylindrical sleeve, each cylindrical sleeve and the U-shaped part are fixed in the U-shaped part in a vertical relation, two small holes II are transversely formed in two sides of the U-shaped part respectively, each tail end A is also transversely provided with one small hole II, each tail end A is placed in the U-shaped part, and a fixing bolt penetrates through the three small holes II to complete fixing of the rotating shafts and the rotating shaft fixing part.

The invention also discloses an automatic clamping device for plant planting, which consists of an expansion plate and a plurality of clamping jaws for automatic plant planting, wherein the expansion plate consists of a telescopic X-shaped movable frame, a support frame, a motor, a screw rod fixing frame and a plurality of clamping jaw fixing rods, the upper part and the lower part of the same side of the support frame are respectively provided with a track, the top part and the bottom part of each clamping jaw fixing rod are provided with pulleys, the pulleys are placed on the tracks to complete the fixation of the clamping jaw fixing rods and the support frame, the clamping jaw fixing rods are fixedly connected with the X-shaped movable frame, the plurality of clamping jaw fixing rods are mutually parallel, the motor is fixed at the top part of the support frame, the screw rod fixing frame is fixedly connected with the X-shaped movable frame, a screw rod in the motor is fixedly connected with the screw rod fixing frame, and the clamping jaws for automatic plant planting are respectively and fixedly connected with the clamping jaw fixing rods.

Compared with the prior art, the invention has the following technical advantages:

(1) the thimble fixing piece and the thimble as well as the rotating shaft and the rotating shaft fixing piece are movably connected, when the driving device drives the thimble fixing piece to move downwards, the spring is compressed, the rotating shaft is forced to move downwards and inwards relative to the rotating shaft fixing piece by the spring, the angle between the thimble and the thimble fixing piece is driven to be continuously changed, the thimbles are mutually close, and therefore, a target object can be clamped more firmly and accurately, the thimbles cannot fall off in the transfer process, and the thimble fixing piece and the thimble clamping piece are suitable for clamping plants in planting pots with different sizes; the angle between the thimble and the thimble fixing piece in the traditional clamping jaw is fixed, the clamping is not firm enough, the variety of the applicable planting pot is few, and the manufacturing structure of the whole device is complex.

(2) When the thimble clamps a plant downwards, the thimble is required to be inserted into the soil firstly, so that the thimble is very likely to carry a little soil in the inserting and taking process and is inconvenient for clamping the plant at the back;

(3) the invention is provided with the expansion plate, and the clamping jaws are fixed on the X-shaped movable frame of the expansion plate, so that a plurality of plants in the planting plate can be clamped at one time; the distance between the clamping jaws can be adjusted by the contraction and expansion of the X-shaped movable frame, and the X-shaped movable frame can be suitable for clamping plants in planting pots with different sizes or planting pots with different distances.

Drawings

FIG. 1 is a schematic perspective view of a jaw of the present invention

FIG. 2 is an exploded view of a jaw of the present invention

FIG. 3 is a schematic view of the position relationship between the thimble fixing member and the thimble according to the present invention

FIG. 4 is an exploded view of the position relationship between the thimble fixing member and the thimble according to the present invention

FIG. 5 is a schematic view of the position relationship between the rotating shaft and the rotating shaft fixing member according to the present invention

FIG. 6 is an exploded view of the position relationship between the rotating shaft and the rotating shaft fixing member of the present invention

FIG. 7 is a schematic view showing a connection structure of the gripping device according to the present invention

FIG. 8 is a schematic view of the structure of the expansion board of the present invention

FIG. 9 is a schematic view of a clamping jaw of the present invention when the thimble extends out of the thimble barrel

FIG. 10 is a schematic view of the clamping jaw of the present invention when the thimble does not extend out of the thimble barrel

Wherein: 1. clamping jaw 2, thimble 3, thimble mounting 4, pivot mounting 5, main support 6, pivot 7, spring 8, cylinder 9, "U" shape fixed slot 10, aperture I11, fixing bolt 12, aperture II 13, "U" shape 14, cylinder sleeve 15, thimble silk section of thick bamboo 16, expansion board 17, X type adjustable shelf 18, support frame 19, motor 20, screw rod mount 21, clamping jaw dead lever 22, track 23, pulley 24, hob 25, cylinder push rod.

Detailed Description

The invention will now be further described with reference to specific embodiments and drawings.

