CN114600603B - Seedling tray seedling transplanting electric control mechanical claw and control method thereof - Google Patents
Seedling tray seedling transplanting electric control mechanical claw and control method thereof Download PDFInfo
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- CN114600603B CN114600603B CN202210385331.6A CN202210385331A CN114600603B CN 114600603 B CN114600603 B CN 114600603B CN 202210385331 A CN202210385331 A CN 202210385331A CN 114600603 B CN114600603 B CN 114600603B
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- seedling
- connecting rod
- needle
- main shaft
- sliding sleeve
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Abstract
The invention discloses an electric control gripper for transplanting seedling trays and a control method thereof, and the electric control gripper comprises a plurality of swing fork rods and a motor with a screw rod, wherein the motor is arranged on a main shaft and is fixed in the middle of the main shaft through a motor fixing seat, the top end of the main shaft is provided with a screw rod supporting seat for fixing the screw rod, the plurality of swing fork rods are uniformly arranged around the main shaft, the tail ends of the plurality of swing fork rods are connected with the upper end of the main shaft through a first fixed hinged support, the swing fork rods are in sliding connection with the top end of a seedling taking needle, the middle part of the seedling taking needle is sleeved with a needle guide tube, the needle guide tube is connected with the main shaft through a connecting rod group, a driving nut in spiral fit with the screw rod is fixed on a driving sliding sleeve in sliding connection with the main shaft, and the driving sliding sleeve is connected with the swing fork rods through an arc-shaped connecting rod.
Description
Technical Field
The invention relates to the field of mechanical claws, in particular to a seedling tray seedling transplanting electric control mechanical claw used when a transplanter transplants seedling tray seedlings and a control method thereof.
Background
The automatic technology of transplanting operation is one of the key technologies of realizing agricultural production automation, and transplanting mechanical gripper is the important part of transplanting robot and seedling direct contact, and its working property is directly influencing transplanting quality, and the multiple transplanting gripper that present stage developed is mainly used cylinder drive, has vibrations big, the shortcoming that the precision is low to the problem that current transplanting gripper swung by a wide margin in work still can damage seedling root system in the transplanting process, destroys the integrality of seedling tray matrix.
Chinese patent (CN 104604402A) comprises a main body frame, a steering engine mounting bracket, a coupler, a transmission shaft, incomplete bevel gear rocker arms, connecting rods, steel needles, a gripper mounting bracket and a supporting shaft, wherein the steering engine is mounted on the main body frame through the steering engine mounting bracket, four incomplete bevel gear rocker arms are mounted on the main body frame through shafts, the steering engine drives the incomplete bevel gear rocker arms to move through the coupler and the transmission shaft to drive a connected four-link mechanism to move, so that the steel needles mounted on the four connecting rods move to finish seedling clamping or loosening operation; although the proposal proposed by the patent has compact structure and small vibration, certain problems exist: the steel needle of this structure inserts the in-process that seedling tray matrix clamp got or loosened the seedling, and the movement track of steel needle is the arc all the time, can not follow the axis direction motion slant of steel needle and insert in the seedling tray matrix, and the arc motion causes the shearing to the root system of seedling, and the seedling tray matrix is also broken easily, consequently development stable performance, high efficiency, and the transplanting gripper that does not influence the seedling root system has very important meaning to improving transplanting robot's transplanting success rate and transplanting efficiency.
Disclosure of Invention
The invention aims to provide a seedling tray seedling transplanting electric control mechanical claw without influencing a seedling root system and a control method thereof, aiming at the problems in the prior art.
In order to realize the purpose, the invention adopts the technical scheme that:
the utility model provides an automatically controlled gripper is transplanted to seedling tray seedling, is including installing a plurality of swing crotch on the main shaft and taking the motor of screw rod, the motor passes through the motor fixing base to be fixed on the main shaft, the main shaft top is equipped with fixedly the screw rod supporting seat of screw rod, the main shaft bottom is equipped with stop nut, and is a plurality of swing crotch centers on the main shaft evenly sets up, and is a plurality of swing crotch end all through near the first dead hinge support that screw rod supporting seat lower extreme set up with the main shaft is connected, the draw-in groove of swing crotch and the annular sliding connection who gets seedling needle top, it has the needle pipe to get seedling needle middle part cover, the needle pipe with the main shaft passes through the connecting rod group and connects, the connecting rod group with be equipped with between the first dead hinge support with main shaft sliding connection's drive sliding sleeve, be fixed with on the drive sliding sleeve screw rod spiral complex drive nut, the drive sliding sleeve with the swing crotch passes through the arc connecting rod and connects.
