CN202781176U - Pneumatic seedling feed end effector capable of adjusting direction of grafted seedling cotyledon - Google Patents
Pneumatic seedling feed end effector capable of adjusting direction of grafted seedling cotyledon Download PDFInfo
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- CN202781176U CN202781176U CN 201220449549 CN201220449549U CN202781176U CN 202781176 U CN202781176 U CN 202781176U CN 201220449549 CN201220449549 CN 201220449549 CN 201220449549 U CN201220449549 U CN 201220449549U CN 202781176 U CN202781176 U CN 202781176U
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Abstract
The utility model relates to a pneumatic seedling feed end effector capable of adjusting a direction of a grafted seedling cotyledon, and aims at providing the seedling feed effector capable of automatically taking a grafted seedling from a potted tray and adjusting the direction of the taken grafted seedling cotyledon. The end effector adopts the technical scheme that the pneumatic seedling feed end effector capable of adjusting the direction of the grafted seedling cotyledon comprises a pneumatic gripper device, a propulsion device and a guide device, wherein the propulsion device is a double-rod air cylinder; the guide device comprises a guider; and two half-arc guide plates of the guider are positioned on two linkage fingers on the upper side of the pneumatic gripper device respectively. The end effector is characterized in that the guide device further comprises two air tubes and two light sensors; tube orifices of the two air tubes are positioned on the left side and the right side of the guider respectively and horizontally face towards the front of the guider; and the light sensors and solenoid valves of the air tubes are connected with a control machine of a vegetable and fruit grafting machine.
Description
Technical field
The utility model relates to a kind of device of vegetables and fruits grafting machine, specifically for seedling actuator on the pneumatic type of shearing and adjust the grafting cotyledon.
Background technology
Grafting is a kind of method of artificial nutrition breeding plant, namely a Plants the branch or the bud grafting on the stem or root of another kind of plant, make two parts grow up to a complete plant.And in these two parts, usually wooden fringe the seedling of yielding positive results, bundle is absorbed the seedling of moisture nutrition on stock in soil.The seedling of vegetables and fruits is very very thin, the diameter of fringe wood generally only has 1 millimeter, the diameter of stock also only has 3,4 millimeter, and the in good time phase of vegetable grafting is shorter, generally only have several days time, so the operator need to have than the high-tech level, with two quickly and accurately graftings of seedling to together, to improve the survival rate of grafting, all the more so when carrying out large-scale grafting operation.
The grafting robot technology is a kind of new and high technology that integrates machinery, automatic control and facilities horticulture technology that in recent years occurs in the world.Grafting robot can be at the utmost point in the short time; the otch grafting of stock and fringe wood is integrated; not only avoided the loss of liquid in the long oxidation of otch and the seedling; can greatly improve graft survival rate; also greatly improved simultaneously operating efficiency, for the large-scale production that promotes vegetable melon and fruit important meaning has been arranged.
At present in the world grafting mechanization research and development to certain phase, gradually by semi-automatic grafting to full-automatic future development.Wherein, how realizing melon section and the automatic grafting of cucurbitaceous plant in the cave dish, upper seedling and its cotyledon direction is accurately adjusted, is the key of the full-automatic grafting of melon section cave dish seedling, also is the advanced technology field of international research.
The utility model content
The purpose of this utility model is the deficiency that overcomes in the above-mentioned background technology, seedling actuator on a kind of novel cotyledon direction-adjustable is provided, and seedling actuator should have grafting in the cave dish is carried out the function of automatic seedling taking and the function of adjusting the grafting cotyledon direction of getting on this.
The technical solution adopted in the utility model is:
Seedling end effector on the pneumatic type that a kind of grafting cotyledon direction is adjustable comprises the gas jaw arrangement of operation, the propulsion plant that driving gas jaw arrangement seesaws are sheared and fetched to grafting, also comprises for the guider of regulating grafting cotyledon direction; Described propulsion plant is a pair of bar cylinder; Described guider comprises a guider, and two and half arcuate guide sheets of this guider are positioned at respectively on two interlock fingers of described gas jaw arrangement upside; It is characterized in that: described guider also comprises by the 4th installing plate and is installed in the gas jaw arrangement two tracheaes on the interlock paw mount pad, and be installed in two light sensation sensors on the described pair of bar cylinder by Z-shaped installing plate, the mouth of pipe of two tracheaes lays respectively at the left and right sides of guider, the described mouth of pipe is horizontally disposed with towards the place ahead of guider, and the magnetic valve of described light sensation sensor and tracheae is connected with the controller of vegetables and fruits grafting machine respectively.
