CN115196315B - Pneumatic rotary type inserting and clamping linkage seedling taking and throwing device of vegetable transplanting machine - Google Patents
Pneumatic rotary type inserting and clamping linkage seedling taking and throwing device of vegetable transplanting machine Download PDFInfo
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- CN115196315B CN115196315B CN202210826409.3A CN202210826409A CN115196315B CN 115196315 B CN115196315 B CN 115196315B CN 202210826409 A CN202210826409 A CN 202210826409A CN 115196315 B CN115196315 B CN 115196315B
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- 235000013311 vegetables Nutrition 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000003028 elevating effect Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 abstract description 4
- 230000037431 insertion Effects 0.000 abstract description 4
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000006378 damage Effects 0.000 description 7
- 238000005457 optimization Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/04—Transplanting machines for deeper setting or shifting of plants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention relates to a pneumatic rotary inserting clamp linkage seedling taking and throwing device of a vegetable transplanting machine, which comprises a frame, a mounting frame III, a sliding block II transversely connected to the mounting frame III in a sliding way and an electric cylinder driving the sliding block II to transversely slide, wherein a plurality of seedling taking hands are arranged on the sliding block II, the pneumatic rotary inserting clamp linkage seedling taking and throwing device also comprises a seedling taking and transversely moving mechanism driving the mounting frame III to transversely move, a seedling taking and lifting mechanism driving the mounting frame III to lift and a seedling taking and rotating mechanism driving the mounting frame III to horizontally rotate, the seedling taking hands comprise a seedling taking hand main body, two seedling taking finger clamps and finger clamp opening and closing cylinders driving the two seedling taking finger clamps to open and close, and the front end of the seedling taking hand main body is slidingly connected with two seedling taking needles. The seedling taking hand structure adopts a multi-connecting rod mechanical transmission mode, has simple, stable and reliable structure, and can realize linkage operation of seedling clamping and bowl insertion.
Description
Technical Field
The invention relates to the field of transplanting machines, in particular to the field of vegetable transplanting machines, and particularly relates to a pneumatic rotary type inserting clamp linkage seedling taking and throwing device of a vegetable transplanting machine.
Background
The vegetable industry is inferior to the grain planting industry, the vegetables produced by the plug seedling and transplanting mode occupy more than 60% of the total yield of the vegetables, however, the transplanting process still mainly comprises manual transplanting or semi-automatic transplanting at present, the transplanting machine only completes the transplanting action, and the automatic transplanting process is difficult to realize truly. The manual seedling taking and throwing has the defects of high operation intensity, low efficiency, high cost, high seedling injury rate and high seedling leakage rate, and is not cost-effective for large-scale planting. The vegetables of plug seedling need to be got seedling, send seedling, throw seedling processing in transplanting process, so need have an automatic seedling device of throwing of getting in the mechanized transplanting process of vegetables, but automatic get in the present vegetable transplanting machinery throw seedling device efficiency general, degree of automation lower, leak seedling rate higher and cause the stem stalk damage of seedling body easily.
Disclosure of Invention
The invention provides a pneumatic rotary type inserting clamp linkage seedling taking and throwing device for a vegetable transplanting machine, which aims at the defects of the prior art, can realize the horizontal seedling taking, the longitudinal fixed point and the orderly seedling throwing of vegetable plug seedlings in the transplanting process, and meanwhile, the designed inserting clamp linkage mechanical structure can ensure the stable operation of the seedling clamping and conveying process, can effectively reduce the seedling leakage rate and the damage of seedling bodies and improve the transplanting operation efficiency.