As shown in figures 1 and 2, the invention discloses an automatic clamping jaw 1 for plant planting, which consists of a cylinder 8, four thimbles 2, a thimble fixing piece 3, a rotating shaft fixing piece 4, a main support 5, four rotating shafts 6 and four springs 7, wherein the main support 5 is in a cross shape, the cylinder 8 passes through the top of the main support 5 to be connected with the thimble fixing piece 2 and drives the thimble fixing piece 2 to move up and down on the inner side of the main support 5, the thimbles 2 are movably fixed on the thimble fixing piece 3, as shown in figures 3 and 4, the thimble fixing piece 3 is in a cross shape, the four tail ends of the thimble fixing piece are in a U-shaped fixing groove 9 structure, two sides of the U-shaped fixing groove 9 are transversely provided with a small hole I10, the top of the thimbles 2 is positioned in the U-shaped fixing groove 9, a fixing bolt 11 passes through the three small holes I10, the thimble 2 and the thimble fixing piece 3 are fixedly arranged in a certain angle, namely, the four thimbles 2 are obliquely arranged towards the central shaft of the clamping jaw; the bottom in the main support 5 outside is fixed to pivot mounting 4, pivot 6 is movably fixed on pivot mounting 4, as shown in fig. 5 and 6, pivot mounting 4 is "ten" shape, its four terminal transversely is provided with a aperture II 12, pivot 6 comprises "U" shape 13 and cylinder sleeve 14, cylinder sleeve 14 is fixed in "U" shape 13 with "U" shape 13 is the vertical relation, "U" shape 13 both sides transversely respectively are provided with an aperture II 12, four ends of pivot mounting 4 are placed respectively in "U" shape 13, fixing bolt 11 passes three aperture II 12, make pivot 6 and pivot mounting 4 be the fixed setting of certain angle, four pivot 6 are to the position slant setting of clamping jaw center pin promptly. The thimble 2 passes through the rotating shaft 6 and extends out of the rotating shaft 6, the thimble 2 between the rotating shaft fixing piece 4 and the thimble fixing piece 3 is respectively sleeved with a spring 7, when the thimble fixing piece 3 presses the spring 7 downwards, the spring 7 extrudes the rotating shaft 6, so that the rotating shaft 6 deviates from the original position and rotates towards the position of the clamping jaw central shaft, the thimble 2 is driven to draw close inwards, and the clamping of the target object is completed.

In the invention, as a preferable scheme, an ejector pin cylinder 15 is fixed at the bottom of the rotating shaft 6, the ejector pin 2 is positioned in the ejector pin cylinder 15, and when the air cylinder 8 pushes the ejector pin fixing member 3 downwards, the ejector pin 2 penetrates out of the ejector pin cylinder 15, so that the clamping of the target object is completed.

As shown in fig. 7 and 8, the invention also discloses an automatic clamping device for plant cultivation, which comprises an expansion plate 16 and four automatic plant cultivation clamping jaws 1, wherein the expansion plate 16 comprises a telescopic X-shaped movable frame 17, a support frame 18, a motor 19, a screw rod fixing frame 20 and four clamping jaw fixing rods 21, a track 22 is respectively arranged at the top and the bottom of the same side of the support frame 18, two pulleys 23 are arranged at the top and the bottom of the clamping jaw fixing rod 21, the pulleys 23 are arranged on the track 22 to complete the fixation of the clamping jaw fixing rod 21 and the support frame 18, the clamping jaw fixing rod 21 is fixedly connected with the X-shaped movable frame 17, the four clamping jaw fixing rods 21 are parallel to each other, the motor 19 is fixed at the top of the support frame 18, the screw rod fixing frame 20 is fixedly connected with the X-shaped movable frame 17, a screw rod 24 in the motor 19 is fixedly connected with the screw rod fixing frame 20, the main bracket 5 is fixed on the clamping jaw fixing rod 21, and the clamping jaw 1 for automatic plant planting is fixedly connected with the expansion plate 16.

