CN202907451U - Automatic plug seedling transplanting pick-and-place device - Google Patents
Automatic plug seedling transplanting pick-and-place device Download PDFInfo
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- CN202907451U CN202907451U CN 201220625672 CN201220625672U CN202907451U CN 202907451 U CN202907451 U CN 202907451U CN 201220625672 CN201220625672 CN 201220625672 CN 201220625672 U CN201220625672 U CN 201220625672U CN 202907451 U CN202907451 U CN 202907451U
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Abstract
The utility model relates to an automatic plug seedling transplanting pick-and-place device which mainly comprises a cam feeding mechanism, a tapered slide block, four mechanical fingers, a mechanical finger stop block (9), clamping needles (14), pulling brake cables (11), a brake cable pulling device, springs (12), a supporting rod (19) and a machine frame. The four mechanical fingers can be stretched around a joint under the driving force of the cam feeding mechanism and can be constricted under the action of the springs; one clamping needle which can be retracted and stretched is arranged on each mechanical finger; the four clamping needles are stretched out from the mechanical fingers into a plug seedling pot to take a seedling; and the four clamping needles are retracted into the mechanical fingers and separated from the plug seedling pot to release the seedling. The device is characterized in that the opening and closing of the four mechanical fingers and the retraction and extension of the four clamping needles are realized completely through mechanical motion, the structure is simple, the flexibility is good, the success rate of seedling picking is improved, the damage to the seedling is reduced, and the device can be applied to the field of seedling transplanting.
Description
Technical field
The utility model relates to automatic transplanter for plug seedling tool field, refer in particular to a kind of be applied to that point disk seedling growing automatically transplants pick and place the seedling device.
Background technology
Industrial hole plate seedling growth is the pioneer of modern agriculture, factory farming, has become the tap of modern vegetables and flowers industry, and supporting seedling transplanting technique equipment also can't satisfy the Industrialization of seeds and seedlings great development with it.Although China has developed the various vegetables potted tray seedling transplanters such as jaw clamping type, chain-clip type, flexible disk formula, suppending cup type, seedling guide tube type, but these transplanters rest on half mechanical work level, need to be equipped with suitable manpower and manually get the operations such as seedling, throwing seedling, just accomplished laborsaving but saving of labor not, the research of automatic transplanter for plug seedling is in trying to explore.
At present, domestic scholars mainly concentrates in the research and development of seedling picking mechanism the research of automatic transplanter, get the seedling track according to getting seedling requirement planning, designed seedling picking mechanism satisfies slotting cave and gets the seedling requirement, non-circular gear planetary gear system transplanting mechanism (application number: 201110270973.3 such as Institutes Of Technology Of Zhejiang's research and development, 201110270977.1,201010104378.8), rotary oscillating type transplanting device (the application number: 201110342232.1) of Jiangsu University's research and development, turnover pneumatic seedling taking device (the application number: 201110180467.5) etc. of Agricultural University Of Nanjing's research and development, but these researchs are in laboratory stage, not yet arrive and produce practicality.In fact, utilize the flexible cave of the automatical and efficient gripping of rigid member dish seedling, it is hard and soft many bluk recombinations mechanism, designing requirement to seedling picking mechanism upper transplanting end effector is very strict, even if get the seedling position otherwise arrive, because the gripping mode is improper can to make also that to get the seedling success rate very low, can't satisfy the production actual needs.
Cave dish seedling automatic transfer-machine extensively adopts pneumatic or electric-depressed mode of closing to get seedling in the external facility, such as Dutch Pic-O-Mat PC series automatic transfer-machine, Italian Transplanter RW series transplanter etc., be four gripping pins on the structure, insert cave dish seedling alms bowl body by the gripping pin and get seedling, get seedling speed and get aspect the seedling quality performance good, but need to be equipped with air compressor machine, magnetic valve, other pneumatic control components etc., complex structure, system cost is large, is difficult to be applied on the dry crop automatic transfer-machine.For dry land potted tray seedling automatic transferring, generally adopt cam to promote two seedling pin gripping cave dish seedlings, this seedling mode of getting is had relatively high expectations to seedling raising process.In addition, the plug seedling substrate of China mixes the auxiliary materials such as vermiculite, perlite mainly take meadow peat as main, and the cave of cultivating dish seedling alms bowl body pliability is poor, and two pin clampings easily are caught broken.For this reason, can use for reference the structure that cave dish seedling automatic transfer-machine is got the seedling end effector in the facility, adopt mechanical system to realize that four pins clutch gripping cave dish seedling alms bowl body, satisfy China's cave dish seedling automatic transferring requirement.