Seedling tray seedling transplanting electric control gripper is through control the operation of motor realizes the seedling and transplants, the motor is through control the screw rod rotates the messenger drive nut reciprocates, drive nut drives the drive sliding sleeve removes, the drive sliding sleeve passes through the arc connecting rod drives swing fork arm goes up and down in order to realize get drawing in of seedling needle and extending and stretch out and draw back, stop nut has restricted the rod group is in main epaxial displacement range, the screw rod supporting seat is fixed the screw rod, the draw-in groove restriction annular direction of motion, the draw-in groove with the guide pin pipe has ensured jointly get the seedling needle and follow when flexible get the axis motion of seedling needle oneself, the rod group will the guide pin pipe with the main shaft links together, the guide pin pipe passes through the rod group is relative the main shaft luffing motion.
Preferably, the linkage includes first connecting rod, second connecting rod, third connecting rod and extension spring, first connecting rod with the second connecting rod cross arrangement, the upper end and the lower extreme of leading the needle tubing are articulated respectively first connecting rod with the second connecting rod, the motor fixing base is fixed the main shaft middle part, the main shaft is in second fixed hinge support and the third fixed hinge support that motor fixing base upper and lower position set up articulate respectively the second connecting rod with first connecting rod, third connecting rod one end with the articulated other end of second connecting rod is articulated with spacing sliding sleeve, spacing sliding sleeve with main shaft sliding connection, spacing sliding sleeve is located stop nut with between the third fixed hinge support, extension spring one end with the second connecting rod with the pin joint of leading the needle tubing connect the other end with the third fixed hinge support is connected.
Lead the needle tubing pass through first connecting rod with the second connecting rod realizes relatively the motion of main shaft luffing motion, stop nut has restricted spacing sliding sleeve is in main epaxial moving range, the third connecting rod through with spacing sliding sleeve articulates the realization and passes through spacing sliding sleeve restriction the luffing motion scope of needle tubing, extension spring is in the state of being elongated all the time, through extension spring is right guide pin pipe lower extreme is applyed the pulling force, works as when swing fork arm is put down extension spring can draw together lead the needle tubing and make the guide pin pipe is relative the main shaft is swung down, thereby realizes getting drawing in of seedling needle.
Preferably, get seedling needle middle part and be provided with the bulge loop, the guide needle pipe is in the bulge loop with slide between the annular, the bulge loop can restrict guide needle pipe swing's scope downwards.
Preferably, the lower end of the screw is fixedly connected with an output shaft of the motor, the upper end of the screw is rotatably connected with the screw supporting seat, the screw is rotatably connected with the screw supporting seat so that the screw supporting seat cannot rotate when the screw rotates, and the screw is fixedly connected with the output shaft of the motor so that the motor can directly drive the screw to rotate.
Preferably, the top end of the main shaft is provided with a connecting screw, the main shaft is fixed on a mechanical arm of the transplanter by the connecting screw, and the seedling tray seedling transplanting electric control mechanical claw can be arranged on different transplanters by the connecting screw.
Preferably, be equipped with the drive hinged-support on the drive sliding sleeve, the arc connecting rod passes through the drive hinged-support with the drive sliding sleeve is connected, be equipped with spacing hinged-support on the spacing sliding sleeve, the third connecting rod passes through spacing hinged-support with spacing sliding sleeve is connected, through spacing hinged-support with the drive hinged-support realizes the third connecting rod with the arc connecting rod with spacing hinged-support with the articulated between the drive hinged-support.
Preferably, the arc connecting rod with the swing fork arm is articulated, the draw-in groove link up from top to bottom, draw-in groove confined one end extend to the arc connecting rod with by the pin joint of swing fork arm, the draw-in groove is kept away from the other end of main shaft is equipped with the opening, the annular passes through the opening slides in the draw-in groove.
