CN202889936U - Trough type cam unfolding/folding device with plurality of seedling taking end-effectors - Google Patents
Trough type cam unfolding/folding device with plurality of seedling taking end-effectors Download PDFInfo
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- CN202889936U CN202889936U CN 201220625243 CN201220625243U CN202889936U CN 202889936 U CN202889936 U CN 202889936U CN 201220625243 CN201220625243 CN 201220625243 CN 201220625243 U CN201220625243 U CN 201220625243U CN 202889936 U CN202889936 U CN 202889936U
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- chute
- installing rack
- unfolding
- exhibition
- plywood
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Abstract
The utility model relates to a trough type cam unfolding/folding device with a plurality of seedling taking end-effectors. The trough type cam unfolding/folding device comprises an unfolding/folding plate, a synchronous belt guide rail, a linear guide rail, a square slider, a rotating shaft, a servo motor, a cross beam and a mounting frame, and is characterized in that the mounting frame of the seedling taking end-effectors is pushed to unfold or fold by the slippage of the unfolding/folding plate, so that the seedling taking end-effectors take seedlings and place seedlings in a scattering or gathering manner, and the automatic transplantations of plug seedlings in different specifications and dimensions are met. The trough type cam unfolding/folding device is characterized in that a chute with inclination angles in a certain rule is formed in the unfolding/folding plate, the seedling taking end-effectors are pushed to unfold or fold by using the relative slippage of the chute, and only one power drive is needed, the trough type cam unfolding/folding device is simple in structure and easy to control , and can be used in a plug seedling automatic transplantation system with the seedling taking end-effectors.
Description
Technical field
The utility model relates to a kind of for a plurality of exhibition locking devices of getting the action of seedling end effector in the dish seedling automatic transferring of cave, and especially a kind of grooved cam mechanism that utilizes is with a plurality of devices of getting the expansion of seedling end effector or closing up.
Background technology
Since the eighties in 20th century, China's facilities horticulture has obtained unprecedented development, and the cultivated area of facilities vegetable has reached 3,300,000 hectares, gross area the first in the world, and the attached-greenhouse area ratio that wherein represents the facilities horticulture modernization level increases year by year.But industrialized agriculture is except green house framework and small-sized horticultural management machine, the main production link mechanization equipment of famine, and facilities horticulture per capita minimum areas only is equivalent to 1/4 ~ 1/5 of Holland.
At present, the factorial seedling growth of vegetable crop is the pioneer of modern agriculture, factory farming, has become the tap of modern vegetables industry.Industrialization of seeds and seedlings has huge development potentiality, and automation is grown seedlings and transplanted the key technology equipment that equipment is nursery industry.But the cave of China dish seedling is still take artificial transplanting as main, and transplanting efficiency is low, and the amount of labour used is large, has seriously restricted the industrialized agriculture great development.Therefore, it is necessary to develop automatical and efficient greenhouse automatic transplanter for plug seedling, also very urgent.
In order to realize cave dish height of seedling effect transplanting, transplant on the machine and must dispose a plurality of seedling end effectors of getting, multiple spot is got seedling and is planted seedling simultaneously under the drive of mobile platform.A plurality of to get the simplest configuration of seedling end effector be that install the cave fixed position, and this will limit the specification of cave dish, changes a kind of cave dish and need to readjust the installation site of getting the seedling end effector, to the bad adaptability of cave dish.A plurality of seedling end effectors of getting also can disperse mobile each other, in order to get seedling and plant seedling for the cave dish of different specification size, but moving, each needs a power drive, the XT616 type transplanter of producing such as Australian TransplantSystems company, " a kind of cave dish seedling automatic transfer-machine " (application number: 200910187621.4) etc. of Agricultural University Of Shenyang, when the removable number of getting the seedling end effector is more, power-driven system is huge, increased the burden of mobile platform, and mobile control is complicated.For this reason, need that the simple and reliable suitable cave of development dish seedling is a plurality of gets the exhibition locking devices that the seedling end effector is transplanted, only need simple the driving, can a plurality ofly get the seedling end effector and close up to coil from the high density cave and get seedling, launch backward low-density cave dish and plant seedling, perhaps launch backward flowerpot and plant seedling.
The utility model content
The technical problems to be solved in the utility model provides a kind of a plurality of grooved cam exhibition locking device of getting the seedling end effector, can automatically will get the expansion of seedling end effector or close up, the cave got seedling or to put seedling, adapt to the dish transplantation of seedlings of different specification size cave, simple and reliable for structure.
