CN201499444U - Plug seedling transplanting mechanical arm - Google Patents
Plug seedling transplanting mechanical arm Download PDFInfo
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- CN201499444U CN201499444U CN2009202036110U CN200920203611U CN201499444U CN 201499444 U CN201499444 U CN 201499444U CN 2009202036110 U CN2009202036110 U CN 2009202036110U CN 200920203611 U CN200920203611 U CN 200920203611U CN 201499444 U CN201499444 U CN 201499444U
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Abstract
The utility model provides a plug seedling transplanting mechanical arm which comprises a cylinder and mechanical fingers, and is characterized in that the lower end of the cylinder is fixedly connected with a mechanical finger installing and locating block; a cylinder piston rod is fixedly connected with a mechanical arm installing and locating block which is fixedly connected with four finger sleeves; the mechanical fingers which pass through the finger sleeves and the mechanical arm installing and locating block are fixedly connected on the mechanical finger installing and locating block; and the mechanical arm installing and locating block is provided with a side plate provided with a connecting screw hole. The plug seedling transplanting mechanical arm is characterized by using a machine to replace manual operation to complete plug seedling transplanting of vegetables and flowers, and having simple structure, convenience, practicability and reliable performance.
Description
Technical field
The utility model belongs to a kind of transplanting mechanism, particularly a kind of can finish different size vegetables and flowers cave dish seedling from high density cave dish to mechanism that low-density cave dish or container are transplanted.
Background technology
Along with science and technology development, vegetables and production of flowers and plants automation and intelligent level improve constantly, but the research work aspect the dish transplantation of seedlings automation of chief crop cave, greenhouse is less.Therefore, actual conditions from China's seedling transplanting technique, it is extremely urgent that the automation and the intelligent demand that adapt to China's agricultural production, development are fit to China's national situation, the automatic transplantation device of seedling is coiled in middle-size and small-size cave simple in structure, cheap, stable and reliable for performance.And the transplanting machine hand is a transplanter most critical part, and its effect is the cave seedling in insertion, extracting, maintenance and the release seedling dish, and its performance quality directly influences the performance of transplanter.The various manipulators of present industrial development are used very extensive, but because the particularity of the complexity of the unstructuredness of the tender and lovely property of agricultural operation object and complexity, operating environment, operation process and use object and price, the manipulator that is applied to industrial circle can't directly satisfy the requirement of agricultural production, thereby will design special manipulator.
In recent years, many western developed countries relied on the advantage of its technology and fund aspect, had developed a collection of high accuracy, and high-quality manipulator has designed the transplanting machine hand as people such as Kutz in 1987 based on CAD system.Its manipulator is a parallel gripping formula clamper, is made up of 1 cylinder and 1 parallel gripping handgrip; Nineteen ninety K.C.Ting etc. develop a kind of air pressure pin type clamper, this manipulator is made up of needle-like clamper and a capacitive proximity sensors of two inclinations, every pin is all driven by two moving air cylinders, the angle of pin can be regulated with the different of rice shoot according to the cave dish with the position, the condenser type proximity sensor can be regulated distance of reaction, guarantees that clamper clamps and do not injure rice shoot.In the transplanting process, pin is retracted within a side, and behind the hole, cave, pin begins to stretch, and penetrates in the matrix.People such as calendar year 2001 K.H.Ryu have designed a kind of clamp device that is driven by pneumatic system, this end device is referred to form by stepper motor, cylinder, air spider and gripping, its manipulator is by the stepper motor driven rotary, and determine the position that the needle-like gripping refers to according to the orientation of plant, when avoiding grasping to the injury of plant leaf.Cylinder can promote gripping and refer to insert in the matrix of seedling dish, realizes extracting, maintenance and release to rice shoot by the switch of air spider then.Korea S W.C.Choi in 2002 develops again and grabs the seedling device, and the path generator that this device is formed by five bars, extracting pointer and pointer driver three parts constitute.
The external most structure more complicated of these manipulators, and since different types of crops in cultivation, plantation, transplanting process for the requirement difference of aspects such as the type of manipulator, standard, therefore, the very difficult now manipulator with a type goes to realize the transplanting plantation of multiple kinds of crops.And the development of China's industrialized agriculture still is in reduced levels, have only Taiwan and Agricultural University Of Nanjing to copy Holland and manufacture experimently out the similar a kind of manipulator of structure, be to realize the structure that pointer shrinks by four spiral-shaped chutes in the plane, its structure is more complicated also, does not in addition see the report of associated mechanical hand.Therefore, the manipulator of using in the reference industry and the characteristic of external transplanting machine hand, the potted tray seedling transplanter tool hand that develop simple in structure, stable performance, is fit to China's national situation is to realize hothouse production whole-course automation and intelligentized prerequisite, will be significant to the development that promotes China's industrialized agriculture.
