CN201499444U - A plug-in seedling transplanting manipulator - Google Patents

Abstract

The utility model provides a manipulator for transplanting hole tray seedlings, which includes a cylinder and a mechanical finger. Four finger sleeves are affixed, and the mechanical finger passing through the finger sleeve and the manipulator installation positioning block is fixed on the mechanical finger installation positioning block, and the manipulator installation positioning block is provided with a side plate with a connecting screw hole. The utility model is characterized in that the transplanting of vegetable and flower plug seedlings is completed by using a machine instead of a manual operation, and the utility model has a simple structure, convenience, practicality and reliable performance.

Description

A plug-in seedling transplanting manipulator

technical field

The utility model belongs to a transplanting mechanism, in particular to a mechanism capable of transplanting seedlings of different specifications of vegetables and flowers from high-density plugs to low-density plugs or containers.

Background technique

With the development of science and technology, the automation and intelligence level of vegetable and flower production has been continuously improved, but there is less research work on the automation of transplanting seedlings of main crops in greenhouses. Therefore, starting from the actual situation of seedling cultivation and transplanting technology in my country, and adapting to the needs of automation and intelligence in agricultural production in my country, it is imminent to develop an automatic transplanting device for small and medium-sized plug seedlings that is suitable for my country's national conditions, simple in structure, low in price, and stable and reliable in performance. . The transplanting manipulator is the most critical part of the transplanting machine. Its function is to insert, grab, maintain and release the seedlings in the seedling tray, and its performance directly affects the performance of the transplanting machine. At present, various manipulators developed in industry are widely used, but due to the delicateness and complexity of agricultural operation objects, the non-structural nature of the operation environment, the complexity of the operation process, and the particularity of the objects and prices used in the industrial field Manipulators cannot directly meet the requirements of agricultural production, so special manipulators need to be designed.

In recent years, many western developed countries have developed a batch of high-precision and high-quality manipulators relying on their advantages in technology and capital. For example, in 1987, Kutz et al. designed transplanting manipulators based on CAD systems. Its manipulator is a parallel clamping gripper, which consists of 1 cylinder and 1 parallel gripping gripper; in 1990, K.C.Ting et al. developed a pneumatic needle gripper, which consists of two inclined needles. Each needle is driven by a double-action air cylinder. The angle and position of the needle can be adjusted according to the different trays and seedlings. The capacitive proximity sensor can adjust the sensing distance , to ensure that the gripper is clamped without damaging the seedlings. During transplanting, the needles are retracted on one side, and after approaching the hole, the needles begin to extend, penetrating into the substrate. In 2001, K.H.Ryu and others designed a clamping device driven by a pneumatic system. The end device is composed of a stepping motor, a cylinder, a pneumatic chuck and a clamping finger. The manipulator is driven by a stepping motor to rotate, and according to the plant The orientation determines the position of the needle-like gripping fingers to avoid damage to the plant leaves during gripping. The cylinder can push the clamping finger to insert into the matrix of the seedling tray, and then realize the grabbing, holding and releasing of the seedling through the switch of the pneumatic chuck. In 2002, South Korea's W.C.Choi developed a device for catching seedlings again, which consisted of three parts: a trajectory generator formed by five bars, a grabbing pointer and a pointer driver.

Most of these manipulators in foreign countries have relatively complex structures, and because different types of crops have different requirements for the type and standard of manipulators in the process of cultivation, planting, and transplanting, it is difficult to use one type of manipulator to achieve multiple operations. Transplantation of crops. However, the development of my country's facility agriculture is still at a relatively low level. Only Taiwan and Nanjing Agricultural University imitated the Dutch trial-produced a kind of manipulator with a similar structure. Complicated, other than that, there is no report on related manipulators. Therefore, drawing lessons from the characteristics of manipulators used in industry and foreign transplanting manipulators, developing a manipulator for transplanting seedlings with simple structure, stable performance and suitable for my country's national conditions is the premise to realize the whole process of automation and intelligence in greenhouse production. The development of agriculture will be of great significance.

Utility model content

The purpose of the utility model is to provide a plug seedling transplanting manipulator with simple structure and reliable performance, which can be used well with the plug seedling transplanting machine.

The purpose of this utility model is achieved through the following technical solutions: including a cylinder and a mechanical finger, characterized in that: the lower end of the cylinder is fixedly connected with a mechanical finger to install a positioning block, the piston rod of the cylinder is fixedly connected with a manipulator to install a positioning block, and the manipulator is installed with a positioning block Four finger sleeves are affixed on the top, and the mechanical fingers passing through the finger sleeves and the manipulator installation positioning block are fixed on the mechanical finger installation positioning block, and the manipulator installation positioning block is provided with a side plate with a connecting screw hole.

When working, the piston rod of the cylinder is fixed, and the up and down movement of the cylinder barrel drives the mechanical fingers to move up and down, and the opening and closing of the transplanting manipulator is realized through the guidance of the sleeve, so as to achieve the purpose of grasping and placing the seedlings in the plugs, and realize the transplanting of the seedlings in the plugs.

The utility model has the advantages of simple structure, reliable performance, convenient operation, and can be used well with the plug-in seedling transplanting machine.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model.

Fig. 2 is a schematic diagram of a mechanical finger installing a positioning block.

Fig. 3 is a schematic diagram of the positioning block installed by the manipulator.

Fig. 4 is a schematic diagram of a finger sleeve.