The invention provides a pneumatic rotary type inserting clamp linkage seedling taking and throwing device of a vegetable transplanting machine, which comprises a frame, a mounting frame III connected to the frame, a sliding block II transversely connected to the mounting frame III in a sliding mode, an electric cylinder driving the sliding block II to transversely slide, a plurality of seedling taking hands arranged along the sliding direction of the sliding block II, a seedling taking traversing mechanism driving the mounting frame III to transversely move, a seedling taking lifting mechanism driving the mounting frame III to lift and a seedling taking rotating mechanism driving the mounting frame III to horizontally rotate, wherein the seedling taking hands comprise a seedling taking hand main body, two seedling taking finger clamps hinged to the front end of the seedling taking hand main body and finger clamp opening and closing cylinders driving the two seedling taking finger clamps to open and close, the front end of the seedling taking hand main body is connected with a plurality of seedling taking needles positioned below the seedling taking finger clamps in a sliding mode through a seedling taking needle driving mechanism, and the finger clamp opening and closing air cylinder drives the seedling taking needles to slide along an axis.
According to the scheme, two seedling taking finger clamps of the seedling taking hand realize seedling clamping through opening and closing, the seedling taking needle is inserted into the bowl body below vegetable seedlings, so that the damage to stalks in the seedling taking and conveying process can be effectively reduced, the seedling leakage rate and the seedling injury rate are reduced, after the whole row of seedling taking actions are completed, the seedling taking lifting mechanism can drive the mounting rack III to lift to realize the pulling out of the bowl seedlings, the seedling taking traversing mechanism can drive the bowl seedlings to move to the upper part of the planting mechanism, the seedling taking rotating mechanism can enable the mounting rack III to rotate, the whole row of seedling taking hand is changed from a horizontal row seedling taking state into a longitudinal row seedling throwing state with the arrangement direction coincident with the movement plane of the planting mechanism, and the electric cylinder drives the sliding block II to realize sequential traversing in-place placement of one row of bowl seedlings.
As the optimization, get seedling sideslip mechanism includes horizontal promotion cylinder, get seedling elevating system and include vertical lift cylinder, get seedling rotary mechanism and include vertical revolving cylinder, advance cylinder and frame rigid coupling, the telescopic shaft rigid coupling of lift cylinder and propulsion cylinder, revolving cylinder and the telescopic shaft rigid coupling of lift cylinder, mounting bracket III and revolving cylinder's rotation axis rigid coupling. The revolving cylinder in this scheme drives mounting bracket III and rotates on the horizontal plane, thereby the lifting cylinder drives revolving cylinder and goes up and down to drive mounting bracket III and go up and down, thereby drives the sideslip of lifting cylinder sideslip realization mounting bracket III through advancing the cylinder.
As optimization, the rotary shaft of the rotary cylinder is fixedly connected to the middle of the mounting frame III, and the lifting cylinder is transversely connected to the frame in a sliding mode through the sliding block I and the guide rail I. In this scheme revolving cylinder's rotation axis rigid coupling is in mounting bracket III middle part, makes mounting bracket III use the centre of a circle to rotate as the centre of a circle, and lifting cylinder passes through slider I and guide rail I horizontal slip joint in the frame to improve lifting cylinder's bearing capacity.
As optimization, the front end of the seedling taking needle is lower than the rear end. In the scheme, the front end of the seedling taking needle is lower than the rear end, so that the seedling taking needle is inserted into the bowl body downwards and forwards, and the bowl body is prevented from transversely moving in the inserting process.
As optimization, a finger clip opening and closing push rod which is connected in a sliding way in the seedling taking hand body is fixedly connected to the telescopic shaft of the finger clip opening and closing cylinder, the seedling taking finger clip is connected with the finger clip opening and closing push rod through a sheet-shaped connecting rod, the rear end of the sheet-shaped connecting rod is hinged with the finger clip opening and closing push rod, and the front end of the sheet-shaped connecting rod is hinged with the seedling taking finger clip. In the scheme, the finger clamp opening and closing cylinder drives the finger clamp opening and closing push rod to move forwards, and two seedling taking finger clamps are clamped inwards through the sheet-shaped connecting rod.
