CN202889935U - Automatic transplanting and seedling picking-placing device for plug seeding with two fingers and four needles - Google Patents
Automatic transplanting and seedling picking-placing device for plug seeding with two fingers and four needles Download PDFInfo
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- CN202889935U CN202889935U CN 201220624732 CN201220624732U CN202889935U CN 202889935 U CN202889935 U CN 202889935U CN 201220624732 CN201220624732 CN 201220624732 CN 201220624732 U CN201220624732 U CN 201220624732U CN 202889935 U CN202889935 U CN 202889935U
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Abstract
The utility model discloses an automatic transplanting and seedling picking-placing device for a plug seeding with two fingers and four needles. The automatic transplanting and seedling picking-placing device comprises a mechanical cantilever sleeve 1, a mechanical finger framework 2, a rubber finger 4, a supporting rod 5 and a mechanical finger limiting block 9, wherein the mechanical cantilever sleeve 1, the mechanical finger framework 2, the rubber finger 4, the supporting rod 5 and the mechanical finger limiting block 9 are fixedly connected along a central line direction in sequence; each mechanical finger comprises mechanical finger joints 3, a micro air cylinder 6, a mechanical finger sleeve 7, a clamping needle limiting block 11 with a longitudinal limiting slot and clamping needles 14 which are capable of sliding in the slot and fixedly connected with a piston rod of the micro air cylinder 6, wherein the mechanical finger joints 3, the micro air cylinder 6, the mechanical finger sleeve 7, the clamping needle limiting block 11 with the longitudinal limiting slot and the clamping needles 14 are fixedly connected in sequence; the upper ends of the mechanical finger joints 3 are symmetrically hinged at the two sides of the mechanical hand framework 2; the mechanical finger sleeve 7 passes through a slide slot on the mechanical finger limiting block 9 and is capable of moving in the slide slot along the slide slot direction; the two mechanical fingers are pre-tightened with the supporting rod 5 by a tightening spring 8; and the tightening spring 8 is arranged at one side, far from the tail ends of the mechanical fingers, of the mechanical finger limiting block 9, and close to the mechanical finger sleeve 7. The automatic transplanting and seedling picking-placing device disclosed by the utility model is low in cost, difficult to damage the seedlings, and capable of automatically transferring the plug seedlings with different specifications.
Description
Technical field
The utility model relates to a kind of automatic transplanting device for cave dish seedling, especially automatically transplants with the cave dish seedling of four gripping pins of two mechanical fingers and picks and places the seedling device.
Background technology
The factorial seedling growth of vegetables, flowers and other crops is the pioneer of modern agriculture, factory farming, has become the tap of modern vegetables, the industry of flowers and plants.Industrialization of seeds and seedlings has huge development potentiality, and automation is grown seedlings and transplanted seedlings and equips is the key technology equipment of nursery industry.The cave dish transplantation of seedlings technology starting of developed country early, Holland on production of flower in the greenhouse extensive use automatic transplanter for plug seedling (such as the Pic-O-Mat PC of Visser Group series automatic transfer-machine etc.), finishing cave dish seedling transplants in low-density cave dish or flowerpot automatically from high density cave dish, operating efficiency is high, and the agricultural production of China is in the process of modernization great development, but cave dish seedling is planted operation still take artificial transplanting as main, adopt artificial the transplanting, transplanting efficiency is low, the amount of labour used is large, has seriously restricted agricultural modernization level.Concerning China, fully by the Introduced From Abroad automatic transplanter, expensive, the working service cost is high, and external transplanter is not suitable for China's national situation to the requirement of growing seedlings and coil in the cave.Therefore, greatly develop China's transplanting hole tray seedling technology and have Great significance, it is very urgent to research and develop automatic transplanter for plug seedling simple in structure, cheap, stable performance.
In fact, dish seedling automatic key technology difficult point of transplanting in restriction cave is the method and apparatus of automatic potted-seedling picking.At present, the caves such as China vegetables, flowers dish seedling generally adopts take meadow peat as main seedling medium grows seedlings, the cave dish seedling alms bowl body fibre structure that this seedling medium is cultivated is poor, the gripping method that adopts is improper, be easy to be caught broken cave dish seedling alms bowl body, reduce the automatic seedling taking success rate, can't satisfy production application.
