CN202406510U - End effector of plug transplanting device in dry land - Google Patents
End effector of plug transplanting device in dry land Download PDFInfo
- Publication number
- CN202406510U CN202406510U CN2011204293111U CN201120429311U CN202406510U CN 202406510 U CN202406510 U CN 202406510U CN 2011204293111 U CN2011204293111 U CN 2011204293111U CN 201120429311 U CN201120429311 U CN 201120429311U CN 202406510 U CN202406510 U CN 202406510U
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- seedling
- push rod
- camshaft
- extension spring
- wedge
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Abstract
The utility model relates to an end effector of a plug transplanting device in the dry land. The end effector is characterized by being provided with a cam shaft bracket (1) connected to a manipulator of a transplanter, wherein the lower end of the cam shaft bracket (1) is provided with one row of completely-same seedling-clamping devices in parallel, wherein each group of seedling clamping device comprises a disk-shaped cam (14), a mandril (10), a wedge-shaped block (9), a pressure spring (11), a mandril bracket (13), a seedling jaw opening and closing push rod (8), a tension spring support rod (5), a tension spring (6) and two seedling taking jaws (7). The end effector has the advantages of simple and compact integral structure, convenience for disassembly, and increased transplanting efficiency due to adoption of a row-type seedling picking manner.
Description
Technical field
The utility model relates to a kind of seedling device of getting, and specifically is applied in a kind of whole row's seedling picking mechanism that from the dish of cave, takes out seedling and throw on the dry land potted tray seedling transplanter.
Background technology
Proportion of crop planting is realized automation, can reduce the labour intensity in the planting process, enhances productivity, and reduces production costs, and promotes increasing peasant income.Automation, particularly its end effector that one of automatic transplanting emphasis is to get the seedling link will realize getting flexibly seedling and put the seedling action.Thereby end effector is the important component part of potted tray seedling transplanter, and its good working performance is to realize the semi-automatic key that full-automatic transplanting is crossed over of being transplanted to.
In transplanting the machine people, the manipulating object of end effector is the vegetable seedling that is planted in the seedling-cultivating tray, so it is the intermediary of robot and seedling dish, effect is to grasp, keep, discharge the crop in the seedling dish.End effector itself can't independently be accomplished whole transplanting operation, generally need be connected on the transplanter mechanical arm, and along with manipulator motion, accomplish and transplant job task.
At present, domestic less to getting seedling research automatically, some are got morely in the research of seedling end effector be single and get seedling; And its mechanism is complicated, and single to get seedling efficient on the low side, difficultly satisfy the requirement of planting fast; Get the seedling device so need to consider the end that whole row gets seedling; Be that a plurality of folder seedling devices are in juxtaposition,, can once get many seedlings by a folding that drives all seedling pawls of drive.
External in Automatic Transplanter, used whole row to get the end effector of seedling, but more be to adopt parallel form pneumatic or that surge, be about to a plurality of end effectors and be connected in parallel on unified control on the same equipment.Though this kind transplant apparatus efficient still can, morely be adapted at operation in the greenhouse, out of doors during the operation of land for growing field crops; It is unreliable then to be prone to the stability of a system that causes affected by environment, and the pneumatic or system cost height that surges, bulky; Mechanism is complicated, and it is big to control difficulty big Tanaka, very flexible.
Summary of the invention
The utility model provides a kind of a plurality of folder seedling device to be in parallel installed with, and can realize that whole row gets the dry land potted tray transplantation of seedlings device end effector of seedling, gets seedling efficient with raising, realizes transplanting automatically.
