CN114885651B - High-speed transplanting robot with automatic manipulator distance adjustment function - Google Patents
High-speed transplanting robot with automatic manipulator distance adjustment function Download PDFInfo
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- CN114885651B CN114885651B CN202210428902.XA CN202210428902A CN114885651B CN 114885651 B CN114885651 B CN 114885651B CN 202210428902 A CN202210428902 A CN 202210428902A CN 114885651 B CN114885651 B CN 114885651B
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- conveyer belt
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- plug
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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
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Abstract
The invention discloses a high-speed transplanting robot with an automatic manipulator spacing adjusting function, which comprises a main frame, a hole tray conveying structure, a cultivation groove conveying structure and a transplanting structure, wherein the hole tray conveying structure and the cultivation groove conveying structure are distributed in a T shape; the transplanting structure is positioned above the plug conveying structure and the cultivation groove conveying structure, the transplanting structure comprises a horizontal synchronous belt module, a vertical lead screw module and a transplanting module, a plurality of seedling taking manipulators are arranged at the lower end of a transplanting cross beam of the transplanting module, the X-axis and Z-axis displacements of the seedling taking manipulators are realized under the driving of rotating motors corresponding to the horizontal synchronous belt module and the vertical lead screw module, and the Y-axis displacements of the seedling taking manipulators on the transplanting cross beam are realized through a driving motor, so that the seedling taking manipulators can transplant seedlings in the plug of the plug conveying structure into planting holes of the cultivation grooves of the cultivation groove conveying structure.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a high-speed transplanting robot capable of automatically adjusting the distance between mechanical arms.
Background
Plug seedling is a new seedling raising technology which is started in the 70 th century in European and American countries, and light-matrix soilless materials such as turf, vermiculite and the like are adopted as seedling raising matrixes. The plug seedling technique has the advantages of time saving, labor saving, resource saving, easy manual control, convenient management and no season constraint, and is widely applied to vegetables and flowers.
When the crops grow to a certain stage, the crops need to be transplanted into a proper space to promote the growth. The transplanting technology can reduce the growth time of crops, realize batch production, ensure the consistency of the quality, and have the effects of increasing the yield and income, and modern vegetables and flowers are cultivated in the mode. If the transplanting process is completed manually, the workload is large, the efficiency is low, the average speed of manual transplanting is 80 to 100 plants/h, and the large-scale transplanting requirement is difficult to realize.
Some developed countries in europe and america like the netherlands, japan, etc. have achieved automation of greenhouse management and control, and the accuracy and efficiency thereof have reached a high level. As the research on greenhouse machinery in China starts late and is mainly started in greenhouses, the research and development in the aspect are slow. With the advent of solar greenhouses, greenhouse facilities have been increasingly studied. In recent 20 years, the research on greenhouse transplantation equipment by domestic excellent people has been increasing. The transplantation efficiency and the transplantation quality are always good measuring standards of the transplantation machine, but the transplantation efficiency and the transplantation quality are difficult to be obtained at the same time, and the existing transplantation machine is difficult to ensure that the transplantation quality is considered while the high transplantation efficiency is ensured.
Disclosure of Invention
The invention aims to solve the problems and provides a high-speed transplanting robot with an automatic manipulator spacing adjustment function, which can improve the transplanting success rate and the transplanting efficiency while ensuring the seedling quality.
The invention is realized by the following technical scheme:
a high-speed transplanting robot with an automatic manipulator spacing adjusting function comprises a main frame, a hole tray conveying structure, a cultivation groove conveying structure and a transplanting structure, wherein the hole tray conveying structure and the cultivation groove conveying structure are distributed in a T shape;
the rear end of the transplanting cross beam is provided with two driving motors in a sliding manner, so that Y-axis displacement of the driving motors on the transplanting cross beam is realized, the front end of the transplanting cross beam is provided with a plurality of positioning plates which are uniformly arranged at intervals in a sliding manner, the positioning plates are correspondingly connected with aluminum profiles which are vertically and uniformly arranged, the driving motors are connected with the aluminum profiles at two ends through connecting angles, the driving motors drive the aluminum profiles at two ends to move, the rear end of each aluminum profile is correspondingly provided with a micro motor fixed by a motor bracket, the upper end of each aluminum profile is horizontally provided with a micro cylinder I and a control belt position fixing plate, and the front end of each aluminum profile is obliquely provided with a spring for connecting adjacent aluminum profiles; the spacing control belt is wound on the adjacent micro motor and penetrates through the groove on the side surface of the control belt position fixing plate; the micro cylinder I drives the control belt position fixing plate to extend out and retract, so that the control belt position fixing plate can compress and release the spacing control belt;
still be provided with a plurality of cylinder in transplantation crossbeam rear end one side, be connected with the cylinder clamp plate that sets up along transplantation crossbeam length direction in the bottom of cylinder, the dull and stereotyped bottom that is located of cylinder clamp plate transplants between crossbeam and the aluminium alloy bottom, and a plurality of gets seedling manipulator and arranges in the dull and stereotyped below in the bottom of cylinder clamp plate through upper end and the aluminium alloy bottom horizontal pole threaded connection who corresponds.