As the core work parts of automatic potted-seedling picking mechanism, get the seedling end effector and be the direct equipment of liberation hand labour, will replace the manual seedling of getting, its work purpose is in the situation of no seedling injury as far as possible, seedling is coiled in the cave coil the hole gripping from the cave out.External cave, greenhouse dish seedling automatic transfer-machine extensively adopts pneumatic four finger paws to get seedling, such as Dutch Pic-O-Mat PC series automatic transfer-machine, Italian Transplanter RW series transplanter etc., get seedling speed and get aspect the seedling quality performance good, but complex structure, system cost is large.Foreign scholar Ting, K.C.et al., Ryu, the people such as K.H.et al. have in succession developed and have got the seedling end effector, consider not injure seedling, avoid the factor such as plant leaf, take full advantage of pneumatics and sensor technology, proved feasibility and reliability that seedling is got in the spininess clamping from the experimental study angle.China does not have the cave dish seedling automatic transfer-machine of independent research to be applied in the production so far, although what the units such as Taiwan, Agricultural University Of Nanjing, Agricultural University Of Shenyang manufactured experimently out some similar four finger paws gets the seedling end effector, simple in structure, but finger is fixing the shaping, only utilize the flexible realization in mechanical finger of four gripping pins to get seedling, very flexible is difficult to avoid hindering the generation of growth of cereal crop seedlings condition.For this reason, on the basis of digesting and assimilating the seedling end effector of abroad keeping forging ahead first, need further research satisfy China's transplanting hole tray seedling requirement get seedling-growing method and the seedling end effector is got in exploitation accordingly, both simple in structure, guarantee to get again the seedling flexibility.
The utility model content
The technical problem that the utility model solves provides a kind of two fingers four pin caves automatic transplanting of dish seedling and picks and places the seedling device, adopt two swing mechanical fingers and four telescopic gripping pin realization caves dish seedlings to get seedling and put seedling, stretch out by four gripping pins and to insert cave dish seedling alms bowl body mechanical finger and close up to clamp and get seedling, strut by mechanical finger and to loosen four gripping pins and retract and break away from caves dish seedling alms bowl bodies and put seedling, with get the seedling system coordination and cooperate and realize the automatical and efficient transplanting of cave dish seedling, thereby guaranteeing to get the seedling flexibility, simplified structure when not injuring seedling reduces cost.
In order to solve above technical problem, the technical scheme that the utility model adopts is as follows:
A kind of two fingers four pin caves dish seedling is automatically transplanted and is picked and placeed the seedling device, consisted of by mechanical finger joint 3, support bar 5, minitype cylinder 6, mechanical finger sleeve 7, it is characterized in that: described transplantation device along same centerline direction mechanical cantilever sleeve 1 sequentially is installed, with the affixed mechanical finger skeleton 2 of described mechanical cantilever sleeve 1, with the affixed rubber finger 4 with air bag of described mechanical finger skeleton 2, point 4 affixed support bars 5 with described rubber, be fixed on the mechanical finger limited block 9 with the edge chute vertical with centerline direction of described support bar 5 ends; The mechanical finger joint 3 that mechanical finger is installed by order, be fixed in described mechanical finger joint 3 minitype cylinder 6, be fixed in mechanical finger sleeve 7 that length on the described minitype cylinder 6 surpasses described mechanical finger limited block 9, be fixed in described mechanical finger sleeve 7 with the gripping pin limited block 11 of longitudinal spacing groove and consisting of with the affixed fork-shaped gripping pin 14 of described minitype cylinder 6 piston rods of can in described gripping pin limited block 11 grooves, sliding; The mechanical finger joint 3 upper end symmetries of two described mechanical fingers are articulated in described mechanical finger skeleton 2 both sides; Described mechanical finger sleeve 7 passes the chute on the described mechanical finger limited block 9, and can be mobile in chute along the chute direction; Two described mechanical fingers and described support bar 5 are by tightening up spring 8 pretensions together, and the described spring 8 that tightens up is positioned at described mechanical finger limited block 9 away from a side of mechanical finger end and near described mechanical finger sleeve 7.
According to the size of cave dish seedling, change the folding degree of mechanical finger by the width of adjusting described mechanical finger limited block 18 draw-in grooves, to satisfy the cave dish transplantation of seedlings of the different specification sizes such as 72 caves, 128 caves.
The utlity model has obvious beneficial effect.Adopt two finger foldings, four pins to stretch and get seedling and put seedling, both imitated finger movement, take full advantage of again four pins and stablize gripping.The seedling device of getting of the present utility model is comprised of two mechanical fingers, is arranged symmetrically on the mechanical finger support, and two mechanical fingers are installed on the mechanical finger skeleton 2, consists of finger-joint, but flexible rotating improves the flexibility of getting seedling; The different draw-in groove sheet of mechanical finger limited block 9 configurable dimensions length in the utility model with the folding degree of limit mechanical finger, satisfies the cave dish seedling gripping of different size size, has strengthened the flexibility of getting the seedling device.Every mechanical finger activity guarantees to clutch the crawl attitude in the groove of mechanical finger limited block 9; Two mechanical fingers fold by tightening up spring 8, and the grasp force of 14 pairs of caves of gripping pin dish seedling alms bowl body is mainly from tightening up spring 8, and is simple in structure.Insert the alms bowl body by gripping pin 14 and clutch crawl cave dish seedling, the insertion point is little, and grasp force is symmetrical, and this is less to alms bowl body destructiveness, has greatly improved and has got the seedling quality; Two open-shaped attitudes of mechanical finger when getting seedling, in case the cave is put in place, two pairs of fork-shaped gripping pins stretch out reeve cave dish seedling alms bowl body and clutch to get seedling, have both guaranteed to get the seedling success rate, reduce again the generation of hindering growth of cereal crop seedlings condition.The integrated joint Manipulator technology of transplantation device of the present utility model, pneumatics, simple in structure, flexibility is high, the dish seedling gripping of suitable cave.