Described gas jaw arrangement comprises that one is fixed on the piston rod top of described pair of bar cylinder and grafting is carried out clamping and fetches the interlock gas pawl of operation by interlock paw mount pad, and a splayed configuration gas pawl that is fixed on below the described interlock gas pawl and grafting is sheared by the 3rd installing plate; Described interlock gas pawl comprises that one is fixed on the interlock gas pawl cylinder on described pair of bar cylinder piston rod top and by the movable claw of this air cylinder driven folder by the second mount pad; In the described movable claw folder: certain-length is extended forward on the up and down both sides of interlock paw mount pad in parallel to each other, and the end two extensions is shaped with up and down both sides of riser connection, form I-shape construction, have an aperture that the horizontally-guided bar is penetrated in the middle of the described riser; But the interlock finger of the hinged a pair of folding of difference on the up and down both sides of described interlock paw mount pad, the resistance arm of this interlock finger stretches out for the clamping grafting toward the place ahead respectively; Other has a up and down king's font link between the both sides that is positioned described interlock paw mount pad, and an end of each articulated two connecting rod on the both sides support of this link, the other end of each connecting rod are hinged with the power arm of an aforesaid interlock finger respectively again; The piston rod of described interlock gas pawl cylinder passed through the through hole at interlock paw mount pad middle part; The middle part of described king's font link is provided with a hole, described horizontally-guided bar is connected with the piston rod of described interlock gas pawl cylinder after passing successively the hole of aperture on the described riser, king's font link, the front end of described horizontally-guided bar is shaped with the shaft shoulder, the diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide, the hole formation of horizontally-guided bar and king's font link is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than the diameter of this hole; Described king's font link and the junction of interlock paw mount pad also have respectively two corresponding and in establish the connecting hole of back-moving spring.
Described guider also comprises two arc blend stops, two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside, two arc blend stops are corresponding up and down, one end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside, this interlock is pointed corresponding up and down with the interlock finger of aforementioned fixed upper arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.
Be shaped with a pair of cutting knife that carries out folding by described interlock gas pawl air cylinder driven on the described splayed configuration gas pawl.
Described pair of bar cylinder fixed by the installing plate at top and the outside installation shaft of a vertical direction.
The beneficial effects of the utility model are: the upper seedling actuator that the cotyledon direction that the utility model provides is adjustable, realize that by location and crawl, the splayed configuration gas pawl of movable claw folder realization grafting the stem of grafting separates and the adjustment of guider realization grafting cotyledon direction; Wherein the operation principle of guider is: after splayed configuration gas pawl is cut off the stem of grafting, grafting will fall downwards, the cotyledon of grafting slides along the curved surfaces of guider in the process of falling, thereby drive the unitary rotation of grafting, then two bar cylinders retract, sequencing when passing through photoelectric sensor by obtaining cotyledon, obtain cotyledon direction attitude, control is blown again, an initiatively thrust is provided, makes the grafting active rotation, accelerate the speed of the adjustment of cotyledon, make the problem that overcomes smoothly cotyledon anglec of rotation deficiency on half arcuate guide sheet, realize the adjustment of accurate cotyledon direction; This guide structure is simple and result of use is obvious, can accurately adjust the direction of cotyledon, also can be to the tender grafting injury of children; The utility model is by finishing automatic seedling taking and the automatic cotyledon direction of adjusting grafting with upper type, simple in structure but also successful not only, for follow-up grafting is provided to stock platform and fringe wood platform got ready, so the utility model produces a desired effect fully.
Description of drawings
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the perspective view of gas jaw arrangement in the utility model.
Fig. 3 is the perspective view of interlock paw installing plate in the utility model.
Fig. 4 is the perspective view of king's font link in the utility model.
Fig. 5 is the sectional structure schematic diagram of the utility model king font link.
Fig. 6 is the structural representation of linkage in the utility model.
Fig. 7 is the perspective view of half arcuate guide sheet in the utility model.
Fig. 8 is the perspective view of guider in the utility model.
Fig. 9 is the schematic perspective view of the 4th installing plate in the utility model.
Figure 10 is the main TV structure schematic diagram of interlock finger in the utility model.