As optimization, get seedling needle actuating mechanism includes pendulum rod and the double push rod of fore-and-aft sliding connection in getting the seedling hand main part, the upper end of pendulum rod is articulated with getting the seedling hand main part, it has the interior sliding tray that extends along length direction to open on the pendulum rod, the finger presss from both sides the cylindric lock that open and close the spout was inserted to the rigid coupling on the push rod, double push rod includes horizontal push rod and the vertical push rod of rigid coupling on horizontal push rod, horizontal push rod inserts interior spout, the front end of vertical push rod passes through the connecting rod and gets the seedling needle and be connected. The upper end of the swing rod in the scheme is hinged with the seedling taking hand main body, so that the swing rod can swing back and forth, a cylindrical pin inserted into the inner chute is fixedly connected to the finger clip opening and closing push rod, the swing rod is driven to swing forward when the finger clip opening and closing push rod moves forward, the double-row push rod is driven to slide forward through the transverse push rod inserted into the chute, and the vertical push rod of the double-row push rod drives the seedling taking needle to extend forward through the connecting rod.
As optimization, the front end of the vertical push rod is hinged with the rear end of the connecting rod, and the front end of the connecting rod is hinged with the rear end of the seedling taking needle. In the scheme, the two ends of the connecting rod are hinged, so that the seedling taking needle is driven by the connecting rod to realize expansion and contraction.
As optimization, two parallel seedling taking needles are arranged on the seedling taking hand main body, longitudinal pushing rods are fixedly connected to two ends of each transverse pushing rod, and the middle of each transverse pushing rod is inserted into the inner sliding groove. The seedling taking needles in the scheme are arranged in two, so that the pot body is kept stable after the two seedling taking needles are inserted into the pot body.
The beneficial effects of the invention are as follows: according to the pneumatic rotary inserting clamp linkage seedling taking and throwing device of the vegetable transplanting machine, the rotary cylinder is adopted to change the whole row of seedling taking hands from the horizontal row seedling taking state to the longitudinal row seedling preparing state, and the seedling taking hands directly put vegetable pot seedlings into the transplanting device of the inserting mechanism, so that the operation procedure can be effectively reduced, and the space can be saved; the actions of the electric cylinder and the actions of the seedling taking hands can be controlled according to signals fed back by the photoelectric sensor for monitoring the position of the transplanting device, so that the fixed-point and orderly seedling throwing of the whole row of seedling taking hands is realized; the seedling taking hand structure adopts a multi-connecting rod mechanical transmission mode, has simple, stable and reliable structure, and can realize linkage operation of seedling clamping and bowl insertion.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a schematic diagram of the structure of the present invention;
FIG. 4 is a front view of a gripper linkage seedling taker of the present invention;
FIG. 5 is a top view of a gripper linkage seedling picking hand of the present invention;
FIG. 6 is a left side view of the insertion clip linkage seedling taker of the present invention;
FIG. 7 is a schematic cross-sectional view taken along the A-A plane in FIG. 6;
FIG. 8 is a schematic view of a seedling picking hand structure of the present invention;
FIG. 9 is a schematic view of a finger grip opening and closing push rod of the present invention;
FIG. 10 is a schematic view of a seedling picking finger grip according to the present invention;
FIG. 11 is a schematic diagram of the pendulum rod structure of the present invention;
FIG. 12 is a schematic view of the structure of the guide rail I of the present invention;
FIG. 13 is a schematic view of the structure of the slider I of the present invention;
FIG. 14 is a schematic view of the structure of the sheet link of the present invention;
FIG. 15 is a schematic view of the structure of the slider II of the present invention;
FIG. 16 is a schematic view of a dual-row pushrod configuration of the present invention;
FIG. 17 is a schematic view of the structure of the seedling taking needle of the present invention;
The figure shows:
1. The seedling taking device comprises a frame, 2, guide rails I,3, sliding blocks I,4, a propelling cylinder, 5, a rotating cylinder, 6, a lifting cylinder, 7, a mounting frame I,8, a mounting frame II,9, a mounting frame III,10, an electric cylinder, 11, a photoelectric sensor, 12, guide rails II,13, sliding blocks II,14, a connecting frame, 15, a seedling taking hand main body, 16, a seedling taking finger clip, 17, a finger clip opening and closing cylinder, 18, a finger clip opening and closing push rod, 19, a sheet-shaped connecting rod, 20, a cylindrical pin, 21, a swing rod, 22, a double-row push rod, 23, a connecting rod, 24, a seedling taking needle, 25, a guide hole I,26, a guide hole II,27, a needle taking baffle, 28, a horizontal groove rail, 29, a pin hole, 30, a seedling feeding mechanism, 31 and a planting mechanism.