The utility model content
The purpose of this utility model provides automatic transplanting of a kind of cave dish seedling and picks and places the seedling device, rely on mechanical movement fully, and utilize four pin grippings and discharge cave dish seedling, in simplified structure, reduction system cost, reduce and get the success rate that the seedling process is got seedling to loss and the raising of seedling.
The technical solution of the utility model is as follows:
A kind of cave dish seedling is automatically transplanted and is picked and placeed the seedling device, by four geometric parameters identical can rotation mechanical finger consist of, it is characterized in that: also comprise Cam feed machine, circular cone slide block, four mechanical fingers, mechanical finger limited block 9, gripping pin 14, traction brake cable 11, brake cable pulling device, spring 12, support bar 19, frame; Described four mechanical fingers can get around the mechanical finger joint 7 installing hole rotations of chute under Cam feed machine promotes, clutch by tightening up spring 8; Also comprise and be installed on the described mechanical finger and can in mechanical finger, realize the flexible gripping pin 14 that gripping needle sleeve 13 is slided that passes by traction brake cable 11 and spring 12 synergy in 7 chutes of described mechanical finger joint along the mechanical finger direction; Described mechanical finger by be cemented in brake cable on the described mechanical finger joint 7 emit 10, pass described brake cable emit 10 be attached to the fastening bolt 16 of described gripping pin 14 on traction brake cable 11, two ends be hung in spring 12 on described bolt 16 and the bolt 15, emit 10 to be consisted of along affixed described mechanical finger joint 7 upper rollers 17 that are installed in of same plane with described brake cable; Described Cam feed machine promotion robot finger opens, cam 2 is cemented on the camshaft 23, with camshaft 23 rotations, pusher slide loop bar 5, conical blocks 18, installing plate 21 consists of Cam feed machine roller push rod driven member, roller 3 is installed in the end of push rod 4, contact with cam 2 higher pairs, the fixed conical blocks 18 of push rod 4 other ends, thereby consist of the roller push rod, pusher slide loop bar 5 is fixed on the installing plate 21, and push rod 4 consists of moving sets with pusher slide loop bar 5, moves back and forth under the promotion of cam 2, conical blocks 18 heads on the roller 17 of 4 symmetric configurations, when conical blocks 18 tips head on roller 17, mechanical finger is clutched tightening up under spring 8 effects, when conical blocks 18 bottom surfaces head on roller 17, open in the mechanical finger joint, puts seedling thereby realize clutching getting seedling and opening.
The tractive action of described gripping pin 14 mainly is comprised of crank disk 24, connecting rod 25, installing plate 26, slide bar 27, traction brake cable 28, bearing pin 29 and 30; Consist of crank block by crank disk 24, connecting rod 25, installing plate 26, slide bar 27, bearing pin 29 and 30, the slide bar 27 that four traction brake cables 28 are installed is fixed on the described crank block, bearing pin 30 in the chute that is arranged at along diametric(al) on the crank disk 24 moves the change crank length, thus realize slide bar 27 different move back and forth distance; The traction brake cable 28 that is connected with described slide bar 27 is fixed together with the traction brake cable 11 that described gripping pin 14 is connected.
The utlity model has beneficial effect.This cave dish seedling automatically transplant get the seedling end effector have four can movable mechanical finger, utilize traction brake cable tractive to realize that the gripping pin is flexible, realize fingers opening-closing by Cam feed machine, action realizes by mechanical system fully, simple in structure, flexibility is high; Four open-shaped attitudes of mechanical finger when getting the seedling action, in case to getting the seedling position, four gripping pins stretch out and inject cave dish seedling body, meanwhile four mechanical fingers fold crawl cave dish seedling, have both guaranteed to get the seedling success rate, reduce again the generation of hindering growth of cereal crop seedlings condition.
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 the mechanical finger sketch.
Fig. 3 is mechanical finger brake cable pulling device sketch.
Fig. 4 is mechanical finger skeleton sketch.
Fig. 5 is mechanical finger circular cone slide block sketch.
As shown in Figure 1, number in the figure represents respectively: 1,21. version 2. cams 3 are installed, 17. rollers, 4. push rods, 5. pusher slide loop bars, 6. bearing pins, 7. mechanical finger joints 8. are tightened up spring 9. mechanical finger limited blocks 10. brake cables and emitted 11. traction brake cables, 12. springs, 13. gripping needle sleeve, 14. gripping pins 15,16,22. bolts, 18. conical blocks, 19. support bars, 20. 4 finger suspension brackets, 23. camshafts
As shown in Figure 3, number in the figure represents respectively: 24. crank disks, 25. connecting rods 26. are installed version 27. slide bars 28. traction brake cables 29,30. bearing pins.