Figure 11 is the structural representation of semicircular arc-shaped baffle plate in the utility model.
Figure 12 is the structure principle chart of interlock gas pawl in the utility model.
Figure 13 is the structural representation of horizontally-guided bar in the utility model.
Figure 14 is that the gas jaw arrangement is fixed and the perspective view when shearing grafting in the utility model.
Figure 15 is the structure principle chart of splayed configuration gas pawl in the utility model.
Figure 16 is the perspective view after the grafting cotyledon is adjusted in the utility model.
Figure 17 is one of air blowing principle schematic of the present utility model.
Figure 18 is two of air blowing principle schematic of the present utility model.
Figure 19 is three of air blowing principle schematic of the present utility model.
The specific embodiment
As shown in Figure 1, seedling end effector on the pneumatic type that a kind of grafting cotyledon direction is adjustable comprises gas jaw arrangement, propulsion plant and guider.
Propulsion plant is a pair of bar cylinder 4, can drive the gas jaw arrangement and seesaw.The top of two bar cylinders is fixed with an installing plate 2, and the outside installation shaft 1 of a vertical direction is installed on this installing plate.The utility model can be installed on the mechanical arm of the various automatically upper seedlings supporting with it by this outside installation shaft, thereby realizes full automatic grafting.
Operation is mainly sheared and fetch to the gas jaw arrangement to grafting; This gas jaw arrangement comprises interlock gas pawl and splayed configuration gas pawl 9; This interlock gas pawl is fixed on the piston rod top of two bar cylinders by interlock paw mount pad 13-2; This splayed configuration gas pawl is fixed on the below of interlock gas pawl by the 3rd installing plate 8.
As shown in Figure 2, this interlock gas pawl mainly positions and fetches operation to grafting, comprises that one is fixed on the interlock gas pawl cylinder 13-1 on two bar cylinder piston rod tops and by the movable claw folder of this air cylinder driven by the second mount pad 7;
As shown in Figure 2, this movable claw folder comprises that king's font link 13-6, two pairs of linked hands refer to 13-4 (as shown in figure 10) and four connecting rod 13-14; Certain-length is extended forward on the up and down both sides of described interlock paw mount pad in parallel to each other, and the end two extensions is shaped with up and down both sides of riser 13-7 connection, form I-shape construction, but the interlock finger 13-4 of the hinged a pair of folding of difference on the up and down both sides of described interlock paw mount pad, the resistance arm 13-15 of this interlock finger stretches out for clamping grafting 14 toward the place ahead respectively; Other has a up and down king's font link 13-6 between the both sides that is positioned described interlock paw mount pad, the end of upper each articulated two the connecting rod 13-14 of the both sides support 13-13 of this link, the other end of each connecting rod are hinged with the power arm 13-16 of an aforesaid interlock finger respectively again; The piston rod of described interlock gas pawl cylinder passed through the through hole 13-11 at interlock paw mount pad middle part.
Such as Fig. 3, Fig. 4, shown in Figure 5, have an aperture 13-8 in the middle of the riser on the described interlock paw mount pad, the middle part of described king's font link also is provided with hole 13-9, is connected with the piston rod of described interlock gas pawl cylinder after having a horizontally-guided bar 13-3 to pass successively the hole of aperture on the described riser, king's font link.As shown in Figure 6, the front end of described horizontally-guided bar is shaped with the diameter at shaft shoulder 13-3-1(shaft shoulder position greater than other positions), the diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide (this horizontally-guided pole pair king font link guiding), the hole formation of horizontally-guided bar and king's font link is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than hole diameter, therefore when the piston rod of interlock paw cylinder drives the horizontally-guided bar towards after-contraction, king's font link is backward together motion under the effect of the shaft shoulder, refers to open by two pairs of linked hands of connecting rod 13-13 pulling.As shown in Figure 6, described king's font link and the junction of interlock paw mount pad also have respectively two corresponding and in establish the connecting hole 13-12 of back-moving spring 13-10, described back-moving spring connects king's font link and interlock paw mount pad, and king's font link is bestowed the closed power that resets; When the piston rod of interlock gas pawl cylinder stretched out forward, the shaft shoulder no longer applied backward pressure to king's font link, and back-moving spring 13-10 promotes king's font link and resets forward, thereby makes the interlock finger closed.