In order to solve above technical problem, the technical solution of the utility model is as follows:
A kind of a plurality of grooved cam exhibition locking device of getting the seedling end effector, by line slideway 13, square slide block 14, installing rack 11, installing rack 12, the crossbeam 15 affixed with described installing rack 12 bottoms consists of, and characterized by further comprising: installing rack 3 and 10, Timing Belt guide rail 1 and 8 with square slide block 2 and 7, section bar 4, the affixed exhibition plywood 6 of chute that described section bar 4 is installed and has the angle of inclination of certain rule along the edge, thereby be assemblied in and drive described Timing Belt guide rail 1 and 8 on the main shaft of servomotor 9 and spur the rotating shaft 5 that described square slide block 2 and 7 drives described exhibition plywood 6 motions, described exhibition plywood 6, be assemblied in the push rod of the installing rack 12 that can slidably reciprocate at described line slideway 13 in each described exhibition plywood 6 chute, what be installed on described crossbeam 15 two ends gets the seedling end effector; By described installing rack 3 and 10 affixed described square slide blocks 2 and 7 and described section bar 4; Described square slide block 14 is disposed at described installing rack 12 both sides, described installing rack 12 is installed on the described line slideway 13 by described square slide block 14.
The angle of inclination chute of described certain rule is symmetrical along described Timing Belt guide rail 1 and 8 directions at described exhibition plywood 6, the center line of each described chute converges 1 O after prolonging, it is OA that described chute is distributed symmetrically axis, from described axis of symmetry OA outwards the center line of each described chute be 1:3:5:7 with the ratio of the tangent value of described axis of symmetry OA angle successively: ... (2n-1), described n is half of symmetrical described chute number.
The present invention has beneficial effect.Finish a plurality of caves dish seedling by the grooved cam mechanism with certain regularity of distribution and get the seedling end effector and launch or close up, only need a power drive, simple in structure, control easily, cost is low.
The utlity model has beneficial effect.Finish a plurality of caves dish seedling by the grooved cam mechanism with certain regularity of distribution and get the seedling end effector and launch or close up, only need a power drive, simple in structure, control easily, cost is low.
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 front view of the present utility model.
Fig. 2 is overall structure axonometric drawing of the present utility model.
Fig. 3 is exhibition plywood plane.
As shown in Figure 1, 2, number in the figure represents respectively: 1. Timing Belt guide rail 8. Timing Belt guide rails 2. square slide blocks 7. square slide blocks 14. square slide blocks 3. installing racks 10. installing racks 11. installing racks 12. installing racks 4. section bars 5. rotating shafts 6. are opened up plywood 9. servomotors 13. line slideways 15. crossbeams 16. seedling claws.
Embodiment
As shown in Figure 1, the utility model overall structure is comprised of exhibition plywood, Timing Belt guide rail, line slideway, square slide block, rotating shaft, servomotor, crossbeam, installing rack.Wherein the concrete layout of each kinematic pair and parts is as follows: exhibition plywood 6 is installed section bar 4 along the edge, by installing rack 3,10 are fixed in Timing Belt guide rail 1,8 square slide block 2, on 7, assembling rotating shaft 5 on the main shaft of servomotor 9, drive Timing Belt guide rail 1,8, thereby pulling square slide block 2,7 drive 6 motions of exhibition plywood, have the chute of differing tilt angles on the exhibition plywood 6, the push rod of assembling installing rack 12 in each chute, installing rack 12 both sides configuration square slide block 14, be installed on the line slideway 13 by square slide block 14, installing rack 12 can slidably reciprocate at line slideway 13, the affixed crossbeam 15 in installing rack 12 bottoms, crossbeam 15 two ends are installed and are got the seedling end effector, launch to get seedling end effector mechanism thereby consist of the cam that contains a plurality of sliding groove structures.
The exhibition plywood is the critical component of getting seedling end effector development mechanism, finishes and gets the expansion of seedling end effector or close up action.Exhibition plywood 6 is flat boards that have certain rule angle of inclination chute, for uniformly-spaced launching or close up the exhibition plywood 6 of getting the seedling end effector, as has the uniformly-spaced exhibition plywood of 6 chutes, and its structure as shown in Figure 3.The center line of each chute converges 1 O after prolonging, and OB, OC, OD and OB ', OC ', OD ' be along OA line left-right symmetry, i.e. ∠ BOA=∠ B'OA, ∠ COA=∠ C ' OA, ∠ DOA=∠ D ' OA.When uniformly-spaced launching or closing up when getting the seedling end effector, satisfy " the axis of symmetry OA outwards center line of each described chute is 1:3:5:7 with the ratio of the tangent value of described axis of symmetry OA angle successively: ... (2n-1), described n is half of symmetrical described chute number " rule.In addition n=3, its angular relationship satisfies: tan ∠ BOA:tan ∠ COA:tan ∠ DOA=1:3:5.