Embodiment
As shown in Figure 1, the utility model overall structure is comprised of Cam feed machine, circular cone slide block, mechanical finger joint, mechanical finger limited block, gripping pin, traction brake cable, brake cable pulling device, spring, support bar, frame etc.Wherein the concrete layout of each kinematic pair and parts is as follows.
Mechanical finger is the critical component of getting the seedling end effector, and directly the seedling quality is got in impact.The structure of mechanical finger of the present utility model, as shown in Figure 2.Mainly by mechanical finger joint 7, brake cable emit 10, traction brake cable 11, spring 12, gripping needle sleeve 13, gripping pin 14, bolt (15,16), roller 17 form.Brake cable emits 10 to be cemented on the mechanical finger joint 7, traction brake cable 11 passes brake cable and emits 10 to be to apply on bolt 16, bolt 16 is fastening with gripping pin 14, spring 12 1 ends hang on the bolt 16, the other end hangs on the bolt 15, mechanical finger joint 7 is got Miao Yiduan at mechanical finger and is had chute, and gripping pin 14 passes gripping needle sleeve 13 and can slide in the chute in mechanical finger joint 7.Under the traction action of traction brake cable 11, in the gripping pin 14 indentation gripping needle sleeve 13, lose the traction action of traction brake cable 11 when gripping pin 14, gripping needle sleeve 13 is stretched out gripping pin 14 under spring 12 effects.
Mechanical finger brake cable pulling device of the present utility model is realized gripping pin 14 traction action, as shown in Figure 3.Mainly formed by crank disk 24, connecting rod 25, installing plate 26, slide bar 27, traction brake cable 28, bearing pin (29,30).Crank disk 24, connecting rod 25, installing plate 26, slide bar 27, bearing pin (29,30) consist of slider-crank mechanism, and the installation site of bearing pin 30 can be mobile at crank disk 24, thereby change crank length, realize slide bar 27 different move back and forth distance.Four tractions of slide bar 27 installations brake cables 28, traction brake cable 28 is linked together with traction brake cable 11, drives traction brake cables 11 by spurring or loosening traction brake cable 28, thereby realizes that gripping pin 14 stretches.
The seedling end effector of getting of the present utility model is comprised of four mechanical fingers, is arranged symmetrically on the described mechanical finger skeleton along mechanical finger frame center line, as shown in Figure 4, is comprised of four finger suspension brackets 20, support bar 19, mechanical finger limited block 9.Four mechanical fingers are installed on the four finger suspension brackets 20, consist of finger-joint, but flexible rotating.Every mechanical finger joint 7 activities guarantee to clutch the crawl attitude in the groove of mechanical finger limited block 9.Four mechanical fingers fold by tightening up spring 8, the grasp force of 14 pairs of caves of gripping pin dish seedling alms bowl body is mainly from tightening up spring 8, this has adaptability to the different cave dish seedling of soft or hard, four gripping pins 14 are tightly mediated during soft alms bowl body, the alms bowl body is firmly pinched, four gripping pin 14 lax kneadings keep clamp position during hard alms bowl body.
Cam feed machine of the present utility model is finished the manipulator finger joint and is opened or clutch, and mainly is comprised of cam 2, camshaft 23, roller (3,17), push rod 4, pusher slide loop bar 5, conical blocks 18, installing plate 21.Cam 2 is cemented on the camshaft 23, with camshaft 23 rotations, roller 3, push rod 4, pusher slide loop bar 5, conical blocks 18, installing plate 2) formation Cam feed machine roller push rod driven member, roller 3 is installed in the end of push rod 4, contact with cam 2 higher pairs, the fixed conical blocks 18 of push rod 4 other ends, thus the roller push rod formed, as shown in Figure 5.Pusher slide loop bar 5 is fixed on the installing plate 21, and push rod 4 consists of moving sets with pusher slide loop bar 5, moves back and forth under the promotion of cam 2, and conical blocks 18 heads on the roller 17 of 4 symmetric configurations.When conical blocks 18 tips head on roller 17, mechanical finger is clutched tightening up under spring 8 effects, and when conical blocks 18 bottom surfaces head on roller 17, open in the mechanical finger joint, puts seedling thereby realize clutching getting seedling and opening.