Splayed configuration gas pawl can be sheared grafting, and this splayed configuration gas pawl is outsourcing device, as shown in figure 15, mainly comprises splayed configuration gas pawl cylinder 9-2, a pair of splayed configuration gas pawl connecting rod 9-4 and cutting knife 9-3; Cutting knife is installed on the splayed configuration gas pawl by cutting knife installing plate 9-1, splayed configuration gas pawl cylinder is fixed on the below of interlock gas pawl cylinder by the 3rd installing plate, the piston rod of splayed configuration gas pawl cylinder is hinged on respectively on two power arms of cutting knife by two splayed configuration gas pawl connecting rods, and cutting knife is hinged on the cylinder block of splayed configuration gas pawl cylinder by fulcrum 9-5; Splayed configuration gas pawl air cylinder driven cutting knife carries out folding.The driving tracheae of splayed configuration gas pawl cylinder is communicated with extraneous magnetic valve, unifies control.
Described guider comprises curved baffle 13-5 that a guider, two be installed in respectively up and down two pairs of linked hands and refer to, is installed on two light sensation sensors 12 on two bar cylinders and is installed on two tracheae 5(light sensation sensors on the interlock paw mount pad by the 4th installing plate 11 by Z-shaped installing plate 3 and be connected magnetic valve with tracheae and be connected with the controller of vegetables and fruits grafting machine).
Guider can be regulated the cotyledon direction of grafting, and guider comprises two folded half arcuate guide sheets 10.Each half arcuate guide sheet (as shown in Figure 7) is that a bottom surface is semi-annular shape and vertically up stretches, is shaped with in the middle of the bottom sheet semi-cylindrical of a semicircle orifice, and the umbo of this plates upper surface and both sides are toward having a down dip; The guider that this double arcuate guide sheet forms is the torus that a upper surface has two projections, this torus upper surface also forms two downward depressions simultaneously, the line direction of these two depressions is the direction after the grafting cotyledon is adjusted, and this direction is identical with the flexible direction of two bar cylinders usually; Described two and half arcuate guide sheets are separately fixed at the end faces of two fingers that link of interlock paw mount pad upside, and when two interlock finger closures of interlock paw mount pad upside, this double arcuate guide sheet just can carry out guiding work to grafting.
Described guider also comprises two arc blend stop 13-5, two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside, two arc blend stops are corresponding up and down, one end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside, this interlock is pointed corresponding up and down with the interlock finger of aforementioned fixed upper arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.Described two camber baffle plates can keep the linearity of grafting vertical direction.When cylinder 13-1 shrank crawl, interlock finger 13-4 and semicircular arc-shaped baffle plate 13-5 acting in conjunction made grafting that preferably linearity be arranged, and for the guiding of cotyledon provides good rotating condition, more were conducive to the cotyledon direction and adjusted smoothly.
Since about half arcuate guide sheet exist two summit 10-1 and half arcuate guide sheet and grafting to have frictional force, consist of the guiding dead point, for further accurate adjustment cotyledon direction, the mouth of pipe of described two tracheaes lays respectively at the left and right sides of guider, and the mouth of pipe is horizontally disposed forward towards guider.When two bar cylinders retract, the sequencing when passing through photoelectric sensor by obtaining cotyledon obtains cotyledon direction attitude, blow by tracheae, to blow out the aperture of gas from the 4th installing plate, cotyledon is rotated smoothly to desirable position, overcome the steering angle deficiency.
The course of work of the present utility model is as follows: at first two bar cylinders start, and promote gas jaw arrangement (gas pawl and splayed configuration gas pawl namely link) and move forward also near grafting; Then the interlock gas pawl cylinder on the gas pawl of linking promotes the horizontally-guided bar and advances, and back-moving spring applies forward pressure to king's font link, and king's font link promotes two pairs of linked hands by connecting rod and refers to closure, makes the cotyledon of grafting be positioned at the top of guider; The splayed configuration gas pawl cylinder of splayed configuration gas pawl also promotes the cutting knife closure and cuts off the root of grafting simultaneously; Then splayed gas pawl opens, outside installation shaft is along with external machinery rises, grafting is freely fallen on the half arcuate guide sheet by Action of Gravity Field, and under the rotation of upper surface, slide to two to lower recess, but since about half arcuate guide sheet exist two summits and half arcuate guide sheet and grafting to have frictional force, consist of the guiding dead point, cotyledon stops to surpass recess downwards and slides; Two bar cylinders retract, sequencing when passing through photoelectric sensor by obtaining cotyledon is (if two cotyledons are stuck in the guider, have sequencing during then through photoelectric sensor), obtain cotyledon direction attitude, blow by the control tracheae at last, cotyledon is rotated smoothly to desirable position, overcome the steering angle deficiency, thereby rotate smoothly the lower adjustment that cotyledon is finished in the precalculated position that slides to.
