CN201450793U - End effector of potted tray seedling transplanting system - Google Patents
End effector of potted tray seedling transplanting system Download PDFInfo
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- CN201450793U CN201450793U CN2009201212384U CN200920121238U CN201450793U CN 201450793 U CN201450793 U CN 201450793U CN 2009201212384 U CN2009201212384 U CN 2009201212384U CN 200920121238 U CN200920121238 U CN 200920121238U CN 201450793 U CN201450793 U CN 201450793U
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- end effector
- body frame
- straight line
- fall
- rocking arm
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Abstract
The utility model discloses an end effector of a potted tray seedling transplanting system, which comprises an end effector connection part, a linear cylinder and a grasping and actuating part, wherein the upper end face of the linear cylinder is connected with a connecting plate of the end effector connection part; the lower end face of the linear cylinder is connected with an effector frame of the grasping and actuating part; an air inlet and an air outlet of the linear cylinder are connected with a pneumatic piping. The grasping and actuating part of the end effector adopts four detachable needle fingers with adjustable assembling distance, and meets requirements for transplanting potted tray seedling with different sizes through adjusting spring force of return springs. The end effector of a potted tray seedling transplanting system is used for seedling transplanting systems, and a three-degree-of-freedom manipulator equipped with the end effector completes movements of penetrating, grasping, lifting and releasing, realizes automatically various transplanting potted tray seedling, and minimizing damage to media and avoiding damaging the seedling.
Description
Technical field
The utility model relates to and moves the alms bowl operation in the industrialized agriculture, particularly relates to a kind of plug seedling pot transplanting system end effector.
Background technology
The greenhouse has been widely used in the whole world agricultural production.But temperature height, high humidity in the greenhouse, operating environment is more abominable.Produce now to go up and more and more use seeding plough and automation to move the alms bowl working equipment, not only improved operator's working condition greatly, and rice shoot moves alms bowl uniformity height.Move the alms bowl operation and be the key operation process of production system of growing seedlings in the greenhouse, labour intensity is very big, and the Application and Development of plug seedling pot transplanting system can reduce labor intensity, and improves operating efficiency.
End effector is to participate in the critical component that pot seedling moves the alms bowl operation in the plug seedling pot transplanting system directly.End effector must destroy matrix in minimum degree ground, avoids damaging seedling, and makes that seedling clamping coil the transfer process of coiling to the purpose cave from the target cave is stable, unlikely coming off.The foreign scholar has done relevant research: 1992, people such as Ting developed a kind of SNS clamper, and double-acting cylinder drives, and by condenser type proximity sensor distance of reaction, moves the alms bowl job success ratio at 50%-95% from 600 holes to 48 hole seedling dishes; 2002, people such as W.C.Choi designed a kind of new vegetable seedling clamp device and have been applied to vegetable seedling and move in the alms bowl machine, and speed is 30 strains/min, and success rate can reach 97%.But all there is the structure more complicated in these end effectors, suitable alms bowl crop species and all more limited problem of cave dish specification of moving.
Summary of the invention
The purpose of this utility model is to provide a kind of plug seedling pot transplanting system end effector, this end effector can finish thrust, grasp, lifting, release movement, realize that cave dish seedling moves the alms bowl operation automatically.
The technical solution adopted in the utility model is as follows:
Comprise end effector attaching parts, straight line cylinder and extracting execution unit; The upper surface of straight line cylinder is connected with the connecting plate of end effector attaching parts, and the lower surface of straight line cylinder is connected with the execution body frame that grasps execution unit.
Described end effector attaching parts: comprise connecting rod, connecting plate; Connecting rod is equipped with at the connecting plate center.
Described extracting execution unit: comprise carry out body frame, four fall L shaped rocking arm, with fall the L shaped finger of falling of L shaped rocking arm same number and be connected slide block, two or four pin type fingers, return spring and spring lock blocks; Carry out the body frame central and have up big and down small stairstepping circular hole, return spring is installed in the small sircle hole, on be stamped spring lock block, execution body frame side has four five equilibrium grooves and connects with the big hole of carrying out the body frame central, four ends that fall L shaped rocking arm are contained in respectively in the groove of carrying out the body frame, its end all is pressed in the spring lock block upper surface, each falls arm crossing place of L shaped rocking arm and is hinged on pin and carries out on the body frame, each falls the other end of L shaped rocking arm and is installed in to fall L shaped finger separately and connect in the gathering sill of slide block one end fixingly, and each falls the other end bottom surface that L shaped finger connects slide block and is connected with the pin type finger respectively; The straight line cylinder lower end is installed in carries out on the body frame, and the straight line cylinder push rod stretches in the big hole of carrying out the body frame central and can be pressed on four end faces that fall L shaped rocking arm one end; The straight line cylinder upper end is connected with connecting plate.
The beneficial effect that the utlity model has is:
The utility model is used for the seedling pot transplanting system, and the three-freedom mechanical arm of this end effector is housed, finish thrust, grasp, lifting, release movement, that realizes variety classes cave dish seedling moves the alms bowl operation automatically, and minimum degree ground destroys matrix, avoids damaging seedling.
