CN113910215A - A finished product seedling centre gripping and stacking manipulator for vegetables grafting - Google Patents
A finished product seedling centre gripping and stacking manipulator for vegetables grafting Download PDFInfo
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- CN113910215A CN113910215A CN202111286724.3A CN202111286724A CN113910215A CN 113910215 A CN113910215 A CN 113910215A CN 202111286724 A CN202111286724 A CN 202111286724A CN 113910215 A CN113910215 A CN 113910215A
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- 235000013311 vegetables Nutrition 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 188
- 238000006073 displacement reaction Methods 0.000 claims abstract description 97
- 239000000758 substrate Substances 0.000 claims description 52
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004207 white and yellow bees wax Substances 0.000 description 2
- 238000001467 acupuncture Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- 239000002076 α-tocopherol Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/38—Holding; Ligating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses a finished seedling clamping and stacking manipulator for vegetable grafting, and relates to the technical field of manipulators. The invention comprises a finished seedling clamping mechanism, wherein the finished seedling clamping mechanism comprises a pair of clamping arms and a power assembly A; the Z-axis displacement mechanism comprises a power assembly B; the first Y-axis displacement mechanism comprises a power assembly C; the plug receiving mechanism comprises a plug, and a plug hole is formed in the plug; the X-axis displacement mechanism comprises a power assembly D; the second Y-axis displacement mechanism comprises a power assembly E; and the control system is respectively connected with the finished seedling clamping mechanism, the first Y-axis displacement mechanism, the Z-axis displacement mechanism, the X-axis displacement mechanism and the second Y-axis displacement mechanism. According to the invention, the problem of low automation degree of the conventional finished seedling clamping device is solved through the finished seedling clamping mechanism and the plug receiving mechanism.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a finished seedling clamping and stacking manipulator for vegetable grafting.
Background
The finished seedling is a plant bearing scion during grafting propagation. The finished seedling can be the whole fruit tree, or the root section or branch section of the tree body, and has the functions of fixing and supporting the scion, and forming plant growth and fruiting after healing with the scion. In the grafting method in the prior art, a finished seedling and a scion are generally cut, the cut parts of the finished seedling and the scion are aligned, and then a grafting clip is used for fixing the butt joint part of the finished seedling and the scion so as to realize the grafting of plants.
Chinese patent application No. CN201811332453.9 discloses a mechanical grafting device for grafted seedlings, which comprises a control cabinet, a conveying mechanism and grafting mechanisms arranged on two sides of the conveying mechanism, wherein the grafting mechanisms comprise a grafting operation table and a pneumatic cutter; the conveying mechanism comprises a frame body, a conveying belt arranged on the frame body in a layered mode and a motor connected with the conveying belt; the conveyer belt sequentially comprises a scion seedling tray conveyer belt, a stock seedling tray conveyer belt, a grafting seedling tray conveyer belt and a grafting waste conveyer belt from top to bottom; the two sides of the scion seedling tray conveying belt and the stock seedling tray conveying belt are provided with pushing mechanisms arranged on the frame body. The scion seedling tray conveying belt, the stock seedling tray conveying belt and the pushing mechanism are used for conveying the scion seedling tray and the stock seedling tray to the position of a worker, the worker can conveniently take the scion seedling tray and the stock seedling tray, the grafting seedling tray conveying belt and the grafting waste conveying belt are arranged, the worker can conveniently convey the grafting seedling tray to a healing room and clean the grafting waste, the pneumatic cutter can guarantee that grafting incisions are consistent, and the production efficiency and the survival rate of grafted seedlings are improved. However, the above patent is difficult to stably clamp the finished seedlings and the soil or pot body for planting the finished seedlings in the moving process; in addition, the device is difficult to adjust the height and the transverse position of the clamping device, so that finished seedlings are released to a target position, the practicability is poor, and the automation degree is low.