Usually, there are three kinds of guiding dead point states shown in Figure 17-19 in the cotyledon of grafting, below recommends two kinds of air blowing methods to come it is adjusted (but being not limited to following two kinds of methods).
Method one: as shown in figure 17, cotyledon one 14-1 of grafting is positioned at the front side of guider summit 10-1, cotyledon two 14-2 are positioned at the rear side on guider summit, when two bar cylinders are retracted along the direction of arrow, because cotyledon two is shorter with the distance of light sensation sensor, therefore cotyledon two is detected by the light sensation sensor first, and cotyledon one is detected subsequently; The tracheae air blowing of the close cotyledon one of the at this moment controller of vegetables and fruits grafting machine control, grafting reach ideal position after (take direction shown in Figure 17 as reference) rotates to an angle counterclockwise;
As shown in figure 18, cotyledon one is detected by the light sensation sensor first during this state, cotyledon two is detected subsequently, and the at this moment controller of vegetables and fruits grafting machine control is blown near the tracheae of cotyledon two, reaches ideal position after grafting clockwise (take direction shown in Figure 180 as reference) rotates to an angle;
As shown in figure 19, cotyledon one and cotyledon two just in time are positioned on two summits, and two cotyledons almost are detected simultaneously during two bar cylinder retraction, and arbitrary tracheae was blown and all could this moment.
Method two: before two bar cylinders retraction, two tracheaes are once blown respectively, and so no matter what position cotyledon is in and all can be subject to thrust, finally adjusts to correct position.Take state shown in Figure 17 as example, before two bar cylinders retract, first cotyledon two is blown, because stopping of summit, the position of cotyledon two does not have too large variation, then cotyledon one is blown, two bar cylinders of retracting afterwards, the light sensation sensor carries out position probing again to judge whether grafting reaches ideal position;
Or first cotyledon one is blown, grafting turns to ideal position, and when cotyledon two being blown, cotyledon two has arrived ideal position again, and the position can not change, and the cylinder of retracting again afterwards gets final product.
Still need and be pointed out that, in said method one and the method two, the controller of the vegetables and fruits grafting machine that the gentle plumber of control light sensation sensor does is conventional equipment, and its control procedure and operation principle do not describe in detail at this, can other conventional control module of outsourcing control yet.
Claims (5)
1. seedling end effector on the adjustable pneumatic type of a grafting cotyledon direction, comprise the gas jaw arrangement of operation, the propulsion plant that driving gas jaw arrangement seesaws are sheared and fetched to grafting, also comprise for the guider of regulating grafting cotyledon direction; Described propulsion plant is a pair of bar cylinder (4); Described guider comprises a guider, and two and half arcuate guide sheets (10) of this guider are positioned at respectively two interlock fingers upper (13-4) of described gas jaw arrangement upside; It is characterized in that: described guider also comprises by the 4th installing plate (11) and is installed in the gas jaw arrangement two tracheaes (5) on the interlock paw mount pad (13-2), and be installed in two light sensation sensors (12) on the described pair of bar cylinder by Z-shaped installing plate (3), the mouth of pipe of two tracheaes lays respectively at the left and right sides of guider, the described mouth of pipe is horizontally disposed with towards the place ahead of guider, and the magnetic valve of described light sensation sensor and tracheae is connected with the controller of vegetables and fruits grafting machine respectively.