The seedling end effector course of work of getting of the present utility model is: according to size, the seedling attitude of cave dish seedling adjust get the seedling end effector to cave attitude and folding degree, when getting the seedling end effector and get seedling, four gripping pins 14 stretch out and inject cave dish seedling alms bowl body, simultaneously conical blocks 18 is abandoned roller 17, four mechanical fingers in top are clutched crawl cave dish seedling tightening up under the spring 8 power effects.When getting the seedling end effector and put seedling, conical blocks 18 backs down roller 17, struts four mechanical fingers, makes the open-shaped attitude of mechanical finger, and four gripping pin 14 indentation gripping needle sleeve are 13 li simultaneously, thereby reaches the purpose of pick-and-place cave dish seedling.
The utlity model has beneficial effect.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.Mechanical finger folding degree in the utility model depends on the degree that heads into of conical blocks 18 and the shape of conical blocks 18, when conical blocks 18 heads into when darker, support large four mechanical fingers, to satisfy the cave dish seedling gripping of different size size, strengthened the flexibility of getting the seedling end effector.The seedling end effector four open-shaped attitudes of mechanical finger when the seedling action is got in execution of getting of the present utility model, in case to getting the seedling position, four gripping pins 14 stretch out and inject cave dish seedling body, meanwhile four mechanical fingers fold crawl cave dish seedling, both guarantee to get the seedling success rate, reduced again the generation of hindering growth of cereal crop seedlings condition.
Claims (2)
1. a cave dish seedling is automatically transplanted and is picked and placeed the seedling device, by four geometric parameters identical can rotation mechanical finger consist of, it is characterized in that: also comprise Cam feed machine, circular cone slide block, four mechanical fingers, mechanical finger limited block (9), gripping pin (14), traction brake cable (11), brake cable pulling device, spring (12), support bar (19), frame; Described four mechanical fingers can get around mechanical finger joint (7) the installing hole rotation of chute under Cam feed machine promotes, clutch by tightening up spring 8; Also comprise and be installed on the described mechanical finger and can in mechanical finger, realize the flexible gripping pin (14) that gripping needle sleeve (13) is slided that passes by traction brake cable (11) and spring (12) synergy in the chute of described mechanical finger joint (7) along the mechanical finger direction; Described mechanical finger by be cemented in brake cable on the described mechanical finger joint (7) emit (10), pass described brake cable emit (10) be attached to the fastening bolt (16) of described gripping pin (14) on traction brake cable (11), two ends be hung in spring (12) on described bolt (16) and the bolt (15), emit (10) to be consisted of along affixed described mechanical finger joint (7) upper roller (17) that is installed in of same plane with described brake cable; Described Cam feed machine promotion robot finger opens, cam (2) is cemented on the camshaft (23), rotate with camshaft (23), pusher slide loop bar (5), conical blocks (18), installing plate (21) consists of Cam feed machine roller push rod driven member, roller (3) is installed in the end of push rod (4), contact with cam (2) higher pair, the fixed conical blocks of push rod (4) other end (18), thereby consist of the roller push rod, pusher slide loop bar (5) is fixed on the installing plate (21), push rod (4) consists of moving sets with pusher slide loop bar (5), under the promotion of cam (2), move back and forth, conical blocks (18) heads on the roller (17) of 4 symmetric configurations, when conical blocks (18) tip heads on roller (17), mechanical finger is clutched tightening up under spring (8) effect, when conical blocks (18) bottom surface heads on roller (17), open in the mechanical finger joint, puts seedling thereby realize clutching getting seedling and opening.