Detailed Description
In order to clearly illustrate the technical characteristics of the scheme, the scheme is explained below through a specific embodiment.
As shown in fig. 1-17, the pneumatic rotary type inserting clamp linkage seedling picking and throwing device of the vegetable transplanting machine comprises a frame 1, a mounting frame III9 connected to the frame 1, a sliding block II13 transversely sliding on the mounting frame III9 and an electric cylinder 10 driving the sliding block II13 to transversely slide, wherein a plurality of seedling picking hands distributed along the sliding direction of the sliding block II13 are arranged on the sliding block II 13.
Guide rail II12 is installed to the mounting bracket III9 downside, get the seedling hand and install the downside of sliding block II13 in guide rail II12 side by side at certain interval through the bolt, it is fixed with slider II13 with the execution slider of electric jar 10 through link 14, can realize whole row to get the synchronous motion of seedling hand and electric jar execution slider to make get the seedling hand to align with the planting apparatus in proper order.
Still including the seedling sideslip mechanism of getting of drive mounting bracket III9 sideslip, the seedling elevating system of getting that drive mounting bracket III9 goes up and down and the seedling rotary mechanism of getting of drive mounting bracket III9 horizontal rotation, get seedling sideslip mechanism and include horizontal propulsion cylinder 4, get seedling elevating system and include vertical lift cylinder 6, get seedling rotary mechanism and include vertical rotary cylinder 5.
The propelling cylinder 4 is fixedly connected with the frame 1, the lifting cylinder 6 is fixedly connected with a telescopic shaft of the propelling cylinder 4, the lifting cylinder 6 is transversely connected to the frame 1 in a sliding mode through a sliding block I3 and a guide rail I2, the guide rail I2 is arranged on the lower side of a transverse plate of the frame 1, and the lifting cylinder 6 is arranged on the sliding block I3 in the guide rail I2 and can move in a rail along with the sliding block I3 in the front-rear direction.
The propulsion cylinder 4 is arranged on the inner side of a longitudinal plate of the frame 1, a telescopic shaft of the propulsion cylinder 4 is connected with a mounting frame I7 through bolts, and the mounting frame I7 is fixed on the side face of the lifting cylinder 6, so that the lifting cylinder 6 is pushed by the propulsion cylinder 4 to realize forward and backward movement.
The telescopic shaft of lift cylinder 6 is down, the telescopic shaft rigid coupling of revolving cylinder 5 and lift cylinder 6, the telescopic shaft of lift cylinder 6 lower extreme passes through bolted connection with mounting bracket II8, and mounting bracket II8 front side passes through the bolt to be connected with revolving cylinder 5, through the up-and-down motion of the telescopic shaft of lift cylinder 6 can realize revolving cylinder 5's elevating motion.
The mounting frame III9 is fixedly connected with the rotating shaft of the rotary cylinder 5, and the rotary cylinder 5 is a rotary cylinder with an output shaft rotating. In this embodiment, the rotating shaft of the revolving cylinder 5 is fixedly connected to the middle of the mounting rack III9 through bolts.