Disclosure of Invention
The invention aims to provide a finished seedling clamping and stacking manipulator for vegetable grafting, which solves the problems that the conventional finished seedling clamping component is difficult to stably clamp, the clamping position is adjusted and the automation degree is low through a finished seedling clamping mechanism, a Z-axis displacement mechanism and a first Y-axis displacement mechanism.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a finished seedling clamping and stacking manipulator for vegetable grafting, which comprises a finished seedling clamping mechanism, wherein the finished seedling clamping mechanism comprises a pair of clamping arms for clamping or releasing a finished seedling, and a power assembly A for driving clamping ends of the clamping arms to move oppositely to clamp the finished seedling or move oppositely to release the finished seedling; the Z-axis displacement mechanism comprises a power assembly B for driving the finished seedling clamping mechanism to displace along the Z axis; the first Y-axis displacement mechanism comprises a power assembly C for driving the finished seedling clamping mechanism and the Z-axis displacement mechanism to displace along the Y axis; the plug receiving mechanism is arranged below the Z-axis displacement mechanism and receives the finished seedlings released by the finished seedling clamping mechanism; wherein, plug receiving mechanism includes: the rectangular array on the plug tray is provided with plug holes for placing finished seedlings after grafting operation; the X-axis displacement mechanism comprises a power assembly D for driving the acupuncture point disk to move along the X axis; the second Y-axis displacement mechanism comprises a power assembly E for driving the plug tray and the X-axis displacement mechanism to displace along the Y axis; and the control system is respectively connected with the finished seedling clamping mechanism, the first Y-axis displacement mechanism, the Z-axis displacement mechanism, the X-axis displacement mechanism and the second Y-axis displacement mechanism and respectively controls the action start and stop of the finished seedling clamping mechanism.
As a preferred technical scheme of the invention, the tail end of one clamping arm is provided with a pair of sensors A for detecting the stroke position of the clamping arm; when the clamping arms move towards or away from each other and reach the detection range of the sensors A at the two ends, the control system controls the clamping arms to stop moving; cable grooves for accommodating electric devices and cables are arranged on the Z-axis displacement mechanism, the first Y-axis displacement mechanism and the plug receiving mechanism; the cable trough is of a U-shaped structure.
As a preferred technical scheme of the invention, the power assembly A comprises a motor A and a worm wheel arranged at the output end of the motor A; a worm matched with the worm wheel is coaxially fixed on at least one clamping arm; the motor A drives at least one clamping arm to open and close through a worm gear and a worm.
As a preferred technical scheme of the invention, the manipulator further comprises a finished seedling substrate clamping mechanism for clamping and fixing a finished seedling substrate; finished product seedling matrix fixture sets up in finished product seedling fixture below. Finished product seedling matrix fixture includes: the clamping piece comprises a fixed arm for clamping the finished seedling substrate and a movable arm matched with the peripheral side of the finished seedling substrate in shape; and the power element comprises a cylinder or a hydraulic cylinder which drives the movable arm to act and is matched with the fixed arm to complete clamping of the finished seedling substrate.
As a preferred aspect of the present invention, the power module B includes: the output end of the motor B is connected with a Z-axis screw rod, and the finished seedling clamping mechanism is driven to move along the Z axis through the Z-axis screw rod; the Z-axis guide rail is matched with the finished seedling clamping mechanism to move and guide along the Z axis; the Z-axis guide rail is fixed on a Z-axis base plate.
As a preferred technical scheme of the invention, one end of an output shaft of the motor B and one end of a Z-axis screw rod are respectively provided with a Z-axis transmission gear and are meshed with each other; and the motor B drives the Z-axis screw rod to work through a pair of Z-axis transmission gears.
As a preferred technical scheme of the invention, the upper end and the lower end of the Z-axis substrate are respectively provided with a sensor B for detecting the stroke position of the finished seedling clamping mechanism when moving along the Z axis; when the finished seedling clamping mechanism moves to the detection range of the sensor B, the control system controls the motor B to be turned off; and a sensor C for calibrating deviation is also arranged between the pair of sensors B.