Further, get seedling manipulator including pushing away the seedling board, pressing the depression bar, urceolus, getting seedling needle, connecting plate and internal spring, the urceolus is used for connecting the aluminium alloy, the vertical seedling board that pushes away that is provided with in bottom of urceolus, push away the upper plate and the hypoplastron that the seedling board set up including the level, be provided with the backup pad between upper plate and hypoplastron one side, the inside cover of urceolus is equipped with the depression bar, the top that presses the depression bar is located the dull and stereotyped below in bottom of cylinder clamp plate, the bottom that presses the depression bar extends to the inner chamber outside of urceolus and passes the upper plate and be connected with the connecting plate that the level set up, is located the equal vertical seedling needle of getting that is provided with in both sides of connecting plate, the bottom of getting the seedling needle passes the hypoplastron and corresponds the seedling needle of getting that gets and be provided with rather than the seedling cylinder that matches in the bottom of lower plate.
Further, cave dish transport structure includes that cave dish carries the transmission band and cave dish to retrieve the transmission band, cave dish carries the transmission band to include conveyer belt I, is provided with the cave dish on the terminal surface of conveyer belt I, the transmission band is retrieved to the cave dish includes conveyer belt II, the cave dish targets in place through I transmission of conveyer belt, and the cave dish is transplanted to accomplish and is retrieved by II transmissions of conveyer belt.
Further, parallel arrangement about conveyer belt I and conveyer belt II, and conveyer belt II is longer than conveyer belt I, has arranged the cave dish between conveyer belt II and the conveyer belt I and has retrieved the direction, retrieves the direction through the cave dish and transports the cave dish from conveyer belt I to conveyer belt II on, changes the direction that the cave dish was transported under the effect of conveyer belt II, the both sides of direction of delivery front end and rear end are provided with photoelectric sensor III and photoelectric sensor IV respectively on the conveyer belt I, direction of delivery's end is provided with photoelectric sensor V on the conveyer belt II.
Further, install cave dish deflector along its direction of delivery both sides are vertical on conveyer belt I, install the cave dish position fixing plate that is set up by II driven levels of miniature cylinder on the cave dish deflector, through cave dish position fixing plate realize compressing tightly and unclamping the cave dish, its direction of delivery front end both sides are provided with by III driven cave dish position adjustment boards of miniature cylinder on conveyer belt I, play the effect that the secondary system stopped through cave dish position adjustment board.
Furthermore, one end of the second conveying belt is provided with a plug tray direction adjusting plate, so that the plug tray is prevented from sliding down the second conveying belt due to inertia after being recycled and guided by the plug tray.
Further, cultivation groove transport structure includes conveyer belt III, is provided with the cultivation groove on conveyer belt III's terminal surface, the cultivation groove passes through conveyer belt III transmission and targets in place, the quantity that cultivation groove can be placed to the III width direction of conveyer belt is 5, installs smooth strip along its direction of delivery both sides on conveyer belt III, is provided with photoelectric sensor VI in its direction of delivery's terminal both sides.
Further, it still includes horizontal hold-in range module, the perpendicular lead screw module that is located total frame both sides respectively to transplant the structure, horizontal hold-in range module sets up on two weak points of total frame through horizontal fixed plate respectively, total frame is the portal frame structure, horizontal hold-in range module is connected with the perpendicular lead screw module through the perpendicular fixed plate, the both ends of transplanting the crossbeam are connected with the perpendicular lead screw module through the beam connecting plate respectively, get the seedling manipulator and realize its X axle and the displacement of Z axle under the drive of the rotation motor that horizontal hold-in range module and perpendicular lead screw module correspond.
Furthermore, a photoelectric sensor I is arranged at each position corresponding to the transplanted seedling after the seedling taking manipulator is transplanted and diffused on the front end of the transplanting cross beam, and a photoelectric sensor II is arranged above the sliding rail I and at the starting position corresponding to the movement of the driving motor at the rear end of the transplanting cross beam.
Further, the quantity of getting seedling manipulator is 17, and the rigidity of middle manipulator, the quantity of cylinder is 3, and it arranges in the centre and the both ends of transplanting the crossbeam through the cylinder connecting plate respectively.