Preferably, when the seedling tray seedling transplanting electric control mechanical claw takes seedlings, the output shaft of the motor rotates forward to drive the screw to rotate forward, the driving nut drives the driving sliding sleeve to descend relative to the screw, the driving sliding sleeve pulls the swinging fork rod through the arc-shaped connecting rod to press down the seedling taking needle, the seedling taking needle is pulled inwards by the extension spring through the needle guide tube, the needle guide tube drives the third connecting rod through the second connecting rod to press the limiting sliding sleeve downwards to the limiting nut, and the seedling tray seedling transplanting electric control mechanical claw finishes folding action;
at the moment, the limiting sliding sleeve is blocked by the limiting nut, the second connecting rod is fixed by the limiting sliding sleeve, the needle guide tube is fixed by the second connecting rod, the stretching direction of the seedling taking needle is fixed by the needle guide tube to stretch along the axial direction of the seedling taking needle, the seedling taking needle is pressed down by the swinging fork rod until the upper end of the needle guide tube is contacted with the annular groove at the top end of the seedling taking needle, the seedling taking needle is fixed by the needle guide tube at the moment, the seedling taking needle of the seedling tray seedling transplanting electric control mechanical claw synchronously completes the stretching action, and the motor is closed;
when the seedling tray seedling transplanting electric control mechanical claw puts seedlings, according to the analogy of the above, the output shaft of the motor rotates reversely to realize the synchronous shortening and opening of the seedling taking needle of the seedling tray seedling transplanting electric control mechanical claw.
Compared with the prior art, the invention has the beneficial effects that:
(1) The seedling tray seedling transplanting electric control mechanical claw is controlled by only using a single motor, the stretching action, the folding action and the unfolding action of the seedling taking needle are not required to be controlled by a plurality of power sources respectively, the synchronous cooperation work of the power sources is not required to be controlled, and the difficulty in controlling the mechanical claw is reduced;
(2) The invention divides the stretching action, the closing action and the opening action of the seedling taking needle of the seedling tray seedling transplanting electric control mechanical claw into two steps, prevents the seedling from being damaged by large-amplitude swing generated when the seedling taking needle is closed, and protects the integrity of the seedling;
(3) The stretching direction of the stretching action of the seedling taking needle is carried out along the axis of the seedling taking needle, so that the seedling taking needle is prevented from doing arc motion when being stretched and inserted into a seedling tray substrate, the integrity of the seedling tray substrate can be damaged when the seedling taking needle does arc motion, even the root system of a seedling can be damaged, and therefore the integrity of the root system of the seedling and the integrity of the seedling tray substrate can be protected when the seedling taking needle does linear motion;
(4) One end of the clamping groove of the swing fork rod is provided with an opening, so that the seedling taking needle is convenient to assemble and disassemble, and when the seedling taking needle is trapped by a working environment, the seedling taking needle is easier to manually get rid of the trap.
Drawings
FIG. 1 is a schematic view of the initial state of the present invention;
FIG. 2 is a schematic view of the furled state of the present invention;
FIG. 3 is a schematic structural view showing a state where the substrate of the seedling tray is inserted;
in the figure: 1. a main shaft; 101. a first fixed hinge support; 102. a second fixed hinge support; 103. a third fixed hinge support; 104. a limit nut; 105. a coupling screw; 2. a second link; 3. a first link; 4. driving the sliding sleeve; 401. a driving hinged support; 5. a limiting sliding sleeve; 501. a limiting hinged support; 6. a needle guide tube; 7. taking a seedling needle; 8. a swinging fork lever; 9. an arc-shaped connecting rod; 10. a third link; 11. an extension spring; 12. a motor fixing seat; 13. a screw rod supporting seat; 14. a motor; 15. a screw; 16. the nut is driven.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 3, an electric control gripper for seedling tray seedling transplantation includes a plurality of swing fork rods 8 mounted on a main shaft 1 and a motor 14 with a screw 15, the motor 14 is fixed on the main shaft 1 through a motor fixing seat 12, a screw supporting seat 13 for fixing the screw 15 is provided at the top end of the main shaft 1, a stop nut 104 is provided at the bottom end of the main shaft 1, the swing fork rods 8 are uniformly arranged around the main shaft 1, the ends of the swing fork rods 8 are connected with the main shaft 1 through a first fixed hinge support 101 arranged close to the lower end of the screw supporting seat 13, a clamping groove of the swing fork rods 8 is slidably connected with an annular groove at the top end of a seedling taking needle 7, a needle guiding tube 6 is sleeved at the middle part of the seedling taking needle 7, the needle guiding tube 6 is connected with the main shaft 1 through a connecting rod group, a driving sliding sleeve 4 slidably connected with the main shaft 1 is provided between the connecting rod group and the first fixed hinge support 101, a driving nut 16 spirally matched with the screw 15 is fixed on the driving sliding sleeve 4, and the swing fork rods 8 are connected through arc connecting rods 9.