As a preferred aspect of the present invention, the power module C includes: the output end of the motor C is connected with a first Y-axis screw rod for driving the Z-axis displacement mechanism to displace along the Y axis; the first Y-axis guide rail is arranged on the first Y-axis base plate and moves in coordination with the Z-axis displacement mechanism; the first Y-axis substrate is fixed on a manipulator bracket; the pair of sensors D are used for detecting the stroke position of the Z-axis displacement mechanism and are respectively positioned at two ends of the first Y-axis substrate; and a sensor E for calibrating deviation is also arranged between the pair of sensors D.
As a preferred technical solution of the present invention, the plug tray is sequentially provided with, from top to bottom: the tray is used for supporting the tray, and the movable bracket is assembled with the tray; the power assembly D comprises an X-axis motor and an X-axis screw rod which is connected with the X-axis motor and drives the aperture disc and the aperture disc tray to move along the X axis; the X-axis motor and the X-axis screw rod are both arranged on the X-axis substrate; x-axis guide rails for moving the movable bracket are respectively arranged on two sides of the X-axis screw rod; the power assembly E comprises a second Y-axis motor and a second Y-axis screw rod which is connected with the second Y-axis motor and drives the X-axis displacement mechanism and the cavity disc to displace along the Y axis; two sides of the second Y-axis screw rod are respectively provided with a second Y-axis guide rail for displacement of the X-axis displacement mechanism; sensors F for detecting the stroke positions of the movable brackets are respectively arranged at two ends of the X-axis displacement mechanism; sensors G for detecting the stroke position of the X-axis displacement mechanism are respectively arranged at two ends of the second Y-axis displacement mechanism; and sensors H for calibrating the deviation are respectively arranged between the pair of sensors F and between the pair of sensors G.
As a preferred technical scheme of the invention, the moving manipulator further comprises a substrate rotation mechanism for driving the finished seedlings and the finished seedling substrates to rotate; the substrate rotation mechanism includes: the supporting plate is internally rotatably provided with a turntable for supporting a finished seedling substrate; a gear ring is arranged on the periphery of the turntable; the output end of the driving motor is provided with a gear meshed with the gear ring; the sensor I is arranged at an included angle and respectively detects the angle position of the gear.
The invention has the following beneficial effects:
1. according to the invention, the finished seedling clamping mechanism is arranged and comprises a pair of clamping arms and a power assembly A, and the finished seedlings are clamped and fixed by driving the clamping arms to move in opposite directions, so that subsequent stacking is facilitated.
2. According to the invention, the Z-axis displacement mechanism is arranged, so that the position of the finished seedling clamping mechanism along the Z-axis direction can be conveniently adjusted; through setting up first Y axle displacement mechanism, be convenient for adjust the position of finished product seedling fixture along Y axle direction.
3. According to the invention, the tail end of the clamping arm is provided with the pair of sensors A for detecting the stroke positions of the clamping arm, and when the clamping arm reaches the detection range of the sensors A, the control system controls the clamping arm to stop moving, so that the clamping arm is prevented from being clamped too tightly or opened excessively.
4. According to the invention, the cable grooves for accommodating electric devices and cables are respectively arranged on the Z-axis displacement mechanism and the first Y-axis displacement mechanism, so that the risks of disordered follow-up and winding and breaking of the cables are avoided when the various motion mechanisms move.
5. According to the invention, the finished seedling substrate clamping mechanism is arranged, and the power element drives the movable arm to work, so that the finished seedling substrate is clamped, and the stability of the finished seedling is kept.
6. According to the invention, the plug tray receiving mechanism is arranged, the finished seedling clamping mechanism is lowered, the finished seedlings are placed in the plug holes of the plug tray, then the X-axis displacement mechanism and the second Y-axis displacement mechanism respectively act, and the empty plug holes of the plug tray are conveyed to the position below the finished seedling clamping mechanism, so that the finished seedlings can be conveniently placed next time, the degree of mechanization and the degree of automation are obviously improved, and the efficiency of stacking operation is improved.