2. automatic transplanting of a kind of cave dish seedling as claimed in claim 1 picks and places the seedling device, it is characterized in that: the tractive action of described gripping pin (14) mainly is comprised of crank disk (24), connecting rod (25), installing plate (26), slide bar (27), traction brake cable (28), bearing pin (29,30); Consist of crank block by crank disk (24), connecting rod (25), installing plate (26), slide bar (27), bearing pin (29,30), the slide bar (27) that four traction brake cables (28) are installed is fixed on the described crank block, the mobile crank length that changes of bearing pin (30) in the chute be arranged at crank disk (24) along diametric(al) on, thus realize slide bar (27) different move back and forth distance; The traction brake cable (11) that the traction brake cable (28) that is connected with described slide bar (27) is connected with described gripping pin (14) is fixed together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220625672 CN202907451U (en) | 2012-11-22 | 2012-11-22 | Automatic plug seedling transplanting pick-and-place device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220625672 CN202907451U (en) | 2012-11-22 | 2012-11-22 | Automatic plug seedling transplanting pick-and-place device |
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| Publication Number | Publication Date |
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| CN202907451U true CN202907451U (en) | 2013-05-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220625672 Withdrawn - After Issue CN202907451U (en) | 2012-11-22 | 2012-11-22 | Automatic plug seedling transplanting pick-and-place device |
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| CN (1) | CN202907451U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102934557A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Automatic picking and placing device for plug seedling transplanting |
| CN103931315A (en) * | 2014-03-28 | 2014-07-23 | 奎屯吾吾农机制造有限公司 | Cam clamp type automatic seedling picker |
| CN104704967A (en) * | 2014-06-06 | 2015-06-17 | 中国计量学院 | Seedling picking claw for automatic plug-seedling transplanting machine |
| CN105082141A (en) * | 2015-05-08 | 2015-11-25 | 上海交通大学 | Execution modules, magic cube resolving robot and use method for magic cube resolving robot |
| CN104704965B (en) * | 2014-06-06 | 2017-02-15 | 中国计量学院 | End effector for transplanting machine |
| CN107637237A (en) * | 2017-09-18 | 2018-01-30 | 江苏大学 | One kind hugs seedling and takes end effector and method |
| CN109220117A (en) * | 2018-11-15 | 2019-01-18 | 石河子大学 | A kind of four intermediate plate potted-seedling transplanting clamp device of pulley-type |
| CN109644617A (en) * | 2019-01-09 | 2019-04-19 | 贵州省旱粮研究所 | A kind of layering culture dish and its transfer tool handgrip |
| CN115196315A (en) * | 2022-07-14 | 2022-10-18 | 山东农业大学 | Pneumatic rotary inserting and clamping linkage seedling taking and throwing device of vegetable transplanter |
| CN118024227A (en) * | 2024-04-12 | 2024-05-14 | 四川航天职业技术学院(四川航天高级技工学校) | Industrial robot with good clamping effect |
-
2012
- 2012-11-22 CN CN 201220625672 patent/CN202907451U/en not_active Withdrawn - After Issue
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102934557A (en) * | 2012-11-22 | 2013-02-20 | 江苏大学 | Automatic picking and placing device for plug seedling transplanting |
| CN103931315A (en) * | 2014-03-28 | 2014-07-23 | 奎屯吾吾农机制造有限公司 | Cam clamp type automatic seedling picker |
| CN103931315B (en) * | 2014-03-28 | 2015-10-21 | 奎屯吾吾农机制造有限公司 | Cam clamp-type automatic seedling taking device |
| CN104704967A (en) * | 2014-06-06 | 2015-06-17 | 中国计量学院 | Seedling picking claw for automatic plug-seedling transplanting machine |
| CN104704965B (en) * | 2014-06-06 | 2017-02-15 | 中国计量学院 | End effector for transplanting machine |
| CN105082141A (en) * | 2015-05-08 | 2015-11-25 | 上海交通大学 | Execution modules, magic cube resolving robot and use method for magic cube resolving robot |
| CN107637237A (en) * | 2017-09-18 | 2018-01-30 | 江苏大学 | One kind hugs seedling and takes end effector and method |
| CN109220117A (en) * | 2018-11-15 | 2019-01-18 | 石河子大学 | A kind of four intermediate plate potted-seedling transplanting clamp device of pulley-type |
| CN109644617A (en) * | 2019-01-09 | 2019-04-19 | 贵州省旱粮研究所 | A kind of layering culture dish and its transfer tool handgrip |
| CN109644617B (en) * | 2019-01-09 | 2022-02-01 | 贵州省旱粮研究所 | Layered culture dish and transfer tool tongs thereof |
| CN115196315A (en) * | 2022-07-14 | 2022-10-18 | 山东农业大学 | Pneumatic rotary inserting and clamping linkage seedling taking and throwing device of vegetable transplanter |
| CN115196315B (en) * | 2022-07-14 | 2024-06-04 | 山东农业大学 | Pneumatic rotary type inserting and clamping linkage seedling taking and throwing device of vegetable transplanting machine |
| CN118024227A (en) * | 2024-04-12 | 2024-05-14 | 四川航天职业技术学院(四川航天高级技工学校) | Industrial robot with good clamping effect |
| CN118024227B (en) * | 2024-04-12 | 2024-06-25 | 四川航天职业技术学院(四川航天高级技工学校) | Industrial robot with good clamping effect |
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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: 20130501 Effective date of abandoning: 20140716 |
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| RGAV | Abandon patent right to avoid regrant |