The invention has the beneficial effects that:
(1) The X-axis and Z-axis movement of the seedling taking manipulator is controlled by a horizontal synchronous belt module and a vertical lead screw module which are arranged at the upper end of the rack and driven by a rotating motor. The movement of the seedling taking manipulator in the Y-axis direction is matched by a gear and a rack driven by a driving motor so as to drive the seedling taking manipulator to diffuse outwards and gather inwards. The cultivation grooves and the plug seedling conveying structures are arranged in a T shape, plug seedling array transplanting is achieved, after a seedling taking manipulator finishes a row of seedling taking, the plug seedling conveying belt moves forwards for a row of distance, the seedling taking position is fixed, errors are reduced, and efficiency is improved;
(2) The seedling taking manipulator is arranged at the front end of the transplanting crossbeam, and the air cylinder pressing plate driven by the air cylinder is arranged at the rear end of the transplanting crossbeam. The center lines of the seedling taking manipulator and the bottom flat plate of the cylinder pressing plate are on the same horizontal plane. The seedling taking manipulator is provided with an internal spring, and the stretching and retracting of the seedling taking needle are realized under the matching action of the air cylinder pressure plate and the internal spring;
(3) According to the invention, the rack and pinion is arranged at the rear end of the transplanting cross beam, the slide rail slide block II is arranged at the upper end of the transplanting cross beam, and the slide rail slide block I is arranged at the front end of the transplanting cross beam, so that the driving of a driving motor is realized under the matching of the rack and pinion and the action of the slide rail slide blocks I and II, and the high-speed movement of a seedling taking manipulator is driven;
(4) The spring connected with adjacent aluminum profiles is obliquely installed, the rear end of each aluminum profile is correspondingly provided with the micro motor fixed by the motor bracket, and the upper end of each aluminum profile is provided with the micro cylinder I and the control belt position fixing plate. The spacing control band is wound around the micromotor and passes through the control band position fixing plate. The distance control belt is fixed at the winding position of each micro motor, so that the micro motor can rotate to drive the winding of the distance control belt, and the distance control belt is tightly pressed by the control belt position fixing plate, so that the distance control belt cannot run randomly or slide to cause errors. The installation distance of an initial interval control band is determined by the hole interval of a cultivation groove, a photoelectric sensor I is installed at the position, corresponding to each seedling taking manipulator after diffusion, on a transplanting cross beam, the position of the seedling taking manipulator after diffusion is accurately positioned, if an error control system can timely develop an instruction, a micro cylinder I receives the instruction and then outwards stretches out to loosen the pressing of a position fixing plate of the control band on the interval control band, a micro motor adjusts the winding length of the installation interval control band, after the adjustment is completed, the position fixing plate of the control band is inwards recycled after the micro cylinder I receives the instruction to press the interval control band, the automatic adjustment process is completed, the positioning error and the accumulated error caused by the vibration of the machine due to long-time work are reduced, and accurate transplanting of the seedling taking manipulator after diffusion is ensured. Through the installation locating plate on the slide rail slider I, the width of the Y direction of locating plate is decided by the distance of two cave holes on the cave dish row direction. Ensure the precision of getting the seedling that the manipulator of getting the seedling gathers together. The invention adopts the positioning mode of the positioning plate and the spacing control band to position, can improve the universality of machinery, and only needs to replace the positioning plate and change the initial installation spacing of the spacing control band if the transplantation work of the 72-hole or 128-hole plug tray is needed, and the 128-hole plug tray is taken as an example;
(5) The invention is provided with a photoelectric sensor, a guiding device, a position adjusting plate, a position fixing plate and the like on the plug conveying mechanism and the cultivation groove conveying structure, so that the positions of the plug and the cultivation groove can be accurately positioned. When the hole disc starts to reach the designated position, the control system stops the hole disc, but in order to prevent the forward sliding phenomenon of the hole disc due to inertia, the control system sends an instruction at the moment, and the micro cylinder III extends forwards out of the hole disc position adjusting plate to play a role in secondary braking, so that errors are reduced. The control system controls the micro cylinder II, the plug position fixing plate compresses and releases the plug, and the plug is compressed when the seedling is taken, so that the plug is prevented from being driven by the pulling force when the seedling is taken by the seedling taking manipulator to cause the change of the plug position;
in conclusion, the plug seedling can be automatically, quickly and accurately transplanted into the cultivation slot hole by accurately positioning the plug seedling, the cultivation slot and the seedling taking manipulator, so that the transplanting success rate and the transplanting efficiency are improved while the seedling quality is ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the graft beam of the present invention;