As shown in fig. 4-8, the seedling picking hand comprises a seedling picking hand body 15, two seedling picking finger clamps 16 hinged at the front end of the seedling picking hand body 15, and a finger clamp opening and closing cylinder 17 for driving the two seedling picking finger clamps 16 to open and close, wherein the rear end of the seedling picking finger clamps 16 is hinged with the seedling picking hand body 15 and the hinge shaft is vertically arranged.
The finger clamp opening and closing cylinder 17 is arranged in a mounting hole in the center of the seedling taking hand body 15, a finger clamp opening and closing push rod 18 which is connected in the seedling taking hand body 15 in a sliding way from front to back is fixedly connected to a telescopic shaft of the finger clamp opening and closing cylinder 17, the seedling taking finger clamp 16 is connected with the finger clamp opening and closing push rod 18 through a sheet-shaped connecting rod 19, and the rear end of the sheet-shaped connecting rod 19 is hinged with the finger clamp opening and closing push rod 18 through a pin shaft which is vertically inserted into a pin hole 29.
The front end of the sheet-shaped connecting rod 19 is hinged with the seedling-taking finger clamps 16, and the hinge shaft is positioned at the outer side of the hinge shaft of the seedling-taking finger clamps 16 and the seedling-taking hand main body 15, so that when the finger clamp opening and closing push rod 18 drives the sheet-shaped connecting rod 19 to move forwards, the two seedling-taking finger clamps 16 are clamped inwards. Therefore, the finger-grip opening and closing push rod 18 moves back and forth under the drive of the finger-grip opening and closing cylinder 17, so that the seedling-taking finger grip 16 is opened and closed.
The front end of the seedling taking hand main body 15 is slidably connected with a plurality of seedling taking needles 24 positioned below the seedling taking finger clamps 16, in this embodiment, the seedling taking hand main body 15 is provided with two parallel seedling taking needles 24, the needle tips of the seedling taking needles 24 face forward, and the front end of the seedling taking needles 24 is lower than the rear end, so that the seedling taking needles 24 are inserted into the bowl body to the front lower side.
The finger clip opening and closing cylinder 17 drives the seedling taking needle 24 to slide along the axis through the seedling taking needle driving mechanism. The seedling taking needle driving mechanism comprises a swinging rod 21 and a double-row push rod 22 which is connected to the seedling taking hand main body 15 in a sliding mode in the front-back mode, the upper end of the swinging rod 21 is hinged to the seedling taking hand main body 15, and a hinge shaft is transversely arranged, so that the swinging rod 21 can swing back and forth around the hinge shaft.
The swing rod 21 is provided with an inner sliding groove extending along the length direction, the finger-clip opening and closing push rod 18 is fixedly connected with a cylindrical pin 20 inserted into the inner sliding groove, and the cylindrical pin 20 is transversely arranged, so that when the finger-clip opening and closing push rod 18 moves forwards and backwards, the cylindrical pin 20 slides in the inner sliding groove of the swing rod 21 and drives the swing rod 21 to swing forwards and backwards.
As shown in fig. 16, the double-row push rod 22 includes a transverse push rod and a longitudinal push rod fixedly connected to the transverse push rod, in this embodiment, both ends of the transverse push rod are fixedly connected with the longitudinal push rod, two longitudinal push rods respectively correspond to two seedling taking needles 24, and the middle part of the transverse push rod is inserted into the inner chute. The ends of the transverse push rods are arranged in horizontal groove rails 28 on two sides of the seedling taking hand main body 15, and the longitudinal push rods of the double-row push rods 22 are arranged in guide holes I25 on the inner side of the seedling taking hand main body 15, so that the double-row push rods 22 slide back and forth.