Description of drawings
Below in conjunction with accompanying drawing embodiment of the present utility model is described in further detail.
Fig. 1 is overall structure sketch of the present utility model.
Fig. 2 is mechanical finger support sketch.
Fig. 3 is the mechanical finger structure sketch.
Fig. 4 is gripping needle construction sketch.
Number in the figure represents respectively: 1. mechanical cantilever sleeve 2. mechanical finger skeletons 3. mechanical finger joints 4. rubber are pointed 5. support bars, 6. minitype cylinders, 7. mechanical finger sleeves 8. and are tightened up spring 9. mechanical finger limited blocks 10. lock-screws 11. gripping pin limited blocks 12. piston rods 13. grip slides 14. gripping pins.
Embodiment
As shown in Figure 1, overall structure of the present utility model is comprised of mechanical cantilever sleeve, mechanical finger skeleton, mechanical finger joint, rubber finger, minitype cylinder, manipulator limited block, mechanical finger sleeve, gripping pin, spring etc.Wherein the concrete layout of each kinematic pair and parts is as follows: mechanical cantilever sleeve 1 is installed in to be got on the seedling frame, can rotate and adjust its installation site, the mechanical maniphalanx frame 2 of configuration on the mechanical cantilever sleeve 1, be used for hanging two mechanical finger joints 3, every mechanical finger joint 3 and mechanical finger skeleton 2 connect by revolute pair, so that flexibly rotation of mechanical finger joint 2, rubber finger 4 is fixed on the mechanical finger skeleton 2, the air bag of rubber finger 4 heads on two mechanical finger joints 3, an affixed double-acting miniature cylinder 6 on the every mechanical finger joint 3, the end installation manipulator fingerstall cylinder 7 of minitype cylinder 6, two mechanical finger sleeves 7 pass mechanical finger limited block 9, tighten up spring 8 banding mechanical finger sleeves 7, the piston rod 12 of minitype cylinder 6 can be flexible in 7 li in mechanical finger sleeve, piston rod 12 is by grip slide 13 assembling gripping pins 14, and gripping pin 14 slides in the locating hole of gripping pin limited block 11, and lock-screw 10 is fixed in gripping pin limited block 11 on the mechanical finger sleeve 7.
The mechanical finger support is the support component of installing, fix other parts, and its structure as shown in Figure 2.Mainly formed by mechanical cantilever sleeve 1, mechanical finger skeleton 2, rubber finger 4, support bar 5, mechanical finger limited block 9, mechanical cantilever sleeve 1, mechanical finger skeleton 2, rubber finger 4, support bar 5, mechanical finger limited block 9 successively concentric are installed firm supporting.
Mechanical finger is the critical component of getting the seedling device, finishes the folding holding action, and its structure as shown in Figure 3.Mainly formed by mechanical finger joint 3, minitype cylinder 4, mechanical finger sleeve 7, lock-screw 10, gripping pin limited block 11.On the every mechanical finger, mechanical finger joint 3 affixed double-acting miniature cylinder 4 afterbodys, the affixed mechanical finger sleeve 7 in piston rod 12 ends of minitype cylinder 4, mechanical finger sleeve 7 terminal nested gripping pin limited blocks 11.Two little leg supports of gripping pin limited block 11 forks, two shank frame fork amplitudes are 14mm.Stretch out a foot plate on each little leg support, gripping pin 14 passes the hole slot on gripping pin limited block 11 foot plates, and gripping pin 14 can shuttle back and forth in hole slot.
Gripping needle part direct effect cave dish seedling, the structural relation of gripping pin is to getting the seedling quality, and its structure is as shown in Figure 4.Mainly formed by piston rod 12, grip slide 13, gripping pin 14.The diameter of each gripping pin 14 is 1.8mm, is fork type assembling, gripping pin 14 and piston rod 12 at grade, axis is parallel, two gripping needle tip distances be 10mm, thereby formation fork type gripping pin.