FIG. 3 is a rear view of the implant beam of the present invention;
FIG. 4 is a side view of the graft beam of the present invention;
FIG. 5 is a schematic structural view of a cultivation tank transfer structure of the present invention;
FIG. 6 is a schematic view of the construction of the tray conveyor of the present invention;
FIG. 7 is a schematic view of the construction of the tray recycling conveyor belt of the present invention;
FIG. 8 is an elevational view of the seedling manipulator of the present invention;
FIG. 9 is a side view of the seedling manipulator of the present invention;
FIG. 10 is a control flow diagram of the present invention;
reference numerals: 1. a main frame; 2. the horizontal synchronous belt module rotates the motor; 3. a horizontal fixing plate; 4. a vertical fixing plate; 5. a transplanting module; 6. a conveying structure fixing plate I; 7. a cultivation tank conveying structure; 8. the plug is recovered and guided; 9. a conveying structure fixing plate II; 10. a plug conveying belt; 11. the hole plate is recycled by the conveying belt; 12. the vertical lead screw module rotates the motor; 13. a beam connecting plate; 14. a vertical lead screw module; 15. a horizontal synchronous belt module; 16. a cultivation tank remote conveyor belt; 17. transplanting a crossbeam; 18. a cylinder; 19. a photoelectric sensor II; 20. a slide rail slide block II; 21. a photoelectric sensor I; 22. a drive motor; 23. a driving motor connecting plate; 24. a micro cylinder I; 25. an aluminum profile; 26. a spacing control band; 27. a slide rail I; 28. positioning a plate; 29. a spring; 30. a seedling taking manipulator; 31. a rack; 32. a slide rail II; 33. a sliding block II; 34. a gear; 35. a micro motor; 36. a motor bracket; 37. a control belt position fixing plate; 38. a cylinder pressure plate; 39. a photoelectric sensor II; 40. a cylinder connecting plate; 41. a drum cover; 42. a tensioning member; 43. 2550 an aluminum profile I; 44. a conveyor belt III; 45. a cultivation trough; 46. fluency strips; 47. a photoelectric sensor VI; 48. a roller I; 49. a motor I; 50. a motor bracket I; 51. a micro cylinder III; 52. a plug position adjusting plate; 53. a conveyor belt I; 54. a plug; 55. a photoelectric sensor III; 56. a plug guide plate; 57. a plug position fixing plate; 58. a micro cylinder II; 59. 2550 aluminum section II; 60. a photoelectric sensor IV; 61. a motor II; 62. a motor bracket II; 63. a roller II; 64. a hole plate steering adjustment plate; 65. a photoelectric sensor V; 66. a conveyor belt II; 67. a roller III; 68. a motor III; 69. a motor bracket III; 70. a pressing lever; 71. an outer cylinder; 72. taking a seedling needle; 73. pushing the seedling plate; 74. a connecting plate; 75. an internal spring.
Detailed Description
The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the accompanying drawings.
Example 1
As shown in the attached drawings, the high-speed transplanting robot with the automatic manipulator spacing adjustment function comprises a main frame 1, a hole tray conveying structure and cultivation groove conveying structure 7 and a transplanting structure, wherein the hole tray conveying structure and the cultivation groove conveying structure are distributed in a T shape;
the transplanting structure is positioned above the plug conveying structure and the cultivation groove conveying structure 7, and comprises horizontal synchronous belt modules 15, vertical lead screw modules 14 and transplanting modules, wherein the horizontal synchronous belt modules 15, the vertical lead screw modules 14 and the transplanting modules are respectively positioned on two sides of the main frame; the transplanting module comprises a transplanting cross beam 17, the cultivation tank conveying structure 7 is arranged in parallel with the transplanting cross beam 17, and two ends of the transplanting cross beam 17 are respectively connected with the vertical screw module 14 through beam connecting plates 13;
a rack 31 is arranged at the rear end of the transplanting cross beam 17 along the length direction of the transplanting cross beam, two driving motors 22 are connected to the rack 31 through two gears 34 matched with the rack, a sliding rail sliding block II 20 consisting of a sliding rail II 32 and a sliding block II 33 is arranged on the end face of the transplanting cross beam 17, and the driving motors 22 are connected with the sliding block II 33 in a sliding mode through a driving motor connecting plate 23, so that Y-axis displacement of the driving motors 22 on the transplanting cross beam is achieved;
the front end of the transplanting cross beam 17 is provided with a slide rail I27, the slide rail I27 is connected with a plurality of positioning plates 28 which are uniformly arranged at intervals through a plurality of slide blocks I, the positioning plates 28 are correspondingly connected with aluminum profiles 25 which are vertically and uniformly arranged, the driving motor 22 is connected with the aluminum profiles 25 at two ends through connecting angles, the driving motor 22 drives the aluminum profiles 25 at two ends to move, the rear end of each aluminum profile 25 is correspondingly provided with a micro motor 35 which is fixed by a motor bracket 36, the upper end of the aluminum profile 25 is horizontally provided with a micro cylinder I24 and a control belt position fixing plate 37, the control belt position fixing plate 37 is positioned at the end part of a telescopic rod of the horizontally arranged micro cylinder I24, so that the micro cylinder I24 drives the control belt position fixing plate 37 to extend out and retract, and the front end of the aluminum profile 25 is obliquely provided with a spring 29 which is connected with the adjacent aluminum profile 25; the pitch control tape 26 is wound around the adjacent micro motor 35 and passes through the groove of the side of the control tape position fixing plate; the length of the spacing control belt 26 is adjusted through the rotation of the micro motor 35, and the adjacent aluminum profiles 25 are driven to move under the pulling of the spring 29 and the spacing control belt 26; the micro cylinder I24 drives the control belt position fixing plate 37 to extend and retract, so that the control belt position fixing plate 37 can compress and release the spacing control belt 26;