Specifically, three swing fork rods 8 are uniformly arranged around the main shaft 1, each swing fork rod 8 is correspondingly provided with one seedling taking needle 7, each seedling taking needle 7 is provided with a needle guide tube 6, each needle guide tube 6 is provided with a connecting rod group, and the positions of the three seedling taking needles 7 are opposite to the positions of the three swing fork rods 8.
Specifically, the linkage includes first connecting rod 3, second connecting rod 2, third connecting rod 10 and extension spring 11, first connecting rod 3 and second connecting rod 2 cross arrangement, the upper end and the lower extreme of guide pin pipe 6 articulate first connecting rod 3 and second connecting rod 2 respectively, motor fixing base 12 is fixed at main shaft 1 middle part, second fixed hinge support 102 and third fixed hinge support 103 that main shaft 1 set up in motor fixing base 12 upper and lower position articulate second connecting rod 2 and first connecting rod 3 respectively, third connecting rod 10 one end is articulated with the articulated other end of second connecting rod 2 and spacing sliding sleeve 5, spacing sliding sleeve 5 and main shaft 1 sliding connection, spacing sliding sleeve 5 is located between limit nut 104 and the third fixed hinge support 103, extension spring 11 one end is connected the other end and is connected with third fixed hinge support 103 with the pin joint of second connecting rod 2 and guide pin pipe 6.
Specifically, a driving hinged support 401 is arranged on the driving sliding sleeve 4, the arc-shaped connecting rod 9 is connected with the driving sliding sleeve 4 through the driving hinged support 401, a limiting hinged support 501 is arranged on the limiting sliding sleeve 5, and the third connecting rod 10 is connected with the limiting sliding sleeve 5 through the limiting hinged support 501.
Specifically, the first fixed hinge support 101, the second fixed hinge support 102, and the third fixed hinge support 103 are each formed by three lugs, the driving hinge support 401 and the limiting hinge support 501 are also formed by three lugs, and the position of each lug corresponds to the position of one swing fork 8.
Specifically, the middle part of the seedling taking needle 7 is provided with a convex ring, and the needle guide tube 6 slides between the convex ring and the annular groove.
Specifically, the lower end of the screw 15 is fixedly connected with the output shaft of the motor 14, and the upper end of the screw 15 is rotatably connected with the screw support base 13.
Specifically, the top end of the main shaft 1 is provided with a connecting screw 105, and the main shaft 1 is fixed on a mechanical arm of the transplanter by the connecting screw 105.
Specifically, the arc-shaped connecting rod 9 is hinged to the swing fork rod 8, the clamping groove is vertically communicated, the closed end of the clamping groove extends to the side of a hinged point of the arc-shaped connecting rod 9 and the swing fork rod 8, and an opening is formed in the other end, far away from the main shaft 1, of the clamping groove.
Specifically, the control method of the seedling tray seedling transplanting electric control mechanical claw comprises the following steps:
firstly, a mechanical arm of a transplanter moves a seedling tray seedling transplanting electric control mechanical claw to a position right above a seedling tray and moves downwards to a position close to seedlings, and then the seedling tray seedling transplanting electric control mechanical claw stops;
secondly, the output shaft of the motor 14 rotates forward to drive the screw rod 15 to rotate forward, the drive nut 16 descends relative to the screw rod 15, the drive sliding sleeve 4 is driven by the drive nut 16 to move downwards, the drive sliding sleeve 4 pulls the swing fork rod 8 downwards through the arc-shaped connecting rod 9, the swing fork rod 8 presses down the seedling taking needle 7, the guide needle tube 6 moves synchronously with the seedling taking needle 7 under the pulling force of the tension spring 11, meanwhile, the first connecting rod 3 and the second connecting rod 2 pull the guide needle tube 6 to convert the downward movement of the seedling taking needle 7 into an inward gathering movement, the guide needle tube 6 drives the limiting sliding sleeve 5 to move downwards to the limiting nut 104 through the third connecting rod 10, at the moment, the seedling taking needle 7 gathers leaves around seedlings of the seedling tray inwards, and the lower end of the seedling taking needle 7 is located on the upper surface of the seedling tray matrix;
thirdly, the output shaft of the motor 14 continuously rotates forwards to drive the screw rod 15 to rotate forwards, so that the swing fork rod 8 presses down the seedling taking needle 7, the limiting sliding sleeve 5 is blocked by the limiting nut 104 to stop moving at the moment, the limiting sliding sleeve 5 prevents the needle guide tube 6 from continuously moving through the third connecting rod 10, therefore, the seedling taking needle 7 is downwards inserted into the seedling tray substrate along the axis of the seedling taking needle 7 until the upper end of the needle guide tube 6 is contacted with the annular groove at the top end of the seedling taking needle 7, the seedling taking needle 7 is limited by the needle guide tube 6 to move at the moment, the motor 14 stops rotating, and at the moment, the three seedling taking needles 7 are obliquely inserted into the seedling tray substrate to hold seedlings;