The technical scheme of the utility model is:
A kind of potted tray seedling transplanter end effector; It is characterized in that; Comprise camshaft stand, camshaft and folder seedling device; Camshaft stand is connected on the transplanter mechanical arm, and camshaft is installed in the camshaft stand through bearing, and the identical folder seedling device of a row is installed below camshaft stand side by side; Said folder seedling device is made up of disc cam, push rod, wedge, stage clip, push rod support, seedling pawl folding push rod, extension spring pole, extension spring and two seedling claws, disc cam and camshaft key connecting, and push rod is step-like cylindrical, thick lower end, upper end is thin; The end that push rod is thick contacts with the cam bottom; The end that push rod is thin is with stage clip, and an end of stage clip is at the step place of push rod thickness handing-over, and the other end of stage clip is supported on the push rod support, and stage clip is in compressive state all the time, and disc cam and push rod keep in touch; Push rod support and seedling pawl support all are fixed on the camshaft stand below, and the push rod lower end is fixed with wedge, and being shaped as of wedge is trapezoidal, and the lozenges of two sides is a working face; Two seedling claw top swivel-chains are connected on the seedling pawl support; Be installed with extension spring pole and seedling pawl folding push rod respectively in two seedling claw centre positions; Two seedling pawl folding push rods are installed in the inboard and relative of two seedling claws, and extension spring pole is below seedling pawl folding push rod, and extension spring pole and seedling pawl folding push rod are 90 ° of spatial placement; An extension spring is installed between extension spring pole two ends, the working face of seedling pawl folding push rod and wedge is kept in touch; Guide plate is fixed on the camshaft stand, and guide plate is opened a slot, and two seedling claws stretch out in the square hole of guide plate.
It is identical that described potted tray seedling transplanter end effector, the number of its folder seedling device and cave coil single cave hole count, and it is identical that hole, cave center distance is coiled in the spacing distance between the two adjacent groups seedling claw and cave;
A circular hole is opened at the axial two ends of said camshaft stand, with mounting cam axle and disc cam, opens an aperture at each disc cam bottom position of camshaft stand, and push rod moves up and down through aperture.
Said push rod support, it all has sizeable hole up and down, and so that push rod can be moved up and down, push rod support, push rod, spring cooperate with disc cam, let the rotation driving of disc cam be converted into moving up and down of push rod, drive wedge again and move up and down.
Said every group said two seedling claws symmetry installed 2 pairs of extension spring poles and kept balance.
Said wedge both sides have sulculus, and seedling pawl folding push rod contacts an end with wedge be that hemispherical or roller are embedded in the sulculus.
Said guide plate is fixedly mounted on the camshaft stand bottom, and guide plate is opened a slot, is not partial to keep the motion of seedling pawl.
The beneficial effect of the utility model has:
The overall structure compact is adapted at outdoor land for growing field crops and uses, and the row's of rounding seedling once from the dish of cave has improved and got seedling efficient.
Description of drawings
Fig. 1 is the front view of the utility model.
Fig. 2 is the axonometric drawing of the single folder seedling of the utility model device.
Fig. 3 is the layout drawing of the utility model cam mechanism and seedling clipping machine structure.
Fig. 4 is the axonometric drawing of the utility model push rod and wedge.
Fig. 5 is the axonometric drawing of the utility model camshaft stand.
Among the figure, 1, camshaft stand; 2, camshaft; 3, seedling pawl support; 4, guide plate; 5, extension spring pole; 6, extension spring; 7, seedling claw; 8, seedling pawl folding push rod; 9, wedge; 10, push rod; 11, stage clip; 12, hinge; 13, push rod support; 14, disc cam
Embodiment
Use the explanation further of the utility model do below in conjunction with accompanying drawing and embodiment:
As shown in Figure 1; Camshaft stand 1 in the utility model is connected on the transplanter mechanical arm, and mounting cam axle 2 in camshaft stand 1 is equipped with one group of disc cam 14 on the camshaft 2; Disc cam 14 passes through key connecting with camshaft 2; Rotation through camshaft 2 drives, and drives each disc cam 14 and rotates together, and disc cam 14 appearance profiles are just the same.Camshaft stand 1 bottom has aperture 16, and the push rod 10 that contacts all the time with disc cam 14 is installed here, and push rod 10 is cylindrical; Thick lower end, upper end is thin, and thin end is with stage clip 11, and stage clip 11 1 ends are in push rod 10 thickness junctions; The other end is supported on the push rod support 13; Stage clip 11 is in compressive state all the time like this, and disc cam 14 can be permanently connected to push rod 10, thereby the rotation of disc cam 14 transfers moving up and down of push rod 10 to.