Description of drawings
Fig. 1 is a perspective view of the present utility model.
Fig. 2 is a partial structurtes cross-sectional schematic of the present utility model.
Fig. 3 is the enlarged drawing of Fig. 2 A;
Fig. 4 is a perspective view of carrying out the body frame.
Fig. 5 is the vertical view that Fig. 4 carries out the body frame.
Fig. 6 is the half sectional view that Fig. 4 carries out the body frame.
Fig. 7 is a scheme of installation of the present utility model.
Fig. 8 is the alms bowl operation course of action schematic diagram that moves of the present utility model.
Fig. 9 is that the end effector forward is installed open mode figure.
Figure 10 is that the end effector forward is installed clamped condition figure.
Figure 11 is that end effector is installed open mode figure dorsad.
Figure 12 is that end effector is installed clamped condition figure dorsad.
Among the figure: 1, end effector attaching parts, 2, straight line cylinder, 3, grasp execution unit, 4, connecting rod, 5, connecting plate, 6, bolt, 7, carry out the body frame, 8, pin, 9, bolt, 10, fall L shaped rocking arm, 11, the L shaped finger that falls connects slide block, 12, bolt, 13, pin type finger, 14, return spring, 15, spring lock block, 16, big hole, 17, small sircle hole, 18, vertical transfer arm.
Embodiment
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, shown in Figure 6, the utility model comprises end effector attaching parts 1, straight line cylinder 2 and grasps execution unit 3; The upper surface of straight line cylinder 2 is connected with the connecting plate 5 of end effector attaching parts 1, and the lower surface of straight line cylinder is connected with the execution body frame 7 that grasps execution unit 3.End effector attaching parts 1: comprise connecting rod 4, connecting plate 5; Connecting rod 4 is equipped with at connecting plate 5 centers.Grasp execution unit 3: comprise carry out body frame 7, four fall L shaped rocking arm 10, with fall L shaped rocking arm 10 same number fall that L shaped finger is connected that slide block 11, two or four pin type point 13, return spring 14 and spring lock blocks 15; Carry out body frame 7 centers and have up big and down small stairstepping circular hole, return spring 14 is installed in the small sircle hole 17, on be stamped spring lock block 15, execution body frame 7 sides have four five equilibrium grooves and connect with the big hole 16 of carrying out body frame 7 centers, four ends that fall L shaped rocking arm 10 are contained in respectively in the groove of carrying out body frame 7, its end all is pressed in spring lock block 15 upper surfaces, each falls arm crossing place of L shaped rocking arm 10 and is hinged on pin 8 and carries out on the body frame 7, each falls the other end of L shaped rocking arm 10 and is installed in to fall L shaped finger separately and connect in the gathering sill of slide block 11 1 ends fixingly, and each falls the other end bottom surface that L shaped finger connects slide block 11 and is connected with pin type finger 13 respectively; Straight line cylinder 2 lower ends are installed in carries out on the body frame 7, and straight line cylinder 2 push rods stretch in the big hole 16 of carrying out body frame 7 centers and can be pressed on four end faces that fall L shaped rocking arm 10 1 ends; Straight line cylinder 2 upper ends are connected with connecting plate 5.
As shown in Figure 7, the vertical transfer arm end of seedling pot transplanting system has installing hole, and multiple end effector can be installed.
As shown in Figure 8, this end effector detects information according to the cave dish seedling that the Machine Vision Recognition system obtains, by PLC control three-freedom mechanical arm, realize that by following process cave dish seedling moves the alms bowl operation automatically: among Fig. 8: (a) move to directly over 1 seedling of hole, target cave, (b) thrust seedling matrix, (c) grasp seedling, (d) shift seedling, (e) move to hole, target cave 2, (f) discharge seedling, (g) promote and leave hole, target cave 2.
Describedly fall L shaped finger and connect slide block 11 and can positive and negatively be installed in and grasp the falling on the L shaped rocking arm 10 of execution unit 3, and can be by gathering sill falling the relative distance that L shaped rocking arm 10 adjusted are fit to, fixing by bolt 12.
Described four pin types are pointed 13 centers and are arranged symmetrically and can pull down respectively, constitute two-hand end effector or four pin type end effectors.The shape of finger can be shovel type or aciculiform, is used for the healthy seedling of clamping, guarantees to move the alms bowl operation and finishes smoothly.
Fig. 9 is that the end effector forward is installed open mode, and Figure 10 is that the end effector forward is installed clamped condition, and Figure 11 is that end effector is installed open mode dorsad.Figure 12 is that end effector is installed clamped condition dorsad.