The utility model content
The purpose of this utility model provides a kind of potted tray seedling transplanter tool hand of simple in structure, dependable performance, can use by fine cooperation potted tray seedling transplanter.
The purpose of this utility model is achieved by the following technical solution: 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.
Cylinder piston rod maintains static during work, and cylinder barrel moves up and down and drives mechanical finger and move up and down, and realizes the folding of transplanting machine hand by the guiding of sleeve, and then reaches the purpose of pick-and-place cave dish seedling, realizes the transplanting of cave dish seedling.
The utility model has the advantages that: simple in structure, dependable performance, easy to operate, can use by fine cooperation potted tray seedling transplanter.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model.
Fig. 2 is that mechanical finger is installed the locating piece schematic diagram.
Fig. 3 is that manipulator is installed the locating piece schematic diagram.
Fig. 4 is a finger sleeve schematic diagram.
Fig. 5 is the mechanical finger schematic diagram.
Among the figure: cylinder 1, mechanical finger are installed locating piece 2, manipulator is installed locating piece 3, sleeve 4, mechanical finger 5, piston rod 6.
Specific embodiments
See Fig. 1, the transplanting machine hand is made of five parts: promptly cylinder 1, mechanical finger are installed locating piece 2, manipulator is installed locating piece 3, finger sleeve 4, mechanical finger 5.
First is the cylinder 1 of mechanical finger folding, and it is the power section that the transplanting machine hand is grabbed seedling and put seedling, drives manipulator by air pressure piston rod 6 and realizes grabbing seedling and putting seedling, shown among Fig. 11.Second portion is that mechanical finger is installed locating piece 2, is fixed on an end of cylinder 1 by screw thread, again four mechanical fingers 5 is fixed on mechanical finger by connector locating piece 2 sides are installed, as shown in Figure 2.Third part is that manipulator is installed locating piece 3, is used for the transplanting machine hand is fixed on the transplanting body, and fixes four finger sleeves 4, as shown in Figure 3.The 4th part is the sleeve 4 of mechanical finger guiding, and mechanical finger 5 one ends are connected mechanical finger and install on the locating piece 2, insert then in this sleeve 4.Make principle according to transplanting by hand, sleeve 4 is designed to have certain camber, is beneficial to grasp better cave dish seedling, and this is the critical component of transplanting machine hand, as shown in Figure 4.The 5th part is a mechanical finger 5, and according to the operation principle of transplanting hand, the mechanical finger of transplanting hand is designed to the microdactylia shape, and finger tip is the shovel shape, be beneficial to finger and bury and grab seedling, and guarantee less to the disturbance of soil, as shown in Figure 5.These several parts are linked together, drive finger motion by cylinder and realize the extracting of cave dish seedling and put down, and then realize cave dish seedling by the automatic transplanting of high density cave dish to low-density cave dish, Fig. 1 is an overall construction drawing.
1, design of finger folding cylinder and type selecting: as shown in Figure 1, according to the manipulator embedded depth, and above sticking together, seedling stays certain space, and the standard size of consideration cylinder, the stroke of determining finger folding cylinder is 50mm, the stressing conditions that buries according to finger calculates the thrust of cylinder piston rod again, and the cylinder diameter according to this power calculating cylinder is 18mm then.
2, manipulator is installed the design of locating piece: according to the dimensions of standard 72 holes dish, distance between the hole, per two cave is 43mm, in order to transplant a plurality of caves dish seedling simultaneously, then the horizontal width of manipulator installation locating piece should be greater than 43mm, and design size is 40mm.Structural principle according to transplanter, manipulator is installed on the guide rail of lying on one's side, and is connected with slide block on the guide rail, is designed to match with the slide block size so manipulator is installed the side plate of locating piece, the size of side plate upper screwed hole and slide block upper screwed hole consistent size are so that connect.Manipulator is installed on the level board of locating piece 3 and is shaped on four screwed holes, is used for installing sleeve 4, and the spacing of screwed hole requires to determine according to transplanting the different angle of penetration of finger, as shown in Figure 2.In order to alleviate the weight of manipulator, consider stressed meeting the demands simultaneously, manipulator is installed the material of locating piece 3 and is selected the manufacturing of duralumin structural design.
3, mechanical finger is installed the design of locating piece 2: as shown in Figure 3, mechanical finger is installed locating piece is fixed on cylinder by screw thread lower end, being used for positioning mechanical arm refers to, pointer one end is connected by screw with the screwed hole of locating piece side, the key of this design is to guarantee that the center of pointer is concentric with sleeve, like this manipulator folding freedom.
4, the design of sleeve: as shown in Figure 4, sleeve is finished the guiding of finger pick-and-place seedling, according to transplanting different vegetables and flowers, sleeve and transplanting machine hand finger and vertical angle are designed to have 5-18 ° angle, structure according to this penetrating angle design sleeve, be that sleeve the first half is a straight line, the latter half is a circular arc, and its angle and mechanical finger angle match.