The front end of the vertical push rod is connected with a seedling taking needle 24 through a connecting rod 23. The front end of the vertical push rod is hinged with the rear end of a connecting rod 23, and the front end of the connecting rod 23 is hinged with the rear end of a seedling taking needle 24. The seedling taking needle 24 is arranged in a guide hole II26 on a needle withdrawing baffle 27 on the inner side of the seedling taking hand main body 15, the finger clamp opening and closing push rod 18 pushes forward to drive the swing rod 21 to swing forward while realizing the closing of the seedling taking finger clamp 16, the double-row push rod 22 pushes forward under the action of the swing rod 21 and the guide hole I25, the seedling taking needle 24 is driven to be pushed out of the guide hole II26 and can be inserted into a plug seedling pot body, the clamp-insert linkage operation is realized, the stalk damage in the seedling taking and conveying process can be effectively reduced, and the seedling leakage rate and the seedling injury rate are reduced.
The application method of the invention comprises the following steps:
when the seedling taking device works, the propelling cylinder 4 propels the seedling taking hand to the vicinity of the plug seedling of the seedling conveying mechanism 30, the lifting cylinder 6 drops the seedling taking hand to the position flush with the plug, the actuating push rod of the finger clamp opening and closing cylinder 17 drives the hinged seedling taking finger clamp 16 to be closed, meanwhile, power is transmitted to the seedling taking needle 24 to realize the insertion of the pot body, the lifting cylinder 6 and the actuating element of the propelling cylinder 4 are sequentially returned to the original position, the rotary cylinder 5 drives the whole row of the pot Miao Shun to rotate 90 degrees clockwise, the arrangement direction of the whole row of the pot is overlapped with the moving direction of the transplanting device of the transplanting mechanism 31, and the whole row of seedling taking hand sequentially moves and fixed-point seedling throwing actions according to the signals of the photoelectric sensor 11 for monitoring the position of the transplanting device and sequentially circulates.
Of course, the above description is not limited to the above examples, and the technical features of the present invention that are not described may be implemented by or by using the prior art, which is not described herein again; the above examples and drawings are only for illustrating the technical scheme of the present invention and not for limiting the same, and the present invention has been described in detail with reference to the preferred embodiments, and it should be understood by those skilled in the art that changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present invention and the scope of the appended claims.
Claims (6)
1. Pneumatic rotary type inserting clamp linkage seedling taking and throwing device of vegetable transplanting machine is characterized in that: the seedling taking device comprises a frame (1), a mounting frame III (9) connected to the frame (1), a sliding block II (13) transversely connected to the mounting frame III (9) in a sliding manner, and an electric cylinder (10) for driving the sliding block II (13) to transversely slide, wherein a plurality of seedling taking hands arranged along the sliding direction of the sliding block II (13) are arranged on the sliding block II (13), the seedling taking device further comprises a seedling taking traversing mechanism for driving the mounting frame III (9) to transversely move, a seedling taking lifting mechanism for driving the mounting frame III (9) to lift and a seedling taking rotating mechanism for driving the mounting frame III (9) to horizontally rotate, the seedling taking hands comprise a seedling taking hand body (15), two seedling taking finger clamps (16) hinged to the front end of the seedling taking hand body (15) and a finger clamp opening and closing air cylinder (17) for driving the two seedling taking finger clamps (16) to open and close, a plurality of seedling taking needles (24) positioned below the seedling taking finger clamps (16) are slidingly connected to the front end of the seedling taking hand body (15), and the finger clamp opening and closing air cylinder (17) drives the seedling taking needles (24) to slide along an axis through the seedling taking driving mechanism; the telescopic shaft of the finger clamp opening and closing cylinder (17) is fixedly connected with a finger clamp opening and closing push rod (18) which is connected in the seedling taking hand main body (15) in a sliding way, the seedling taking finger clamp (16) is connected with the finger clamp opening and closing push rod (18) through a sheet-shaped connecting rod (19), the rear end of the sheet-shaped connecting rod (19) is hinged with the finger clamp opening and closing push rod (18), and the front end of the sheet-shaped connecting rod (19) is hinged with the seedling taking finger clamp (16); the seedling taking needle driving mechanism comprises a swinging rod (21) and a double-row push rod (22) which is connected to the seedling taking hand body (15) in a sliding mode in the front-back mode, the upper end of the swinging rod (21) is hinged to the seedling taking hand body (15), an inner sliding groove extending along the length direction is formed in the swinging rod (21), a cylindrical pin (20) inserted into the inner sliding groove is fixedly connected to the finger-clamping opening and closing push rod (18), the double-row push rod (22) comprises a transverse push rod and a longitudinal push rod fixedly connected to the transverse push rod, the transverse push rod is inserted into the inner sliding groove, and the front end of the longitudinal push rod is connected with the seedling taking needle (24) through a connecting rod (23).