Fig. 5 is a schematic diagram of a mechanical finger.

In the figure: cylinder 1, mechanical finger mounting positioning block 2, mechanical hand mounting positioning block 3, sleeve 4, mechanical finger 5, piston rod 6.

specific implementation plan

See Fig. 1, transplanting manipulator is made of five parts: namely cylinder 1, mechanical finger installation positioning block 2, manipulator installation positioning block 3, finger sleeve 4, mechanical finger 5.

The first part is the cylinder 1 of the opening and closing of the mechanical fingers, which is the power part for the transplanting manipulator to grasp and release the seedlings. The piston rod 6 is driven by air pressure to drive the manipulator to grasp and release the seedlings, as shown in 1 in Figure 1. The second part is the mechanical finger installation positioning block 2, which is fixed on one end of the cylinder 1 by threads, and then the four mechanical fingers 5 are fixed on the side of the mechanical finger installation positioning block 2 through connectors, as shown in Figure 2 . The third part is that the manipulator installs the positioning block 3, which is used to fix the transplanting manipulator on the transplanting body and fix four finger sleeves 4, as shown in Figure 3. The fourth part is the sleeve 4 for the guide of the mechanical finger. One end of the mechanical finger 5 is connected to the positioning block 2 for installing the mechanical finger, and then inserted into the sleeve 4 . According to the working principle of the transplanting hand, the sleeve 4 is designed to have a certain curvature to facilitate better grasping of the plug seedlings, which is a key component of the transplanting manipulator, as shown in Figure 4. The fifth part is the mechanical finger 5. According to the working principle of the transplanting hand, the mechanical finger of the transplanting hand is designed in the shape of a thin finger, and the finger end is shovel-shaped, which is beneficial to the fingers in the soil and grabs the seedlings, and ensures less disturbance to the soil, such as Figure 5 shows. These parts are connected together, and the finger movement is driven by the cylinder to grasp and put down the plug seedlings, and then realize the automatic transplanting of plug seedlings from high-density plugs to low-density plugs. Figure 1 is the overall structure diagram.

1. Design and selection of the finger opening and closing cylinder: As shown in Figure 1, according to the depth of the manipulator into the soil and leaving a certain space above the seedlings, and considering the standard size of the cylinder, the stroke of the finger opening and closing cylinder is determined to be 50mm. Calculate the thrust of the piston rod of the cylinder according to the stress of the fingers entering the soil, and then calculate the bore diameter of the cylinder according to this force to be 18mm.

2. The design of the positioning block installed by the manipulator: According to the size specification of the standard 72-hole tray, the distance between every two holes is 43mm. In order to transplant multiple seedlings at the same time, the horizontal width of the positioning block installed by the manipulator is not Should be greater than 43mm, the design size is 40mm. According to the structural principle of the transplanting machine, the manipulator is installed on the side-lying guide rail and connected with the slider on the guide rail, so the side plate on which the manipulator installs the positioning block is designed to match the size of the slider, and the size of the threaded hole on the side plate is consistent with the size of the slider. The threaded holes on the slider are of the same size for easy connection. The horizontal plate of the manipulator installation positioning block 3 is formed with four threaded holes for installing the sleeve 4. The spacing of the threaded holes is determined according to the different entry angle requirements of the transplanting fingers, as shown in Figure 2. In order to reduce the weight of the manipulator and consider the force to meet the requirements, the material of the manipulator installation positioning block 3 is designed and manufactured with duralumin structure.

3. The design scheme of the positioning block 2 for the mechanical finger installation: as shown in Figure 3, the positioning block for the mechanical finger installation is fixed on the lower end of the cylinder through threads to position the mechanical finger, and one end of the pointer is connected to the threaded hole on the side of the positioning block through screws. The key to this design is to ensure that the center of the pointer is concentric with the sleeve so that the manipulator can open and close freely.

4. The design of the sleeve: as shown in Figure 4, the sleeve completes the guidance of finger grasping and releasing seedlings. According to the different vegetables and flowers to be transplanted, the angle between the sleeve and the fingers of the transplanting manipulator and the vertical direction is designed to have 5 The angle of -18°, the structure of the sleeve is designed according to this entry angle, that is, the upper half of the sleeve is a straight line, and the lower half is an arc, and the angle is consistent with the angle of the mechanical finger.

5. The design scheme of the mechanical fingers: as shown in Figure 5, the mechanical fingers are the most important part of the structure of the transplanting manipulator. According to the working principle of the transplanting machine and the transplanting manipulator, the fingers of the transplanting manipulator are designed as four fingers. According to the working conditions and requirements, the fingers are designed as a shovel-shaped needle structure, and the size and structure are required to be simple.

Claims (2)

1. potted tray seedling transplanter tool hand, comprise cylinder, mechanical finger, it is characterized in that: affixed mechanical finger is installed locating piece in the lower end of cylinder, affixed manipulator is installed locating piece on the cylinder piston rod, manipulator is installed affixed four finger sleeves on the locating piece, the mechanical finger that passes finger sleeve and manipulator installation locating piece is fixed in mechanical finger and installs on the locating piece, and manipulator is installed the side plate that band connects screw is set on the locating piece.

2. potted tray seedling transplanter tool hand according to claim 1, it is characterized in that: different with flowers cave dish seed class according to vegetables, sleeve and transplanting machine hand finger and vertical angle are designed to have 5-18 ° angle, the first half is a straight line, the latter half is a circular arc, and both match at angle.

Images