This course of work of getting seedling end effector development mechanism is: according to the specification of cave dish, number, angle of inclination and the length of getting the expansion of seedling end effector or the number that closes up and the definite exhibition of exhibition plywood 6 slipping space plywood 6 chutes, for uniformly-spaced launching or closing up the exhibition plywood of getting the seedling end effector, each chute center line is the odd number ratio with the angle tangent value of line of symmetry, beginning its ratio from line of symmetry is 1:3:5:7 ... (2n-1), n is half of symmetrical described chute number.When exhibition plywood 6 moved towards convergent point O direction, exhibition plywood 6 was pushed installing rack 12 open, thereby launched to get the seedling end effector, shown in Fig. 2 a.Disperse direction when moving when exhibition plywood 6 towards convergent point O, exhibition plywood 6 folds installing rack 12, gets the seedling end effector thereby close up, shown in Fig. 2 b.
Claims (2)
1. a plurality of grooved cams of getting the seedling end effector are opened up locking device, by line slideway (13), square slide block (14), installing rack (11), installing rack (12), the crossbeam (15) affixed with described installing rack (12) bottom consists of, and characterized by further comprising: installing rack (3,10), with square slide block (2,7) Timing Belt guide rail (1,8), section bar (4), the affixed exhibition plywood (6) of chute that described section bar (4) is installed and has the angle of inclination of certain rule along the edge, be assemblied on the main shaft of servomotor (9) and can drive described Timing Belt guide rail (1,8) thus spur described square slide block (2,7) drive the rotating shaft (5) that described exhibition plywood (6) moves, described exhibition plywood (6), be assemblied in the push rod of the installing rack (12) that can slidably reciprocate in described line slideway (13) in each described exhibition plywood (6) chute, what be installed on described crossbeam (15) two ends gets the seedling end effector; By the affixed described square slide block of described installing rack (3,10) (2,7) and described section bar (4); Described square slide block (14) is disposed at described installing rack (12) both sides, described installing rack (12) is installed on the described line slideway (13) by described square slide block (14).
2. a kind of a plurality of grooved cams of getting the seedling end effector as claimed in claim 1 are opened up locking devices, it is characterized in that: the angle of inclination chute of described certain rule is along described Timing Belt guide rail (1 at described exhibition plywood (6), 8) direction is symmetrical, the center line of each described chute converges 1 O after prolonging, it is OA that described chute is distributed symmetrically axis, from described axis of symmetry OA outwards the center line of each described chute be 1:3:5:7 with the ratio of the tangent value of described axis of symmetry OA angle successively: ... (2n-1), described n is half of symmetrical described chute number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220625243 CN202889936U (en) | 2012-11-22 | 2012-11-22 | Trough type cam unfolding/folding device with plurality of seedling taking end-effectors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220625243 CN202889936U (en) | 2012-11-22 | 2012-11-22 | Trough type cam unfolding/folding device with plurality of seedling taking end-effectors |
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| Publication Number | Publication Date |
|---|---|
| CN202889936U true CN202889936U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220625243 Withdrawn - After Issue CN202889936U (en) | 2012-11-22 | 2012-11-22 | Trough type cam unfolding/folding device with plurality of seedling taking end-effectors |
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| CN (1) | CN202889936U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104798516A (en) * | 2015-05-08 | 2015-07-29 | 江苏大学 | Lifting method and lifting device for multi-terminal actuating mechanism of tray seedling transplanting machine in greenhouse |
| CN106068842A (en) * | 2016-06-30 | 2016-11-09 | 江苏大学 | A kind of Plug seedling strength self adaptation clamp device and method |
| CN109862777A (en) * | 2016-10-20 | 2019-06-07 | 洋马株式会社 | Rice transplanter |
| CN111418316A (en) * | 2020-05-20 | 2020-07-17 | 广州市纯赢科技有限公司 | Plane groove guide type plug seedling taking distribution device |
-
2012
- 2012-11-22 CN CN 201220625243 patent/CN202889936U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104798516A (en) * | 2015-05-08 | 2015-07-29 | 江苏大学 | Lifting method and lifting device for multi-terminal actuating mechanism of tray seedling transplanting machine in greenhouse |
| CN106068842A (en) * | 2016-06-30 | 2016-11-09 | 江苏大学 | A kind of Plug seedling strength self adaptation clamp device and method |
| CN106068842B (en) * | 2016-06-30 | 2018-04-17 | 江苏大学 | A kind of adaptive clamp device of Plug seedling strength and method |
| CN109862777A (en) * | 2016-10-20 | 2019-06-07 | 洋马株式会社 | Rice transplanter |
| CN109862777B (en) * | 2016-10-20 | 2022-02-08 | 洋马动力科技有限公司 | Rice transplanter |
| CN111418316A (en) * | 2020-05-20 | 2020-07-17 | 广州市纯赢科技有限公司 | Plane groove guide type plug seedling taking distribution device |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20140827 |
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| RGAV | Abandon patent right to avoid regrant |