fourthly, the mechanical arm of the transplanter moves upwards to take out the seedlings together with the seedling tray matrix, and the mechanical arm of the transplanter drives the seedling tray seedling transplanting electric control mechanical claw to move to the position above the hole to be placed and then descend to the release height;
fifthly, rotating the output shaft of the motor 14 reversely to drive the screw rod 15 to rotate reversely, moving the seedling taking needle 7 upwards along the axis of the seedling taking needle 7 to draw the seedling taking needle 7 out of the seedling tray substrate according to the analogy of the second step and the third step, and finishing the action of drawing the seedling tray substrate by the seedling taking needle 7 when the lower end of the needle guide tube 6 is contacted with a convex ring in the middle of the seedling taking needle 7;
sixthly, the output shaft of the motor 14 continuously rotates reversely to drive the screw rod 15 to rotate reversely, the seedling taking needle 7 drives the needle guide tube 6 and the seedling taking needle 7 to move synchronously through the convex ring, the needle guide tube 6 moves upwards to convert the seedling taking needle 7 into outward unfolding motion of the seedling taking needle 7 through the first connecting rod 3 and the second connecting rod 2, the tension spring 11 is stretched back to the initial state by the needle guide tube 6, the motor 14 stops rotating when the annular groove of the seedling taking needle 7 slides to the closed end of the clamping groove of the swing fork rod 8, and at the moment, the seedling tray seedling transplanting electric control mechanical claw puts down seedlings to return to the initial state.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an automatically controlled gripper is transplanted to seedling tray seedling, is including installing a plurality of swing fork arms on the main shaft and taking the motor of screw rod, its characterized in that: the motor passes through the motor fixing base to be fixed on the main shaft, the main shaft top is equipped with fixedly the screw rod supporting seat of screw rod, the main shaft bottom is equipped with stop nut, and is a plurality of swing fork arm centers on the main shaft evenly sets up, and is a plurality of swing fork arm end is all through near the first fixed hinge support that screw rod supporting seat lower extreme set up with the main shaft is connected, the draw-in groove of swing fork arm with get the annular sliding connection on seedling needle top, it has the needle pipe of leading to get seedling needle middle part cover, the needle pipe with the main shaft passes through the linkage and connects, the linkage with be equipped with between the first fixed hinge support with main shaft sliding connection's drive sliding sleeve, be fixed with on the drive sliding sleeve with screw rod screw-in-thread fit's drive nut, the drive sliding sleeve with the swing fork arm passes through the arc connecting rod and connects.
2. The electric-controlled mechanical claw for transplanting seedling trays in the seedling tray as claimed in claim 1, wherein: the connecting rod group comprises a first connecting rod, a second connecting rod, a third connecting rod and an extension spring, the first connecting rod and the second connecting rod are arranged in a crossed mode, the upper end and the lower end of the needle guide tube are hinged to the first connecting rod and the second connecting rod respectively, the motor fixing seat is fixed to the middle of the main shaft, the main shaft is arranged on a second fixed hinged support and a third fixed hinged support which are arranged on the upper portion and the lower portion of the motor fixing seat in a hinged mode respectively, the second connecting rod and the first connecting rod are hinged to each other, one end of the third connecting rod is hinged to the other end of the second connecting rod, the limiting sliding sleeve is connected with the main shaft in a sliding mode, the limiting sliding sleeve is located between the limiting nut and the third fixed hinged support, and one end of the extension spring is connected with the other end of the second connecting rod and the hinged joint of the needle guide tube and connected with the third fixed hinged support.
3. The electric-controlled mechanical claw for transplanting seedling trays in the seedling tray as claimed in claim 2, wherein: extension spring is right all the time lead the needle tubing and exert pulling force, it is provided with the bulge loop to get seedling needle middle part, lead the needle tubing be in the bulge loop with slide between the annular.
4. The electric-controlled mechanical claw for transplanting seedling trays in the seedling tray as claimed in claim 1, wherein: the lower end of the screw is fixedly connected with the output shaft of the motor, and the upper end of the screw is rotatably connected with the screw supporting seat.