Wedge 9 is fixed on the lower end of push rod 10, and along with push rod 10 moves up and down together, wedge 9 both sides have sulculus; Seedling pawl folding push rod 8 one ends are that hemispherical (or roller) is embedded in this sulculus, and the other end is fixed on the seedling claw 7, the fixed installation extension spring pole 5 in seedling pawl folding push rod 8 lower ends of seedling claw 7; Extension spring pole 5 both sides symmetry, corresponding with the extension spring pole 5 of another seedling claw respectively, be symmetrically installed with two extension springs 6 in the above; Seedling claw 7 stress balances like this, and under the effect of tension spring, seedling pawl folding push rod 8 can keep in touch with wedge 9 all the time; And receive the squeezing action of wedge 9, through moving up and down of wedge 9, driven the side-to-side movement of seedling pawl folding push rod; And then the rotation of drive seedling claw 7, realize an opening and closing movement that presss from both sides two seedling claws 7 of seedling device.
Seedling claw 7 is bottom in the slot of guide plate 4.Guide plate 4 slots make the seedling claw 7 can only side-to-side movement, before and after not understanding partially, the motion stabilization when having kept seedling claw 7 to get seedling.
According to the characteristic of different vegetable seedling, their vegetative period is different, and the height of seedling also is not quite similar during transplanting, thus to consider that the length of seedling claw is various, to adapt to different requirements of transplanting height.During design; Seedling claw 7 is threaded with the fixedly employing of hinge 12, and seedling pawl folding push rod 8 adopts bolt with extension spring pole 5 on seedling claw 7, and seedling pawl folding push rod 8 and extension spring pole 5 can be moved up and down along seedling claw 7; Can get the requirement of height of seedling degree according to difference like this and regulate seedling claw 7 length; In addition, push rod 10 is threaded with fixing also employing of wedge 9, regulates the height of wedge 9 or seedling pawl folding push rod 8 relative camshaft stands 1 like this; Just can realize the variation of adjustable clamp seedling angle, to adapt to Different Crop to getting the requirement of seedling angle.
Getting 6 seedlings with whole row below is that example is done further explanation to the operation principle of utility model:
Like Fig. 1,2; The camshaft 2 that outside driving force drives in the camshaft stand 1 rotates; Six disc cams 14 of the rotating band of camshaft 2 rotate together, and assisting down of stage clip 11 and push rod support 13, push rod 10 is contacted by feasible can the remaining with disc cam 14 of elastic force effect; And under the driving of cam, push rod 10 moves up and down.Wedge 9 is fixing with push rod 10, so and then push rod 10 moves up and down together.Moving up and down of wedge 9 produces extruding to seedling pawl folding push rod 8, and under the effect of both sides extension spring 6, seedling pawl folding push rod 8 is done side-to-side movement.Seedling claw 7 tops are to be linked on the seedling pawl support through hinge 12, so can when 8 side-to-side movements of seedling pawl folding push rod, also be with seedling claw 7 to swing together, thereby realize the opening and closing movement of one group of seedling claw 7 around the swing of seedling pawl support.In addition, through regulating the height of seedling pawl folding push rod 8, can realize adjusting to seedling claw 7 foldings size.