7. According to the invention, the substrate autorotation mechanism is arranged, and the drive motor drives the turntable to rotate, so that the finished seedlings and the finished seedling substrate are rotated to a proper angle, and the adjustment is convenient.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an installation schematic diagram of a finished seedling clamping mechanism, a Z-axis displacement mechanism and a first Y-axis displacement mechanism;
FIG. 2 is a rear side schematic view of FIG. 1;
FIG. 3 is a schematic front view of FIG. 1;
FIG. 4 is a schematic top view of FIG. 1;
FIG. 5 is an installation diagram of a finished seedling clamping mechanism and a finished seedling substrate clamping mechanism;
FIG. 6 is a schematic structural view of a Z-axis displacement mechanism;
FIG. 7 is a schematic structural view of a first Y-axis displacement mechanism;
FIG. 8 is a schematic structural view of a substrate rotation mechanism;
FIG. 9 is a schematic structural view of the bottom of the substrate rotation mechanism;
FIG. 10 is a schematic view of the mounting of the X-axis displacement mechanism and the second Y-axis displacement mechanism;
FIG. 11 is a schematic view of the installation of the substrate rotation mechanism and the finished seedling clamping mechanism;
FIG. 12 is a schematic view of the overall structure of a finished seedling clamping and stacking manipulator for vegetable grafting according to the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-finished seedling clamping mechanism, 2-Z axis displacement mechanism, 3-first Y axis displacement mechanism, 4-finished seedling substrate clamping mechanism, 5-cable groove, 6-plug receiving mechanism, 7-plug, 8-X axis displacement mechanism, 9-second Y axis displacement mechanism, 10-substrate self-rotation mechanism, 101-clamping arm, 102-power assembly A, 201-power assembly B, 202-motor B, 203-Z axis screw rod, 204-Z axis guide rail, 205-Z axis substrate, 206-Z axis transmission gear, 207-sensor B, 208-sensor C, 301-power assembly C, 302-motor C, 303-first Y axis screw rod, 304-first Y axis guide rail, 305-first Y axis substrate, 306-sensor D, 307-sensor E, 308-manipulator support, 401-fixed arm, 402-movable arm, 701-plug tray, 702-movable bracket, 801-power assembly D, 802-X shaft motor, 803-X shaft screw rod, 804-X shaft base plate, 805-X shaft guide rail, 806-sensor F, 901-power assembly E, 902-second Y shaft motor, 903-second Y shaft screw rod, 904-second Y shaft guide rail, 905-sensor G, 906-sensor H, 1001-support plate, 1002-rotary table, 1003-gear ring, 1004-drive motor, 1005-gear, 1006-sensor I, 1011-sensor A, 1021-motor A, 1022-worm wheel and 1023-worm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, the invention is a finished seedling clamping and stacking manipulator for vegetable grafting, comprising a finished seedling clamping mechanism 1, wherein the finished seedling clamping mechanism 1 comprises a pair of clamping arms 101 for clamping or releasing a finished seedling, and a power assembly a102 for driving the clamping ends of the clamping arms 101 to move in opposite directions to clamp the finished seedling or move in opposite directions to release the finished seedling, and the finished seedling is clamped and fixed by driving the clamping arms 101 to move in opposite directions, so that the subsequent operation is facilitated; the Z-axis displacement mechanism 2 comprises a power assembly B201 for driving the finished seedling clamping mechanism 1 to displace along the Z axis, so that the position of the finished seedling clamping mechanism 1 along the Z axis direction can be conveniently adjusted; the first Y-axis displacement mechanism 3 comprises a power assembly C301 for driving the finished seedling clamping mechanism 1 and the Z-axis displacement mechanism 2 to displace along the Y axis, so that the position of the finished seedling clamping mechanism 1 along the Y axis direction can be conveniently adjusted, and the subsequent operation is convenient; the plug receiving mechanism 6 is arranged below the Z-axis displacement mechanism 2, and the plug receiving mechanism 6 is used for receiving the finished seedlings released by the finished seedling clamping mechanism 1;