2. seedling end effector on the adjustable pneumatic type of a kind of grafting cotyledon direction according to claim 1, it is characterized in that: described gas jaw arrangement comprises that one is fixed on the piston rod top of described pair of bar cylinder and grafting is carried out clamping and fetches the interlock gas pawl of operation by interlock paw mount pad (13-2), and a splayed configuration gas pawl (9) that is fixed on below the described interlock gas pawl and grafting is sheared by the 3rd installing plate (8); Described interlock gas pawl comprises that one is fixed on the interlock gas pawl cylinder (13-1) on described pair of bar cylinder piston rod top and by the movable claw of this air cylinder driven folder by the second mount pad (7); In the described movable claw folder: certain-length is extended forward on the up and down both sides of interlock paw mount pad in parallel to each other, and the end two extensions is shaped with up and down both sides of a riser (13-7) connection, form I-shape construction, have an aperture (13-8) that horizontally-guided bar (13-3) is penetrated in the middle of the described riser; But the interlock finger (13-4) of the hinged a pair of folding of difference on the up and down both sides of described interlock paw mount pad, the resistance arm (13-15) of this interlock finger stretches out for the clamping grafting toward the place ahead respectively; Other has a up and down king's font link (13-6) between the both sides that is positioned described interlock paw mount pad, one end of upper each articulated two connecting rod (13-14) of the both sides support (13-13) of this link, the other end of each connecting rod are hinged with the power arm (13-16) of an aforesaid interlock finger respectively again; The piston rod of described interlock gas pawl cylinder passed through the through hole (13-11) at interlock paw mount pad middle part; The middle part of described king's font link is provided with a hole (13-9), described horizontally-guided bar is connected with the piston rod of described interlock gas pawl cylinder after passing successively the hole of aperture on the described riser, king's font link, the front end of described horizontally-guided bar is shaped with the shaft shoulder (13-3-1), the diameter of aperture is beneficial to the horizontally-guided bar greater than the diameter of the shaft shoulder and is free to slide, the hole formation of horizontally-guided bar and king's font link is slidingly matched, and the shaft shoulder diameter of horizontally-guided bar is greater than the diameter of this hole; Described king's font link and the junction of interlock paw mount pad also have respectively two corresponding and in establish the connecting hole (13-12) of back-moving spring (13-10).
3. seedling end effector on the adjustable pneumatic type of a kind of grafting cotyledon direction according to claim 1 and 2, it is characterized in that: described guider also comprises two arc blend stops (13-5), two arc blend stops are between a pair of interlock finger of a pair of interlock finger of interlock paw mount pad upside and downside, two arc blend stops are corresponding up and down, one end of upside arc blend stop is fixed on bottom surface of one of them interlock finger of the paw mount pad upside that links, and other end level is stretched out and pointed across another interlock of crossing the paw mount pad upside that links; One end of downside arc blend stop is fixed on the end face of one of them interlock finger of interlock paw mount pad downside, this interlock is pointed corresponding up and down with the interlock finger of aforementioned fixed upper arc blend stop, and the other end level of downside arc blend stop is stretched out and pointed across another interlock of crossing the paw mount pad downside that links.
4. seedling end effector on the adjustable pneumatic type of a kind of grafting cotyledon direction according to claim 3 is characterized in that: be shaped with a pair of cutting knife (9-3) that carries out folding by described interlock gas pawl air cylinder driven on the described splayed configuration gas pawl.
5. seedling end effector on the adjustable pneumatic type of a kind of grafting cotyledon direction according to claim 4, it is characterized in that: described pair of bar cylinder is fixing with the outside installation shaft (1) of a vertical direction by the installing plate (2) at top.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220449549 CN202781176U (en) | 2012-09-05 | 2012-09-05 | Pneumatic seedling feed end effector capable of adjusting direction of grafted seedling cotyledon |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220449549 CN202781176U (en) | 2012-09-05 | 2012-09-05 | Pneumatic seedling feed end effector capable of adjusting direction of grafted seedling cotyledon |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837320A (en) * | 2012-09-05 | 2012-12-26 | 浙江理工大学 | Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN103202180A (en) * | 2013-03-14 | 2013-07-17 | 浙江理工大学 | Seedling feeder for grafted seedlings with adjustable seed leaf directions |
-
2012
- 2012-09-05 CN CN 201220449549 patent/CN202781176U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837320A (en) * | 2012-09-05 | 2012-12-26 | 浙江理工大学 | Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN102837320B (en) * | 2012-09-05 | 2015-04-01 | 浙江理工大学 | Pneumatic-type seedling feeding end actuator capable of adjusting direction of cotyledon of grafted seedling |
| CN103202180A (en) * | 2013-03-14 | 2013-07-17 | 浙江理工大学 | Seedling feeder for grafted seedlings with adjustable seed leaf directions |
| CN103202180B (en) * | 2013-03-14 | 2014-05-21 | 浙江理工大学 | Seedling feeder for grafted seedlings with adjustable seed leaf directions |
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