Claims (6)
1. dry land potted tray transplantation device end effector; It is characterized in that; Comprise camshaft stand (1), camshaft (2) and folder seedling device; Camshaft stand (1) is connected on the transplanter mechanical arm, and camshaft (2) is installed in the camshaft stand (1) through bearing, and the identical folder seedling device of a row is installed in camshaft stand (1) below side by side; Said folder seedling device is made up of disc cam (14), push rod (10), wedge (9), stage clip (11), push rod support (13), seedling pawl folding push rod (8), extension spring pole (5), extension spring (6) and two seedling claws (7); Disc cam (14) and camshaft (2) key connecting; Push rod (10) is step-like cylindrical, and thick lower end, upper end is thin; The end that push rod (10) is thick contacts with disc cam (14) bottom; The end that push rod (10) is thin is with stage clip (11); One end of stage clip (11) is at the step place of push rod (10) thickness handing-over; The other end of stage clip (11) is supported on the push rod support (13); Stage clip (11) is in compressive state all the time, and disc cam (14) keeps in touch with push rod (10); Push rod support (13) all is fixed on camshaft stand (1) below with seedling pawl support (3), and push rod (10) lower end is fixed with wedge (9), and being shaped as of wedge (9) is trapezoidal, and the lozenges of two sides is a working face; Two seedling claws (7) top swivel-chain is connected on the seedling pawl support (3); Be installed with extension spring pole (5) and seedling pawl folding push rod (8) respectively in two seedling claws (7) centre position; Two seedling pawl folding push rods (8) are installed in the inboard and relative of two seedling claws (7); Extension spring pole (5) is in seedling pawl folding push rod (8) below; Extension spring pole (5) and seedling pawl folding push rod (8) are 90 ° of spatial placement, and an extension spring (6) is installed between extension spring pole (5) two ends, and the seedling pawl folding push rod (8) and the working face of wedge (9) are kept in touch; Guide plate (4) is fixed on the camshaft stand (1), and guide plate (4) is opened a slot, and two seedling claws (7) stretch out in the square hole of guide plate (4).
2. dry land potted tray transplantation device end effector according to claim 1 is characterized in that, it is identical that single cave hole count is coiled in the number of said folder seedling device and cave, and the spacing distance between the two adjacent groups seedling claw is identical with dish hole, cave, cave center distance.
According to claim 1 state dry land potted tray transplantation device end effector, it is characterized in that individual circular hole (15) has respectively been opened at the axial two ends of said camshaft stand (1), mounting cam axle (2) and disc cam (14); Open an aperture (16) at each cam bottom position of camshaft stand (1), push rod (10) moves up and down through aperture (16).
4. according to claim 1,2 or 3 described dry land potted tray transplantation device end effectors, it is characterized in that said each disc cam (14) appearance profile is just the same.
5. according to claim 1,2 or 3 described dry land potted tray transplantation device end effectors, it is characterized in that said wedge (9) both sides have sulculus, seedling pawl folding push rod (8) contacts an end with wedge (9) be that hemispherical or roller are embedded in the sulculus.
6. according to claim 1,2 or 3 described dry land potted tray transplantation device end effectors, it is characterized in that said every group said two seedling claws (7) symmetry is installed 2 pairs of extension spring poles (5) and kept balance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204293111U CN202406510U (en) | 2011-11-03 | 2011-11-03 | End effector of plug transplanting device in dry land |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204293111U CN202406510U (en) | 2011-11-03 | 2011-11-03 | End effector of plug transplanting device in dry land |
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| Publication Number | Publication Date |
|---|---|
| CN202406510U true CN202406510U (en) | 2012-09-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204293111U Expired - Fee Related CN202406510U (en) | 2011-11-03 | 2011-11-03 | End effector of plug transplanting device in dry land |