wherein, cave dish receiving mechanism 6 includes: the plug tray 7 is provided with plug holes for placing finished seedlings in a rectangular array on the plug tray 7; the X-axis displacement mechanism 8, the X-axis displacement mechanism 8 comprises a power assembly D801 for driving the plug tray 7 to displace along the X axis; a second Y-axis displacement mechanism 9, wherein the second Y-axis displacement mechanism 9 comprises a power assembly E901 for driving the plug tray 7 and the X-axis displacement mechanism 8 to displace along the Y axis, the finished seedling clamping mechanism 1 is lowered, the finished seedlings are placed in plug holes of the plug tray 7, then the X-axis displacement mechanism 8 and the second Y-axis displacement mechanism 9 respectively act, and the empty plug holes of the plug tray 7 are conveyed to the position below the finished seedling clamping mechanism 1, so that the finished seedlings can be placed next time; and the control system is respectively connected with the finished seedling clamping mechanism 1, the first Y-axis displacement mechanism 3, the Z-axis displacement mechanism 2, the X-axis displacement mechanism 8 and the second Y-axis displacement mechanism 9 and respectively controls the action start and stop of the finished seedling clamping mechanism.
As shown in fig. 1-5, a pair of sensors a1011 for detecting the stroke position of the gripping arm 101 are arranged at the tail end of the gripping arm 101; when the clamping arms 101 move towards or away from each other and reach the detection range of the sensors A1011 at the two ends, the control system controls the clamping arms 101 to stop moving, so that the clamping arms 101 are prevented from being clamped too tightly or opened too much.
As shown in fig. 1, cable grooves 5 for accommodating electric devices and cables are respectively arranged on the Z-axis displacement mechanism 2, the first Y-axis displacement mechanism 3 and the plug receiving mechanism 6, so that when the various motion mechanisms move, the cables are prevented from being out of order to follow up and from being wound and broken; the cable trough 5 is a U-shaped structure.
As shown in fig. 12, the plug 7 is provided with, from top to bottom: a tray 701 for supporting the tray 7, and a mobile carriage 702 fitted with the tray 701; the power assembly D801 comprises an X-axis motor 802 and an X-axis lead screw 803 which is connected with the X-axis motor 802 and drives the plug tray 7 and the plug tray 701 to move along the X axis, the X-axis lead screw 803 is driven to rotate through the work of the X-axis motor 802, so that the moving bracket 702 is driven to rotate, and the vacant plug holes in the plug tray 7 are further moved to the position for receiving finished seedlings; the X-axis motor 802 and the X-axis lead screw 803 are both mounted on the X-axis substrate 804; an X-axis guide rail 805 for moving the moving bracket 702 is respectively arranged on two sides of the X-axis lead screw 803, so that the movement of the moving bracket 702 is guided, and the stability of the moving bracket 702 is improved; the power assembly E901 comprises a second Y-axis motor 902, and a second Y-axis screw 903 connected to the second Y-axis motor 902 and driving the X-axis displacement mechanism 8 and the aperture disk 7 to displace along the Y-axis; two sides of the second Y-axis lead screw 903 are respectively provided with a second Y-axis guide rail 904 for the displacement of the X-axis displacement mechanism 8; sensors F806 for detecting the stroke positions of the movable brackets 702 are respectively arranged at two ends of the X-axis displacement mechanism 8; two ends of the second Y-axis displacement mechanism 9 are respectively provided with a sensor G905 for detecting the stroke position of the X-axis displacement mechanism 8; sensors H906 for correcting the deviation are provided between the pair of sensors F806 and between the pair of sensors G905, respectively.
Example 2
On the basis of the embodiment 1, as shown in fig. 5, the power assembly a102 includes a motor a1021, and a worm wheel 1022 installed at the output end of the motor a 1021; a worm 1023 matched with the worm wheel 1022 is coaxially fixed on at least one clamping arm 101; the motor a1021 drives at least one clamping arm 101 to open and close through the worm wheel 1022 and the worm 1023, so as to clamp or release the finished seedling.