5, the design of mechanical finger: as shown in Figure 5, mechanical finger is the most important a part of structure of transplanting machine hand.According to the operation principle of transplanter and transplanting machine hand, the transplanting machine hand finger is designed to four fingers, and according to condition of work and requirement, finger is designed to shovel shape aciculiform structure, requires dimensional structure simple simultaneously.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202036110U CN201499444U (en) | 2009-09-25 | 2009-09-25 | Plug seedling transplanting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202036110U CN201499444U (en) | 2009-09-25 | 2009-09-25 | Plug seedling transplanting mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201499444U true CN201499444U (en) | 2010-06-09 |
Family
ID=42450391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202036110U Expired - Fee Related CN201499444U (en) | 2009-09-25 | 2009-09-25 | Plug seedling transplanting mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201499444U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102273348A (en) * | 2011-06-29 | 2011-12-14 | 北京工业大学 | Tissue culture seedling transplanting gripper with scratching function |
| CN102717386A (en) * | 2012-06-29 | 2012-10-10 | 苏州晟成新能源科技有限公司 | Transplanting mechanism arm with adjustable positioning device |
| CN102934557A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Automatic picking and placing device for plug seedling transplanting |
| CN102934556A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Automatic picking and placing method for plug seedling transplanting |
| CN103004344A (en) * | 2012-12-17 | 2013-04-03 | 上海交通大学 | Grafted seedling automatic transplanting system based on heterogeneous machine vision |
| CN103076227A (en) * | 2013-01-09 | 2013-05-01 | 浙江大学 | Clamping platform for testing physical characteristics of seedling pot clamped and compressed |
| CN103270838A (en) * | 2013-05-04 | 2013-09-04 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
| CN103477769A (en) * | 2013-09-17 | 2014-01-01 | 北京工业大学 | Hole tray seedling combination pot-in transplanter |
| CN105638054A (en) * | 2016-03-02 | 2016-06-08 | 农业部南京农业机械化研究所 | Transplantation seedling taking device |
| CN109819819A (en) * | 2019-03-22 | 2019-05-31 | 福州市诚恩贸易有限公司 | Flowerpot plant separator and its working method |
| CN113875369A (en) * | 2021-11-23 | 2022-01-04 | 石河子大学 | Pneumatic type multi-claw plug seedling grabbing device |
-
2009
- 2009-09-25 CN CN2009202036110U patent/CN201499444U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102273348B (en) * | 2011-06-29 | 2013-08-07 | 北京工业大学 | Tissue culture seedling transplanting gripper with scratching function |
| CN102273348A (en) * | 2011-06-29 | 2011-12-14 | 北京工业大学 | Tissue culture seedling transplanting gripper with scratching function |
| CN102717386A (en) * | 2012-06-29 | 2012-10-10 | 苏州晟成新能源科技有限公司 | Transplanting mechanism arm with adjustable positioning device |
| CN102717386B (en) * | 2012-06-29 | 2014-12-03 | 苏州晟成新能源科技有限公司 | Transplanting mechanism arm with adjustable positioning device |
| CN102934557A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Automatic picking and placing device for plug seedling transplanting |
| CN102934556A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Automatic picking and placing method for plug seedling transplanting |
| CN103004344B (en) * | 2012-12-17 | 2015-08-19 | 上海交通大学 | Grafting based on heterogeneous machines vision is planted system automatically |
| CN103004344A (en) * | 2012-12-17 | 2013-04-03 | 上海交通大学 | Grafted seedling automatic transplanting system based on heterogeneous machine vision |
| CN103076227B (en) * | 2013-01-09 | 2014-11-12 | 浙江大学 | Clamping platform for testing physical characteristics of seedling pot clamped and compressed |
| CN103076227A (en) * | 2013-01-09 | 2013-05-01 | 浙江大学 | Clamping platform for testing physical characteristics of seedling pot clamped and compressed |
| CN103270838A (en) * | 2013-05-04 | 2013-09-04 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
| CN103270838B (en) * | 2013-05-04 | 2015-05-20 | 曹伟鹏 | Hole seedling transplanting paw adaptive to hole trays with different models |
| CN103477769A (en) * | 2013-09-17 | 2014-01-01 | 北京工业大学 | Hole tray seedling combination pot-in transplanter |
| CN105638054A (en) * | 2016-03-02 | 2016-06-08 | 农业部南京农业机械化研究所 | Transplantation seedling taking device |
| CN109819819A (en) * | 2019-03-22 | 2019-05-31 | 福州市诚恩贸易有限公司 | Flowerpot plant separator and its working method |
| CN113875369A (en) * | 2021-11-23 | 2022-01-04 | 石河子大学 | Pneumatic type multi-claw plug seedling grabbing device |
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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: 20100609 Termination date: 20100925 |