the specific process for realizing the equidistant diffusion and gathering comprises the following steps: the spacing control band 26 is fixed at the winding position of each micro motor 35, so that the rotation of the micro motor 35 can drive the winding of the spacing control band 26, and the pressing of the control band position fixing plate 37 on the spacing control band 26 can ensure that the spacing control band 26 does not run or slide to cause errors. The initial installation distance of the distance control band 26 is determined by the hole distance of the cultivation groove 45, the photoelectric sensor I21 is installed at the position, corresponding to each seedling taking manipulator 30, on the transplanting cross beam 17 after diffusion, the photoelectric sensor I21 accurately positions the position of the seedling taking manipulator 30 after diffusion, if an error control system can timely develop an instruction, the micro cylinder I24 extends outwards after receiving the instruction to loosen the pressing of the position fixing plate 37 of the control band to the distance control band 26, then the position fixing plate 35 of the micro motor control band adjusts the winding length of the installation distance control band 26, after the adjustment is completed, the position fixing plate 37 of the control band is inwards retracted after the micro cylinder I24 receives the instruction to press the distance control band 26, so that the automatic adjustment process is completed, the positioning error and the accumulated error caused by long-time working vibration of machinery are reduced, and accurate transplanting after the seedling taking manipulator 30 is ensured. The width of alignment plate 28 in the Y direction is determined by the distance between the two holes in the row of holes 54. Ensuring the precision of the gathered seedling taking by the seedling taking manipulator 30. The invention adopts the positioning mode of the positioning plate 28 and the spacing control band 26 to position, can improve the universality of machinery, and only needs to replace the positioning plate 28 and change the initial installation spacing of the spacing control band 26 if the transplantation work of the 72-hole or 128-hole plug tray is needed, and the 128-hole plug tray is taken as an example.
The rear end side of the transplanting cross beam 17 is also provided with 3 air cylinders 18, the number of the air cylinders 18 is 3, the air cylinders 18 are respectively arranged in the middle and two ends of the transplanting cross beam 17 through air cylinder connecting plates 40, the bottom of each air cylinder 18 is connected with an air cylinder pressing plate 38 arranged along the length direction of the transplanting cross beam 17, and a bottom flat plate of each air cylinder pressing plate 38 is positioned between the transplanting cross beam 17 and the bottom of the aluminum profile 25;
a plurality of seedling taking manipulators 30 are in threaded connection with corresponding cross rods at the bottom of the aluminum profiles 25 through the upper ends and are arranged below the bottom flat plate of the air cylinder pressing plate 38; the seedling taking manipulator 30 and the bottom pressing plate center line of the air cylinder pressing plate 38 are on the same horizontal plane, the seedling taking manipulator 30 realizes the displacement of the X axis and the Z axis under the driving of the rotating motors corresponding to the horizontal synchronous belt module 15 and the vertical lead screw module 14, and the rotating motors corresponding to the horizontal synchronous belt module 15 and the vertical lead screw module 14 are respectively a horizontal synchronous belt module rotating motor 2 and a vertical lead screw module rotating motor 12; the Y-axis displacement of the seedling taking manipulator 30 on the transplanting cross beam 17 is realized through the driving motor 22, so that the seedling taking manipulator 30 can transplant the seedlings in the hole trays 54 of the hole tray conveying structure into the planting holes of the planting grooves 45 of the planting groove conveying structure.
The seedling taking manipulator 30 comprises a seedling pushing plate 73, a pressing rod 70, an outer cylinder 71, seedling taking needles 72, a connecting plate 74 and an internal spring 75, the outer cylinder 71 is used for being connected with an aluminum profile 25, the bottom of the outer cylinder 71 is vertically provided with the seedling pushing plate 73, the seedling pushing plate 73 comprises an upper plate and a lower plate which are horizontally arranged, a supporting plate is arranged between one side of the upper plate and one side of the lower plate, the pressing rod 70 is sleeved inside the outer cylinder 71, the top of the pressing rod 70 is located below a bottom flat plate of the air cylinder pressing plate 38, the bottom of the pressing rod 70 extends to the outside of an inner cavity of the outer cylinder 71, penetrates through the upper plate and is connected with the horizontally arranged connecting plate 74, the seedling taking needles 72 are vertically arranged on two sides of the connecting plate 74, the bottom of the seedling taking needles 72 penetrates through the lower plate, seedling taking needles 72 are correspondingly arranged at the bottom of the lower plate and are provided with seedling taking needle cylinders matched with the seedling taking needles 72, the contact area between the seedling pushing plate 73 and the matrix can be reduced, and damage to the matrix is reduced.