Example 3
On the basis of embodiment 2, as shown in fig. 6, the power module B201 includes: the output end of the motor B202 is connected with a Z-axis screw rod 203, and the finished seedling clamping mechanism 1 is driven to move along the Z axis through the Z-axis screw rod 203; the Z-axis guide rail 204 is matched with the finished seedling clamping mechanism 1 to move and guide along the Z axis; the Z-axis guide 204 is fixed to a Z-axis substrate 205. A Z-axis transmission gear 206 is respectively arranged at the output shaft of the motor B202 and one end of the Z-axis screw rod 203 and is meshed with each other; the motor B202 drives the Z-axis lead screw 203 to work through a pair of Z-axis transmission gears 206.
As shown in fig. 6, the upper and lower ends of the Z-axis substrate 205 are respectively provided with a sensor B207 for detecting the stroke position of the finished seedling clamping mechanism 1 when moving along the Z-axis; when the finished seedling clamping mechanism 1 moves to the detection range of the sensor B207, the control system controls the motor B202 to be shut down, so that the finished seedling clamping mechanism 1 is prevented from falling off the track upwards or colliding other parts downwards; a sensor C208 for calibrating the offset is also installed between the pair of sensors B207.
Example 4
On the basis of embodiment 3, as shown in fig. 7, the power module C301 includes: the output end of the motor C302 is connected with a first Y-axis screw rod 303 which drives the Z-axis displacement mechanism 2 to displace along the Y axis, and the motor C302 works to drive the first Y-axis screw rod 303 to rotate so as to drive the Z-axis displacement mechanism 2 and the finished seedling clamping mechanism 1 to move along the Y axis, so that the finished seedling clamping mechanism 1 is adjusted to a proper position; a first Y-axis guide 304, the first Y-axis guide 304 being mounted on the first Y-axis base plate 305 and moving in cooperation with the Z-axis displacement mechanism 2; a pair of sensors D306 for detecting the stroke position of the Z-axis displacement mechanism 2, the pair of sensors D306 being respectively located at both ends of the first Y-axis substrate 305; also mounted between the pair of sensors D306 is a sensor E307 which calibrates for offset, once per walk.
Example 5
On the basis of any one of the embodiments 4, as shown in fig. 1, the manipulator further includes a finished seedling substrate clamping mechanism 4 for clamping and fixing a finished seedling substrate; finished seedling matrix fixture 4 sets up in finished seedling fixture 1 below. Finished product seedling matrix fixture 4 includes: the clamping part comprises a fixed arm 401 for clamping the finished seedling substrate and a movable arm 402 matched with the peripheral shape of the finished seedling substrate, wherein a bayonet for clamping the finished seedling substrate is arranged on the fixed arm 401, and the movable arm 402 is arranged in a corresponding shape, for example, when the finished seedling substrate or a pot body for containing the finished seedling is in a barrel or circular truncated cone structure, the movable arm 402 is arranged in a corresponding crank arm structure; the power element comprises an air cylinder or a hydraulic cylinder which drives the movable arm 402 to move and is matched with the fixed arm 401 to complete clamping of the finished seedling substrate, and the movable arm 402 is driven to work through the power element so as to clamp the finished seedling substrate.