When the clamping jaw 1 is actually used, the mechanical arm drives the clamping device to move to the upper part of the planting plate, the motor 19 drives the screw rod 24 to move upwards or downwards to drive the screw rod fixing frame 20 to ascend or descend, the X-shaped movable frame 17 is pulled to contract when the screw rod fixing frame 20 ascends, the position between the clamping jaws 1 is reduced, the screw rod fixing frame 20 descends to push the X-shaped movable frame 17 to expand, the position between the clamping jaws 1 is increased, after the position between the clamping jaws 1 is set according to the requirements of a user, as shown in figure 10, the original angle between the thimble 2 and the thimble fixing piece 3 is 91.9 degrees, the cylinder 8 starts to drive the cylinder push rod 25 to push the thimble fixing piece 3 to move downwards to compress the spring 7 (not marked in the figure), the spring 7 forces the rotating shaft fixing piece 4 to move downwards and approach towards the direction of the clamping jaw fixing shaft, and when the thimble fixing piece 3 moves downwards, the thimble 2 also slowly extends out of the thimble tube 15 (as shown in figure 9), the thimble 2 can be inserted in the soil of planting the kind of dish, carry out the clamp of target plant and get, at this moment, the angle of thimble 2 and thimble mounting 3 has become 95.7 degrees, accomplish to press from both sides and get the back, the arm drive is got the device and is come the position that the target plant placed, the cylinder 8 drives actuating cylinder push rod 25 and pulls thimble mounting 3 upward movement, spring 7 returns original state, thimble 2 returns in the thimble silk section of thick bamboo 15, the target plant drops with thimble 2, if be stained with soil on the thimble 2 this moment, also can be blockked outside by thimble silk section of thick bamboo 15, accomplish the clamp of target plant from this and get and shift.

Claims

1. The utility model provides an automatic change clamping jaw for plant species plants which characterized in that: the thimble clamping device comprises a driving device, a plurality of thimbles, a thimble fixing piece, a rotating shaft fixing piece, a main support, a plurality of rotating shafts and a plurality of springs, wherein the thimbles, the rotating shaft piece and the springs are equal in quantity, the driving device penetrates through the main support to be connected with the thimble fixing piece and drives the thimble fixing piece to move up and down, the thimbles are movably fixed on the thimble fixing piece and obliquely arranged inwards at a certain angle with the thimble fixing piece, the rotating shaft fixing piece is fixed on the main support, the rotating shafts are movably fixed on the rotating shaft fixing piece and obliquely arranged inwards at a certain angle with the rotating shaft fixing piece, the thimbles penetrate through the rotating shafts and extend out of the rotating shafts, the thimbles between the rotating shaft fixing piece and the thimble fixing piece are respectively sleeved with a spring, when the thimble fixing piece presses the springs downwards, the rotating shafts are extruded by the springs, the rotating shafts deviate from the original positions and inwards to drive the thimbles to approach towards the direction of the central shaft of the clamping jaw, and finishing the clamping of the target object.

2. The automated plant-growing gripper jaw of claim 1, wherein: and when the air cylinder pushes the thimble fixing part downwards, the thimble penetrates out of the thimble wire barrel to finish clamping the target object.

3. The automated plant-growing gripper jaw of claim 1, wherein: the thimble fixing piece is provided with the end the same with thimble quantity, the end is the structure of "U" shape fixed slot, and the both sides of "U" shape fixed slot respectively transversely are provided with a aperture I, and the top of thimble transversely is provided with an aperture I, and the top of thimble is located "U" shape fixed slot, and fixed bolt passes three aperture I, with the fixed of thimble and thimble fixing piece.

4. The automated plant-growing gripper jaw of claim 1, wherein: the rotating shaft fixing piece is provided with tail ends A which are the same as the rotating shaft in number, the rotating shaft is composed of a U-shaped piece and a cylindrical sleeve, the cylindrical sleeve and the U-shaped piece are fixed in the U-shaped piece in a perpendicular relation, two sides of the U-shaped piece are transversely provided with a small hole II respectively, the tail ends A are also transversely provided with a small hole II, the tail ends A are placed in the U-shaped piece, and a fixing bolt penetrates through the three small holes II to complete the fixation of the rotating shaft and the rotating shaft fixing piece.

5. The utility model provides an automatic change plant and plant with pressing from both sides device of getting which characterized in that: the automatic plant-planting clamping jaw comprises an expansion plate and a plurality of clamping jaws for automatic plant planting according to any one of claims 1 to 4, wherein the expansion plate comprises an X-shaped telescopic movable frame, a supporting frame, a motor, a screw rod fixing frame and a plurality of clamping jaw fixing rods, an upper rail and a lower rail which are parallel to each other are arranged on the same side of the supporting frame, pulleys are arranged at the top and the bottom of each clamping jaw fixing rod and placed on the rails, the clamping jaw fixing rods are fixed to the supporting frame, the clamping jaw fixing rods are fixedly connected with the X-shaped movable frame, the clamping jaw fixing rods are parallel to each other, the motor is fixed to the top of the supporting frame, the screw rod fixing frame is fixedly connected with the X-shaped movable frame, screw rods in the motor are fixedly connected with the screw rod fixing frame, and the clamping jaws for automatic plant planting are respectively fixedly connected with the clamping jaw fixing rods.