The air cylinder 18 drives the air cylinder pressing plate 38 to press the pressing rod 70 of the seedling taking manipulator 30, the downward movement of the seedling taking needle 72 is pushed under the action of the pressing rod 70 on the internal spring 75, and the upward movement of the seedling taking needle 72 is realized under the rebounding action of the internal spring 75. The specific realization process is that, when getting the seedling, under the drive of horizontal synchronous belt module 15 and perpendicular lead screw module 14, get seedling manipulator 30 and reach plug 54 and get the seedling position, get seedling manipulator 30 front end push away the seedling by seedling board 73, reduce the damage to the seedling, three cylinder 18 drives actuating cylinder clamp plate 38 and pushes down, press 17 simultaneously and get seedling manipulator 30's push rod 70, get seedling manipulator 30's inside spring 75 compressed this moment, get seedling needle 72 and then be extruded, get seedling needle 72 and insert the matrix and accomplish and get the seedling action. When seedlings are placed, under the driving of the horizontal synchronous belt module 15 and the vertical lead screw module 14, the seedling taking manipulator 30 reaches the upper end of the cultivation groove 45 and is placed at the seedling placing position, meanwhile, the gear 34 and the rack 31 are driven by the driving motor 22 to be matched to drive the seedling taking manipulator 30 to be scattered towards the two ends at equal intervals, the three air cylinders 18 drive the air cylinder pressing plates 38 to be upwards recycled, at the moment, the internal springs 75 of the seedling taking manipulator 30 are loosened and rebounded, the matrix is pressed by the seedling taking needle cylinders of the seedling taking needles 72, and the seedling taking needles 72 retract to complete the seedling placing action.
Further, transmission band 11 is retrieved to cave dish transport structure including cave dish transport transmission band 10 and cave dish, cave dish transport transmission band 10 includes conveyer belt I53, and the material of conveyer belt I53 both sides is 2550 aluminium alloy II 59, is provided with cave dish 54 on the terminal surface of conveyer belt I53, thereby conveyer belt I53 is rotated by II 61 driving roll II 63 of motor and is driven I53 and remove, and II 61 of motor are provided with motor support II 62, cave dish is retrieved transmission band 11 and is included conveyer belt II 66, thereby II 66 of conveyer belt are rotated by III 68 driving roll III 67 of motor and are driven II 66 and remove, and III 68 of motor are provided with motor support III 69, cave dish 54 targets in place through the transmission of conveyer belt I53, and cave dish 54 is transplanted and is accomplished and is retrieved by the transmission of II 66 of conveyer belt.
Further, conveyer belt I53 and II 66 parallel arrangement from top to bottom, and conveyer belt II 66 is longer than conveyer belt I53, has arranged cave dish between II 66 of conveyer belt and the conveyer belt I53 and has retrieved direction 8, retrieves direction 8 through the cave dish and transports cave dish 54 to II 66 of conveyer belt from I53 of conveyer belt, changes the direction that cave dish 54 transported under the effect of conveyer belt II 66, the both sides of conveying direction front end and rear end are provided with photoelectric sensor III 55 and photoelectric sensor IV 60 respectively on the conveyer belt I53, the end of conveying direction is provided with photoelectric sensor V65 on the conveyer belt II 66.
Further, a plug guide plate 56 is vertically arranged on the conveyor belt I53 along two sides of the conveying direction of the conveyor belt I53, a plug position fixing plate 57 which is driven by a micro air cylinder II 58 and horizontally arranged is arranged on the plug guide plate, the plug 54 is pressed and loosened through the plug position fixing plate 57, plug position adjusting plates 52 which are driven by a micro air cylinder III 51 are arranged on the conveyor belt I53 along two sides of the front end of the conveying direction of the conveyor belt I53, and the plug position adjusting plates 52 play a role in secondary braking; the specific process is as follows: when the plug 54 starts to reach the designated position, the control system stops the plug, but in order to prevent the plug 54 from sliding forward due to inertia, the control system sends a command at the moment, and the micro cylinder III 51 extends forwards out of the plug position adjusting plate 52 to play a role of secondary braking. The pressing and loosening of the plug 54 are realized by controlling the micro cylinder II 58 by the control system, and the plug 54 is pressed when the seedling is taken, so that the plug 54 is prevented from being driven by the pulling force when the seedling is taken by the seedling taking manipulator 30, and the position of the plug 54 is prevented from changing.