Example 6
On the basis of any one of embodiments 1 to 5, as shown in fig. 8 to 11, the moving manipulator further includes a substrate rotation mechanism 10 for driving the finished seedlings and the finished seedling substrates to rotate; the substrate rotation mechanism 10 includes: the seedling culture device comprises a supporting plate 1001, wherein a turntable 1002 for supporting a finished seedling matrix is rotatably arranged in the supporting plate 1001; a gear ring 1003 is arranged on the periphery of the turntable 1002; a driving motor 1004, wherein the output end of the driving motor 1004 is provided with a gear 1005 meshed with the gear ring 1003, and the driving motor 1004 works to drive the turntable 1002 to rotate, so that the finished seedlings and the finished seedling matrix are rotated to a proper angle; and the pair of sensors I1006 are arranged at an included angle, and respectively detect the angular positions of the gears 1005.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a finished product seedling centre gripping and pile up manipulator for vegetable grafting which characterized in that includes:
the finished seedling clamping mechanism (1) comprises a pair of clamping arms (101) for clamping or releasing a finished seedling, and a power assembly A (102) for driving the clamping ends of the clamping arms (101) to move towards each other to clamp the finished seedling or move away from each other to release the finished seedling;
the Z-axis displacement mechanism (2) comprises a power assembly B (201) for driving the finished seedling clamping mechanism (1) to displace along the Z axis;
the first Y-axis displacement mechanism (3) comprises a power assembly C (301) for driving the finished seedling clamping mechanism (1) and the Z-axis displacement mechanism (2) to displace along the Y axis;
the plug receiving mechanism (6) is arranged below the Z-axis displacement mechanism (2) and receives the finished seedlings released by the finished seedling clamping mechanism (1); wherein, cave dish receiving mechanism (6) includes:
the plug tray (7) is provided with plug holes for placing finished seedlings after grafting operation in a rectangular array manner;
an X-axis displacement mechanism (8) comprising a power assembly D (801) for driving the plug disc (7) to displace along the X axis;
the second Y-axis displacement mechanism (9) comprises a power assembly E (901) for driving the plug tray (7) and the X-axis displacement mechanism (8) to displace along the Y axis;
and the control system is respectively connected with the finished seedling clamping mechanism (1), the first Y-axis displacement mechanism (3), the Z-axis displacement mechanism (2), the X-axis displacement mechanism (8) and the second Y-axis displacement mechanism (9) and respectively controls the action start and stop of the finished seedling clamping mechanism.
2. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 1, wherein a pair of sensors A (1011) for detecting stroke positions of the clamping arms (101) are arranged at the tail ends of the clamping arms (101); when the clamping arms (101) move towards or away from each other and reach the detection range of the sensor A (1011) at the two ends, the control system controls the clamping arms (101) to stop moving;
and cable grooves (5) for accommodating electric devices and cables are arranged on the Z-axis displacement mechanism (2), the first Y-axis displacement mechanism (3) and the plug receiving mechanism (6).
3. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 1, wherein the power assembly A (102) comprises a motor A (1021), and a worm gear (1022) mounted at the output end of the motor A (1021);
a worm (1023) matched with a worm wheel (1022) is coaxially fixed on at least one clamping arm (101); the motor A (1021) drives at least one clamping arm (101) to open and close through a worm wheel (1022) and a worm (1023).
4. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 1, 2 or 3, further comprising a finished seedling substrate clamping mechanism (4) for clamping and fixing a finished seedling substrate; the finished seedling substrate clamping mechanism (4) is arranged below the finished seedling clamping mechanism (1);
finished product seedling matrix fixture (4) includes:
the clamping piece comprises a fixed arm (401) for clamping the finished seedling substrate and a movable arm (402) matched with the peripheral side of the finished seedling substrate in shape;
and the power element comprises an air cylinder or a hydraulic cylinder which drives the movable arm (402) to move and is matched with the fixed arm (401) to complete clamping of the finished seedling substrate.
5. The mechanical hand for clamping and stacking the finished seedlings for vegetable grafting as claimed in claim 1, wherein the power assembly B (201) comprises:
the output end of the motor B (202) is connected with a Z-axis screw rod (203), and the finished seedling clamping mechanism (1) is driven to move along the Z axis through the Z-axis screw rod (203);
the Z-axis guide rail (204) is matched with the finished seedling clamping mechanism (1) to move and guide along the Z axis; the Z-axis guide rail (204) is fixed on a Z-axis base plate (205).
6. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 5, wherein a Z-axis transmission gear (206) is respectively mounted at one end of the output shaft of the motor B (202) and one end of the Z-axis screw rod (203) and is meshed with each other; the motor B (202) drives the Z-axis screw rod (203) to work through a pair of Z-axis transmission gears (206).
7. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 5 or 6, wherein a sensor B (207) for detecting the stroke position of the finished seedling clamping mechanism (1) when moving along the Z axis is respectively mounted at the upper end and the lower end of the Z axis base plate (205); when the finished seedling clamping mechanism (1) moves to the detection range of the sensor B (207), the control system controls the motor B (202) to be turned off;
a sensor C (208) for calibrating deviation is also installed between the pair of sensors B (207).
8. The mechanical hand for clamping and stacking finished seedlings for vegetable grafting as claimed in claim 1, wherein said power assembly C (301) comprises:
the output end of the motor C (302) is connected with a first Y-axis screw rod (303) which drives the Z-axis displacement mechanism (2) to displace along the Y axis;
a first Y-axis guide rail (304), wherein the first Y-axis guide rail (304) is arranged on a first Y-axis base plate (305) and moves in coordination with the Z-axis displacement mechanism (2); the first Y-axis substrate (305) is fixed to a robot holder (308);
a pair of sensors D (306) for detecting the stroke position of the Z-axis displacement mechanism (2), wherein the pair of sensors D (306) are respectively positioned at two ends of a first Y-axis substrate (305); a sensor E (307) for calibrating deviation is also installed between the pair of sensors D (306).
9. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 1, wherein the plug tray (7) is provided with, from top to bottom: a well tray (701) for supporting said well (7), and a mobile carriage (702) fitted with the well tray (701);
the power assembly D (801) comprises an X-axis motor (802) and an X-axis screw rod (803) which is connected with the X-axis motor (802) and drives the plug tray (7) and the plug tray (701) to move along the X axis; the X-axis motor (802) and the X-axis screw rod (803) are both arranged on an X-axis substrate (804); x-axis guide rails (805) for moving the movable bracket (702) are respectively arranged on two sides of the X-axis screw rod (803);
the power assembly E (901) comprises a second Y-axis motor (902) and a second Y-axis screw rod (903) which is connected with the second Y-axis motor (902) and drives the X-axis displacement mechanism (8) and the plug tray (7) to displace along the Y axis; two sides of the second Y-axis screw rod (903) are respectively provided with a second Y-axis guide rail (904) for the displacement of the X-axis displacement mechanism (8);
sensors F (806) for detecting the stroke positions of the movable brackets (702) are respectively arranged at two ends of the X-axis displacement mechanism (8);
two ends of the second Y-axis displacement mechanism (9) are respectively provided with a sensor G (905) for detecting the stroke position of the X-axis displacement mechanism (8);
sensors H (906) for correcting the deviation are provided between the pair of sensors F (806) and between the pair of sensors G (905), respectively.
10. The finished seedling clamping and stacking manipulator for vegetable grafting as claimed in claim 1 or 9, wherein the moving manipulator further comprises a substrate rotation mechanism (10) for driving the finished seedlings and the finished seedling substrate to rotate; the substrate rotation mechanism (10) comprises:
the seedling culture device comprises a supporting plate (1001), wherein a turntable (1002) for supporting a finished seedling matrix is rotatably arranged in the supporting plate (1001); a gear ring (1003) is arranged on the periphery of the turntable (1002);
the output end of the driving motor (1004) is provided with a gear (1005) meshed with the gear ring (1003);
the pair of sensors I (1006) are arranged at an included angle, and detect the angle positions of the gears (1005) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111286724.3A CN113910215A (en) | 2021-11-02 | 2021-11-02 | A finished product seedling centre gripping and stacking manipulator for vegetables grafting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111286724.3A CN113910215A (en) | 2021-11-02 | 2021-11-02 | A finished product seedling centre gripping and stacking manipulator for vegetables grafting |
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| CN113910215A true CN113910215A (en) | 2022-01-11 |
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| CN202111286724.3A Pending CN113910215A (en) | 2021-11-02 | 2021-11-02 | A finished product seedling centre gripping and stacking manipulator for vegetables grafting |
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