2. The pneumatic rotary type inserting clamp linkage seedling taking and throwing device of the vegetable transplanting machine according to claim 1 is characterized in that: get seedling sideslip mechanism and include horizontal promotion cylinder (4), get seedling elevating system and include vertical lift cylinder (6), get seedling rotary mechanism and include vertical revolving cylinder (5), advance cylinder (4) and frame (1) rigid coupling, the telescopic shaft rigid coupling of lift cylinder (6) and propulsion cylinder (4), revolving cylinder (5) and the telescopic shaft rigid coupling of lift cylinder (6), mounting bracket III (9) and revolving cylinder (5) rotation axis rigid coupling.
3. The pneumatic rotary type inserting clamp linkage seedling taking and throwing device of the vegetable transplanting machine according to claim 2, wherein the pneumatic rotary type inserting clamp linkage seedling taking and throwing device is characterized in that: the rotating shaft of the rotating cylinder (5) is fixedly connected to the middle of the mounting frame III (9), and the lifting cylinder (6) is transversely connected to the frame (1) in a sliding mode through the sliding block I (3) and the guide rail I (2).
4. The pneumatic rotary type inserting clamp linkage seedling taking and throwing device of the vegetable transplanting machine according to claim 1 is characterized in that: the front end of the seedling taking needle (24) is lower than the rear end.
5. The pneumatic rotary type inserting clamp linkage seedling taking and throwing device of the vegetable transplanting machine according to claim 1 is characterized in that: the front end of the longitudinal push rod is hinged with the rear end of the connecting rod (23), and the front end of the connecting rod (23) is hinged with the rear end of the seedling taking needle (24).
6. The pneumatic rotary type inserting clamp linkage seedling taking and throwing device of the vegetable transplanting machine according to claim 1 is characterized in that: two parallel seedling taking needles (24) are arranged on the seedling taking hand main body (15), longitudinal pushing rods are fixedly connected to two ends of each transverse pushing rod, and the middle of each transverse pushing rod is inserted into the inner sliding groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210826409.3A CN115196315B (en) | 2022-07-14 | 2022-07-14 | Pneumatic rotary type inserting and clamping linkage seedling taking and throwing device of vegetable transplanting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210826409.3A CN115196315B (en) | 2022-07-14 | 2022-07-14 | Pneumatic rotary type inserting and clamping linkage seedling taking and throwing device of vegetable transplanting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115196315A CN115196315A (en) | 2022-10-18 |
| CN115196315B true CN115196315B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210826409.3A Active CN115196315B (en) | 2022-07-14 | 2022-07-14 | Pneumatic rotary type inserting and clamping linkage seedling taking and throwing device of vegetable transplanting machine |
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| Country | Link |
|---|---|
| CN (1) | CN115196315B (en) |
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|---|---|---|---|---|
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| JP2000342021A (en) * | 1999-06-07 | 2000-12-12 | Kubota Corp | Seedling taking apparatus of transplanter |