Furthermore, one end of the conveyor belt II 66 is provided with a plug tray direction adjusting plate 64, so that the plug tray 54 is prevented from sliding down the conveyor belt II 66 due to inertia after passing through the plug tray recovery guide 8.
Further, cultivation groove transport structure 7 includes conveyer belt III 44, and the material of conveyer belt III 44 both sides is 2550 aluminium alloy I43, thereby motor I49 drive roller I48 rotates and drives conveyer belt III 44 and remove, and motor I49 is provided with motor support I50, and roller I48 is provided with roller cover 41 and tensioning piece 42, is provided with cultivation groove 45 on the terminal surface of conveyer belt III 44, cultivation groove 45 puts in place through conveyer belt III 44 transmission, the quantity that cultivation groove 45 can be placed to conveyer belt III 44 width direction is 5, installs fluent strip 46 along its direction of delivery both sides on conveyer belt III 44, is provided with photoelectric sensor VI 47 in its direction of delivery's terminal both sides.
Furthermore, the horizontal synchronous belt module 15 is respectively arranged on two short sides of the main frame 1 through the horizontal fixing plate 3, the main frame 1 is of a portal frame structure, and the horizontal synchronous belt module 15 is connected with the vertical lead screw module 14 through the vertical fixing plate 4.
Furthermore, a photoelectric sensor II 19 is arranged at the rear end of the transplanting cross beam 17 corresponding to the starting position of the movement of the driving motor 22.
Furthermore, the number of the seedling taking manipulators 30 is 17, and the position of the middle manipulator is fixed.
While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a high-speed transplantation robot with automatically regulated manipulator interval which characterized in that: the transplanting device comprises a main frame (1), a hole tray conveying structure and a cultivation groove conveying structure (7) which are distributed in a T shape, and a transplanting structure, wherein the transplanting structure is positioned above the hole tray conveying structure and the cultivation groove conveying structure (7), and comprises a transplanting cross beam (17) which is arranged between two sides of the main frame in a sliding manner;
the rear end of the transplanting cross beam (17) is provided with two driving motors (22) in a sliding manner, so that Y-axis displacement of the driving motors (22) on the transplanting cross beam is realized, the front end of the transplanting cross beam (17) is provided with a plurality of positioning plates (28) which are uniformly arranged at intervals in a sliding manner, the positioning plates (28) are correspondingly connected with aluminum profiles (25) which are vertically and uniformly arranged, the driving motors (22) are connected with the aluminum profiles (25) at two ends through connecting angles, the driving motors (22) drive the aluminum profiles (25) at two ends to move, the rear end of each aluminum profile (25) is correspondingly provided with a micro motor (35) fixed by a motor bracket (36), the upper end of each aluminum profile (25) is horizontally provided with a micro cylinder I (24) and a control belt position fixing plate (37), and the front end of each aluminum profile (25) is obliquely provided with a spring (29) connected with the adjacent aluminum profiles (25); the distance control belt (26) is wound on the adjacent micro motor (35) and passes through the groove on the side surface of the control belt position fixing plate (37); the micro cylinder I (24) drives the control belt position fixing plate (37) to extend and retract, so that the control belt position fixing plate (37) can compress and release the spacing control belt (26);
still be provided with a plurality of cylinder (18) in transplantation crossbeam (17) rear end one side, be connected with in the bottom of cylinder (18) along transplanting cylinder clamp plate (38) that crossbeam (17) length direction set up, the bottom flat board of cylinder clamp plate (38) is located between transplantation crossbeam (17) and aluminium alloy (25) bottom, and a plurality of gets seedling manipulator (30) and arranges in the dull and stereotyped below in the bottom of cylinder clamp plate (38) through upper end and aluminium alloy (25) bottom horizontal pole threaded connection who corresponds.
2. A high-speed transfer robot having an automatically adjustable manipulator spacing according to claim 1, wherein: get seedling manipulator (30) including pushing away seedling board (73), pressing lever (70), urceolus (71), getting seedling needle (72), connecting plate (74) and inside spring (75), urceolus (71) are used for connecting aluminium alloy (25), the vertical seedling board (73) that pushes away that is provided with in bottom of urceolus (71), push away seedling board (73) including the upper plate and the hypoplastron that the level set up, be provided with the backup pad between upper plate and hypoplastron one side, the inside cover of urceolus (71) is equipped with pressing lever (70), the top of pressing lever (70) is located the dull and stereotyped below in bottom of cylinder clamp plate (38), the bottom of pressing lever (70) extends to the outside of the inner chamber of urceolus (71) and passes the upper plate and is connected with the connecting plate (74) that the level set up, and the both sides that are located connecting plate (74) are all vertical to be provided with getting seedling needle (72), the bottom of getting seedling needle (72) is passed the hypoplastron and is provided with the syringe of getting seedling rather than the matching in the bottom correspondence of lower plate.