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| CN (1) | CN202406510U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102342207A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | End actuator of dry land plug tray transplanter |
| CN102948291A (en) * | 2012-11-22 | 2013-03-06 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN102960107A (en) * | 2012-11-29 | 2013-03-13 | 江苏大学 | Seedling taking device for automatic transplanting machine |
| CN102960106A (en) * | 2012-11-29 | 2013-03-13 | 江苏大学 | Method for automatically transplanting and taking potted tray seedlings |
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
| CN103190225A (en) * | 2013-03-28 | 2013-07-10 | 北京农业信息技术研究中心 | Device and method for transporting corn automatic test clusters clamp |
| CN104444335A (en) * | 2014-11-28 | 2015-03-25 | 歌尔声学股份有限公司 | Medium-and-low-speed pulling-over mechanism |
| CN104429240A (en) * | 2014-10-20 | 2015-03-25 | 浙江理工大学 | Dual-drive springing-limiting variable-pitch pot shifting mechanical hand |
| CN105075473A (en) * | 2015-09-14 | 2015-11-25 | 刘圣德 | Head device of vegetable seedling planting device |
| CN105940836A (en) * | 2016-06-21 | 2016-09-21 | 内蒙古自治区农牧业科学院 | Pepper seedling transplanting device |
| CN107371511A (en) * | 2017-08-24 | 2017-11-24 | 杭州职业技术学院 | A kind of seedling pawl structure of rice transplanter |
| CN113141829A (en) * | 2021-04-20 | 2021-07-23 | 西华大学 | Ophiopogon japonicus close-planting and full-planting device and full-planting method thereof |
| CN114348650A (en) * | 2022-01-12 | 2022-04-15 | 深圳鼎晶科技有限公司 | Full-automatic IC charging equipment |
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2011
- 2011-11-03 CN CN2011204293111U patent/CN202406510U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102342207A (en) * | 2011-11-03 | 2012-02-08 | 江苏大学 | End actuator of dry land plug tray transplanter |
| CN102948291A (en) * | 2012-11-22 | 2013-03-06 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN102960105A (en) * | 2012-11-22 | 2013-03-13 | 江苏大学 | Groove type cam folding and unfolding device for multiple seedling-taking end effectors |
| CN102948291B (en) * | 2012-11-22 | 2014-07-16 | 江苏大学 | Groove type cam unfolding and folding method of plurality of seedling taking tail end actuators |
| CN102960107B (en) * | 2012-11-29 | 2014-09-03 | 江苏大学 | Seedling taking device for automatic transplanting machine |
| CN102960107A (en) * | 2012-11-29 | 2013-03-13 | 江苏大学 | Seedling taking device for automatic transplanting machine |
| CN102960106A (en) * | 2012-11-29 | 2013-03-13 | 江苏大学 | Method for automatically transplanting and taking potted tray seedlings |
| CN103190225B (en) * | 2013-03-28 | 2014-11-19 | 北京农业信息技术研究中心 | Method for transporting corn by using corn automatic test clusters clamp |
| CN103190225A (en) * | 2013-03-28 | 2013-07-10 | 北京农业信息技术研究中心 | Device and method for transporting corn automatic test clusters clamp |
| CN104429240A (en) * | 2014-10-20 | 2015-03-25 | 浙江理工大学 | Dual-drive springing-limiting variable-pitch pot shifting mechanical hand |
| CN104444335A (en) * | 2014-11-28 | 2015-03-25 | 歌尔声学股份有限公司 | Medium-and-low-speed pulling-over mechanism |
| CN105075473A (en) * | 2015-09-14 | 2015-11-25 | 刘圣德 | Head device of vegetable seedling planting device |
| CN105940836A (en) * | 2016-06-21 | 2016-09-21 | 内蒙古自治区农牧业科学院 | Pepper seedling transplanting device |
| CN107371511A (en) * | 2017-08-24 | 2017-11-24 | 杭州职业技术学院 | A kind of seedling pawl structure of rice transplanter |
| CN107371511B (en) * | 2017-08-24 | 2019-08-30 | 杭州职业技术学院 | A kind of seedling claw structure of rice transplanter |
| CN113141829A (en) * | 2021-04-20 | 2021-07-23 | 西华大学 | Ophiopogon japonicus close-planting and full-planting device and full-planting method thereof |
| CN113141829B (en) * | 2021-04-20 | 2024-01-19 | 西华大学 | Radix ophiopogonis close-planting full-planting device and full-planting method thereof |
| CN114348650A (en) * | 2022-01-12 | 2022-04-15 | 深圳鼎晶科技有限公司 | Full-automatic IC charging equipment |
| CN114348650B (en) * | 2022-01-12 | 2023-12-26 | 深圳鼎晶科技有限公司 | Full-automatic IC feeding equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20141103 |
|
| EXPY | Termination of patent right or utility model |