| JP2002000015A (en) * | 2000-06-21 | 2002-01-08 | Yanmar Agricult Equip Co Ltd | Structure of seedling-getting tine in transplanter |
| KR20030062056A (en) * | 2002-01-16 | 2003-07-23 | 정한택 | The onion transplanter |
| CN202907451U (en) * | 2012-11-22 | 2013-05-01 | 江苏大学 | Automatic plug seedling transplanting pick-and-place device |
| CN103563532A (en) * | 2013-11-25 | 2014-02-12 | 江苏大学 | Automatic seedling taking manipulator for plug seeding transplanter |
| CN105103744A (en) * | 2015-08-28 | 2015-12-02 | 江苏大学 | Pneumatic row-by-row seedling picking device of pot seedling transplanter |
| CN106856756A (en) * | 2017-04-05 | 2017-06-20 | 石河子大学 | A kind of track drive-type pot seedling transplanter end effector |
| CN107593059A (en) * | 2017-10-28 | 2018-01-19 | 石河子大学 | Potted tray seedling transplanter entire row fetches and delivers seedling device |
| CN207612617U (en) * | 2017-12-06 | 2018-07-17 | 江苏大学 | One kind pushing away seedling oblique cutting folder alms bowl seedling taking end effector |
| CN110775618A (en) * | 2019-11-22 | 2020-02-11 | 山东交通学院 | Conveyer belt-clamping type inclined planting device for big-rooted seedling crops on film |
| CN212013571U (en) * | 2020-03-20 | 2020-11-27 | 孙朋成 | Plug seedling transplanting manipulator and inclined feeding type full-automatic plug seedling transplanter |
| CN114223363A (en) * | 2021-12-30 | 2022-03-25 | 中国农业大学 | Crank rocker and slide rail combined type full-automatic seedling taking and throwing device |
-
2022
- 2022-07-14 CN CN202210826409.3A patent/CN115196315B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5842306A (en) * | 1994-11-17 | 1998-12-01 | Yanmar Agricultural Equipment Co., Ltd. | Transplanter |
| JP2000342021A (en) * | 1999-06-07 | 2000-12-12 | Kubota Corp | Seedling taking apparatus of transplanter |
| JP2002000015A (en) * | 2000-06-21 | 2002-01-08 | Yanmar Agricult Equip Co Ltd | Structure of seedling-getting tine in transplanter |
| KR20030062056A (en) * | 2002-01-16 | 2003-07-23 | 정한택 | The onion transplanter |
| CN202907451U (en) * | 2012-11-22 | 2013-05-01 | 江苏大学 | Automatic plug seedling transplanting pick-and-place device |
| CN103563532A (en) * | 2013-11-25 | 2014-02-12 | 江苏大学 | Automatic seedling taking manipulator for plug seeding transplanter |
| CN105103744A (en) * | 2015-08-28 | 2015-12-02 | 江苏大学 | Pneumatic row-by-row seedling picking device of pot seedling transplanter |
| CN106856756A (en) * | 2017-04-05 | 2017-06-20 | 石河子大学 | A kind of track drive-type pot seedling transplanter end effector |
| CN107593059A (en) * | 2017-10-28 | 2018-01-19 | 石河子大学 | Potted tray seedling transplanter entire row fetches and delivers seedling device |
| CN207612617U (en) * | 2017-12-06 | 2018-07-17 | 江苏大学 | One kind pushing away seedling oblique cutting folder alms bowl seedling taking end effector |
| CN110775618A (en) * | 2019-11-22 | 2020-02-11 | 山东交通学院 | Conveyer belt-clamping type inclined planting device for big-rooted seedling crops on film |
| CN212013571U (en) * | 2020-03-20 | 2020-11-27 | 孙朋成 | Plug seedling transplanting manipulator and inclined feeding type full-automatic plug seedling transplanter |
| CN114223363A (en) * | 2021-12-30 | 2022-03-25 | 中国农业大学 | Crank rocker and slide rail combined type full-automatic seedling taking and throwing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115196315A (en) | 2022-10-18 |
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