3. A high-speed transfer robot having an automatically adjustable manipulator spacing according to claim 1, wherein: cave dish transport structure retrieves transmission band (11) including cave dish transport transmission band (10) and cave dish, cave dish transport transmission band (10) are provided with cave dish (54) including conveyer belt I (53) on the terminal surface of conveyer belt I (53), cave dish is retrieved transmission band 11 and is included conveyer belt II (66), cave dish (54) are put in place through conveyer belt I (53) transmission, and cave dish (54) are transplanted and are accomplished and are retrieved by conveyer belt II (66) transmission.
4. A high-speed transfer robot having an automatic manipulator pitch adjustment function according to claim 3, wherein: parallel arrangement about conveyer belt I (53) and conveyer belt II (66), and conveyer belt II (66) are longer than conveyer belt I (53), it retrieves direction (8) to have arranged the cave dish between conveyer belt II (66) and conveyer belt I (53), retrieve direction (8) through the cave dish and transport cave dish (54) to conveyer belt II (66) on from conveyer belt I (53), change the direction of cave dish (54) transportation under the effect of conveyer belt II (66), the both sides of direction front end and rear end are provided with photoelectric sensor III (55) and photoelectric sensor IV (60) respectively on conveyer belt I (53), the end of direction of delivery is provided with photoelectric sensor V (65) on conveyer belt II (66).
5. A high-speed transfer robot having an automatic manipulator pitch adjustment according to claim 3, wherein: plug guide plates (56) are vertically arranged on the conveyor belt I (53) along two sides of the conveying direction of the conveyor belt I, plug position fixing plates (57) driven by a micro cylinder II (58) and horizontally arranged are arranged on the plug guide plates, the plug (54) is compressed and loosened through the plug position fixing plates (57), plug position adjusting plates (52) driven by a micro cylinder III (51) are arranged on the conveyor belt I (53) on two sides of the front end of the conveyor belt I (53) in the conveying direction, and the plug position adjusting plates (52) play a role in secondary braking.
6. A high-speed transfer robot having an automatic manipulator pitch adjustment according to claim 3, wherein: and one end of the second conveyor belt (66) is provided with a plug tray direction adjusting plate (64) to prevent the plug tray (54) from sliding down the second conveyor belt (66) due to inertia after passing through the plug tray recycling guide (8).
7. A high-speed transfer robot having an automatically adjustable manipulator spacing according to claim 1, wherein: cultivation groove transport structure (7) are provided with cultivation groove (45) including conveyer belt III (44) on the terminal surface of conveyer belt III (44), cultivation groove (45) are put in place through conveyer belt III (44) transmission, the quantity that cultivation groove (45) can be placed to conveyer belt III (44) width direction is 5, installs fluent strip (46) along its direction of delivery both sides on conveyer belt III (44), is provided with photoelectric sensor VI (47) in its direction of delivery's terminal both sides.
8. The high-speed transplantation robot with the function of automatically adjusting the manipulator spacing according to claim 1, wherein: the transplanting structure further comprises a horizontal synchronous belt module (15) and a vertical lead screw module (14) which are respectively located on two sides of the main frame, the horizontal synchronous belt module (15) is respectively arranged on two short edges of the main frame (1) through a horizontal fixing plate (3), the main frame (1) is of a portal frame structure, the horizontal synchronous belt module (15) is connected with the vertical lead screw module (14) through a vertical fixing plate (4), two ends of a transplanting cross beam (17) are respectively connected with the vertical lead screw module (14) through a beam connecting plate (13), and a seedling taking manipulator (30) realizes displacement of an X axis and a Z axis under the driving of a rotating motor corresponding to the horizontal synchronous belt module (15) and the vertical lead screw module (14).
9. A high-speed transfer robot having an automatically adjustable manipulator spacing according to claim 1, wherein: a seedling taking manipulator (30) is arranged at the front end of a transplanting cross beam (17) and is provided with a photoelectric sensor I (21) corresponding to each position after transplanting and diffusing, the photoelectric sensor I is arranged above a sliding rail I (27), and the rear end of the transplanting cross beam (17) is provided with a photoelectric sensor II (19) corresponding to the starting position of the movement of a driving motor (22) and above a rack (31).
10. A high-speed transfer robot having an automatically adjustable manipulator spacing according to claim 1, wherein: the number of the seedling taking manipulators (30) is 17, the positions of the middle manipulators are fixed, the number of the cylinders (18) is 3, and the cylinders are respectively arranged in the middle and at two ends of the transplanting cross beam (17) through cylinder connecting plates (40).
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| CN112602579A (en) * | 2020-12-11 | 2021-04-06 | 河南科技大学 | Plug seedling low-loss transplanting robot |
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2022
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| JPH0395717U (en) * | 1990-01-23 | 1991-09-30 | ||
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