5. The electric control mechanical claw for transplanting the seedling tray seedlings as claimed in claim 1, wherein: and a connecting screw is arranged at the top end of the main shaft and fixes the main shaft on a mechanical arm of the transplanter.
6. The electric control mechanical claw for transplanting the seedling tray seedlings as claimed in claim 1, wherein: the driving sliding sleeve is provided with a driving hinged support, and the arc-shaped connecting rod is connected with the driving sliding sleeve through the driving hinged support.
7. The electric control mechanical claw for transplanting the seedling tray seedlings as claimed in claim 2, wherein: the limiting sliding sleeve is provided with a limiting hinged support, and the third connecting rod is connected with the limiting sliding sleeve through the limiting hinged support.
8. The electric control mechanical claw for transplanting the seedling tray seedlings as claimed in claim 1, wherein: the arc-shaped connecting rod is hinged to the swing fork rod, the clamping groove is communicated up and down, one end, closed, of the clamping groove extends to the side of a hinged point of the arc-shaped connecting rod and the swing fork rod, and an opening is formed in the other end, far away from the main shaft, of the clamping groove.
9. The method for controlling the electric-controlled mechanical claw for transplanting the seedling tray seedlings as claimed in claim 2, 3 or 7, wherein: when the electric control gripper for seedling tray seedling transplanting picks the seedlings, the output shaft of the motor rotates forward to drive the screw to rotate forward, the driving nut drives the driving sliding sleeve to descend relative to the screw, the driving sliding sleeve pulls the swinging fork rod through the arc-shaped connecting rod to press down the seedling picking needle, the seedling picking needle is pulled inwards by the stretching spring through the needle guide tube, the needle guide tube drives the third connecting rod through the second connecting rod to press the limiting sliding sleeve downwards to the limiting nut, and the electric control gripper for seedling tray seedling transplanting finishes the furling action;
at the moment, the limiting sliding sleeve is blocked by the limiting nut, the second connecting rod is fixed by the limiting sliding sleeve, the needle guide tube is fixed by the second connecting rod, the stretching direction of the seedling taking needle is fixed by the needle guide tube to stretch along the axial direction of the seedling taking needle, the seedling taking needle is pressed down by the swinging fork rod until the upper end of the needle guide tube is in contact with the annular groove at the top end of the seedling taking needle, the seedling taking needle is fixed by the needle guide tube at the moment, the seedling taking needle of the seedling tray seedling transplanting electric control mechanical claw synchronously completes the stretching action, and the motor is turned off;
when the electric control mechanical claw for seedling tray seedling transplantation puts seedlings, the output shaft of the motor rotates reversely to realize synchronous shortening and opening of the seedling taking needle of the electric control mechanical claw for seedling tray seedling transplantation according to the analogy of the above.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210385331.6A CN114600603B (en) | 2022-04-13 | 2022-04-13 | Seedling tray seedling transplanting electric control mechanical claw and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210385331.6A CN114600603B (en) | 2022-04-13 | 2022-04-13 | Seedling tray seedling transplanting electric control mechanical claw and control method thereof |
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| CN114600603B true CN114600603B (en) | 2023-01-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102652473B (en) * | 2012-04-26 | 2014-12-17 | 北京农业智能装备技术研究中心 | Executor for automatically clamping tail end |
| CN102696322B (en) * | 2012-06-05 | 2015-02-04 | 江苏大学 | Pin type plug seedling transplanting end effector |
| CN103597939B (en) * | 2013-10-21 | 2015-08-12 | 浙江大学 | The plugging clamp modus ponens Plug seedling of single air cylinder driven transplants paw |
| CN204076269U (en) * | 2014-06-06 | 2015-01-07 | 中国计量学院 | Automatic transplanter for plug seedling seedling claw |
| CN105150232B (en) * | 2015-09-28 | 2019-01-29 | 申科谱自动化科技（珠海）有限公司 | Manipulator and work head |
| CN106358818B (en) * | 2016-08-22 | 2019-05-28 | 浙江大学 | Plug seedling cotyledon period packaging type is filled the gaps with seedlings special machine machinery claw and method of filling the gaps with seedlings |
| CN106922265A (en) * | 2017-04-23 | 2017-07-07 | 石河子大学 | A kind of protection device of pot seedling transplanter seedling taking hand end effector |
| CN107637237B (en) * | 2017-09-18 | 2020-02-21 | 江苏大学 | Seedling raking digging end effector and method |
| CN112936331B (en) * | 2021-03-17 | 2022-04-26 | 江苏大学 | Adjustable seedling-taking end effector for automatic transplanting of plug seedlings |
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