The transplantation device of institute's utility model is comprised of two mechanical fingers, is arranged symmetrically on the mechanical finger support.Two mechanical fingers are installed on the mechanical finger skeleton 2, consist of finger-joint, but flexible rotating.Every mechanical finger activity guarantees to clutch the crawl attitude in the groove of mechanical finger limited block 9.Two mechanical fingers fold by tightening up spring 8, and the grasp force of 14 pairs of caves of gripping pin dish seedling alms bowl body is mainly from tightening up spring 8.Insert the alms bowl body by gripping pin 14 and clutch crawl cave dish seedling, the insertion point is little, and grasp force is symmetrical, and this is less to alms bowl body destructiveness, greatly mentions and gets the seedling quality.
The different draw-in groove sheet of mechanical finger limited block 9 configurable dimensions length in the utility model with the folding degree of limit mechanical finger, satisfies the cave dish seedling gripping of different size size.
The transplantation device course of work of the present utility model is: according to size, the seedling attitude of cave dish seedling adjust manipulator to cave attitude and folding degree, when getting seedling device two open-shaped attitudes of mechanical finger when the seedling action is got in execution, in case the cave is put in place, two pairs of fork type gripping pins stretch out gripping pin limited block 11 and inject alms bowl body crawl cave dish seedling from the seedling both sides, simultaneously rubber finger 14 venting, two mechanical fingers are clutched cave dish seedling alms bowl body tightening up under spring 8 effects.When manipulator was put seedling, 14 inflations of rubber finger strutted two mechanical fingers, make the open-shaped attitude of mechanical finger, 11 li of while two pairs of fork type gripping pin indentation gripping pin limited blocks, thus reach the purpose that discharges cave dish seedling.
Claims (2)
1. finger four a pin caves dish seedling is automatically transplanted and is picked and placeed the seedling device, by mechanical finger joint (3), support bar (5), minitype cylinder (6), mechanical finger sleeve (7) consists of, and it is characterized in that: described transplantation device is sequentially installed mechanical cantilever sleeve (1) along same centerline direction, the mechanical finger skeleton (2) affixed with described mechanical cantilever sleeve (1), the rubber finger (4) with air bag affixed with described mechanical finger skeleton (2), the support bar (5) affixed with described rubber finger (4), be fixed on the terminal mechanical finger limited block (9) with the edge chute vertical with centerline direction of described support bar (5); The mechanical finger joint (3) that mechanical finger is installed by order, be fixed in the minitype cylinder (6) in described mechanical finger joint (3), be fixed in the mechanical finger sleeve (7) that length on the described minitype cylinder (6) surpasses described mechanical finger limited block (9), be fixed in described mechanical finger sleeve (7) with the gripping pin limited block (11) of longitudinal spacing groove and consisting of with the affixed fork-shaped gripping pin (14) of described minitype cylinder (6) piston rod of can in described gripping pin limited block (11) groove, sliding; Upper end, mechanical finger joint (3) symmetry of two described mechanical fingers is articulated in described mechanical finger skeleton (2) both sides; Described mechanical finger sleeve (7) passes the chute on the described mechanical finger limited block (9), and can be mobile in chute along the chute direction; Two described mechanical fingers and described support bar (5) are by tightening up spring (8) pretension together, and the described spring (8) that tightens up is positioned at described mechanical finger limited block (9) away from a side of mechanical finger end and near described mechanical finger sleeve (7).
2. automatic transplanting of a kind of two fingers four pin caves dish seedling as claimed in claim 1 picks and places the seedling device, it is characterized in that: according to the size of cave dish seedling, change the folding degree of mechanical finger by the width of adjusting described mechanical finger limited block (18) draw-in groove, to satisfy the cave dish transplantation of seedlings of the different specification sizes such as 72 caves, 128 caves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220624732 CN202889935U (en) | 2012-11-22 | 2012-11-22 | Automatic transplanting and seedling picking-placing device for plug seeding with two fingers and four needles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220624732 CN202889935U (en) | 2012-11-22 | 2012-11-22 | Automatic transplanting and seedling picking-placing device for plug seeding with two fingers and four needles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202889935U true CN202889935U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220624732 Withdrawn - After Issue CN202889935U (en) | 2012-11-22 | 2012-11-22 | Automatic transplanting and seedling picking-placing device for plug seeding with two fingers and four needles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202889935U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102934555A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Two-finger four-pin automatic picking and placing device for plug seedling transplanting |
| CN111386814A (en) * | 2020-05-07 | 2020-07-10 | 钟连慧 | Hot pepper transplanting device for agricultural production |
-
2012
- 2012-11-22 CN CN 201220624732 patent/CN202889935U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102934555A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Two-finger four-pin automatic picking and placing device for plug seedling transplanting |
| CN111386814A (en) * | 2020-05-07 | 2020-07-10 | 钟连慧 | Hot pepper transplanting device for agricultural production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20140730 |
|
| RGAV | Abandon patent right to avoid regrant |