Its concrete course of work is as follows:
When the dish arrival of target cave moves the alms bowl position, the vertical transfer arm 18 that end effector is installed moves to the top of the healthy seedling of target cave dish, connect the source of the gas of pneumatic line, straight line cylinder 2 air inlet air inlets, straight line cylinder 2 push rods eject, promote four and fall L shaped rocking arm 10 around pin 8 rotations, simultaneously by spring lock block 15 compression retracteding position springs 14, four pin type fingers 13 that are installed on the end effector are opened, move downward and insert in the seedling alms bowl body of target cave dish, give vent to anger in process cathetus cylinder 2 gas outlets of inserting, straight line cylinder 7 push rods withdrawals, return spring 14 resets, and promotes spring lock block 15 and makes four to fall L shaped rocking arm 10 and reset, four pin type fingers 13 inwardly grasp, and clamp the healthy seedling that will move the alms bowl operation.
After four pin type fingers 13 clamped the healthy seedling that will move the alms bowl operation, the vertical transfer arm 18 that end effector is installed upwards promoted, and moves to purpose cave dish.Behind the top, hole that moves to the purpose cave dish that will move the alms bowl operation, the vertical transfer arm 18 that end effector is installed moves downward, and is entered the purpose cave by four pin types finger 13 healthy seedling that will move the alms bowl operation that clamp and circles or whirl in the air in the cave.Then straight line cylinder 2 air inlet air inlets, straight line cylinder 2 push rods eject, promote four and fall L shaped rocking arm 10 around pin 8 rotations, by spring lock block 15 compression retracteding position springs 14 four pin type fingers 13 are opened simultaneously, healthy seedling alms bowl body is stayed in the hole of purpose cave dish, and that finishes a seedling moves the alms bowl operation.
Four pin type fingers 13 on the end effector can be pulled down respectively, and can adjust mutual distance, satisfy the production needs of different caves dish and Different Crop; The size of the spring force by adjusting return spring 14 can change the size of thrusting angle and grasping angle, strength, on the basis of control seedling-damaging ratio, improves and moves the alms bowl job success ratio.
Claims (3)
1. a plug seedling pot transplanting system end effector is characterized in that: comprise end effector attaching parts (1), straight line cylinder (2) and grasp execution unit (3); The upper surface of straight line cylinder (2) is connected with the connecting plate (5) of end effector attaching parts (1), and the lower surface of straight line cylinder is connected with the execution body frame (7) that grasps execution unit (3).
2. a kind of plug seedling pot transplanting system end effector according to claim 1 is characterized in that: described end effector attaching parts (1): comprise connecting rod (4), connecting plate (5); Connecting rod (4) is equipped with at connecting plate (5) center.
3. a kind of plug seedling pot transplanting system end effector according to claim 1 is characterized in that: described extracting execution unit (3): comprise carry out body frame (7), four fall L shaped rocking arm (10), with fall L shaped rocking arm (10) same number fall that L shaped finger is connected slide block (11), two or four pin types are pointed (13), return spring (14) and spring lock blocks (15); Carry out body frame (7) center and have up big and down small stairstepping circular hole, return spring (14) is installed in the small sircle hole (17), on be stamped spring lock block (15), execution body frame (7) side has four five equilibrium grooves and connects with the big hole (16) of carrying out body frame (7) center, four ends that fall L shaped rocking arm (10) are contained in respectively in the groove of carrying out body frame (7), its end all is pressed in spring lock block (15) upper surface, each falls arm crossing place of L shaped rocking arm (10) and is hinged on pin (8) and carries out on the body frame (7), each falls the other end of L shaped rocking arm (10) and is installed in to fall L shaped finger separately and connect in the gathering sill of slide block (11) one ends fixingly, and each falls the other end bottom surface that L shaped finger connects slide block (11) and is connected with pin type finger (13) respectively; Straight line cylinder (2) lower end is installed in carries out on the body frame (7), and straight line cylinder (2) push rod stretches in the big hole (16) of carrying out body frame (7) center and can be pressed on four end faces that fall L shaped rocking arm (10) one ends; Straight line cylinder (2) upper end is connected with connecting plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201212384U CN201450793U (en) | 2009-06-01 | 2009-06-01 | End effector of potted tray seedling transplanting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201212384U CN201450793U (en) | 2009-06-01 | 2009-06-01 | End effector of potted tray seedling transplanting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201450793U true CN201450793U (en) | 2010-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201212384U Expired - Fee Related CN201450793U (en) | 2009-06-01 | 2009-06-01 | End effector of potted tray seedling transplanting system |
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| Country | Link |
|---|---|
| CN (1) | CN201450793U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101569258B (en) * | 2009-06-01 | 2011-01-12 | 浙江大学 | End effector of a plug seedling pot transplanting system |
| CN107124944A (en) * | 2017-05-04 | 2017-09-05 | 中国农业大学 | Pneumatic flexible press-down type seedling picking mechanism |
-
2009
- 2009-06-01 CN CN2009201212384U patent/CN201450793U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101569258B (en) * | 2009-06-01 | 2011-01-12 | 浙江大学 | End effector of a plug seedling pot transplanting system |
| CN107124944A (en) * | 2017-05-04 | 2017-09-05 | 中国农业大学 | Pneumatic flexible press-down type seedling picking mechanism |
| CN107124944B (en) * | 2017-05-04 | 2022-10-21 | 中国农业大学 | Pneumatic flexible downward pressing type seedling taking mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100512 Termination date: 20110601 |