CN202979645U - Seedling-taking rear end executor of automatic cave disc seedling transplanting machine - Google Patents
Seedling-taking rear end executor of automatic cave disc seedling transplanting machine Download PDFInfo
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- CN202979645U CN202979645U CN 201220698202 CN201220698202U CN202979645U CN 202979645 U CN202979645 U CN 202979645U CN 201220698202 CN201220698202 CN 201220698202 CN 201220698202 U CN201220698202 U CN 201220698202U CN 202979645 U CN202979645 U CN 202979645U
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Abstract
The utility model relates to a seedling-taking rear end executor of an automatic cave disc seedling transplanting machine. The seedling-taking rear end executor mainly comprises an installing plate, a cam feeding device, mechanical fingers and a seedling pushing device, when a mechanical arm of the transplanting machine is driven to a seedling planting point, the seedling pushing device pushes the cave disc seedlings to the transplanter or the transplanting machine, the cave disc seedlings are gradually dissociated from clamping needles, and under the function of the self-weights of the cave disc seedlings, the cave disc seedlings successfully fall into the transplantor. According to the instrument, mechanical power drive is provided through the cam feeding device, so that two actions that the clamping needles are opened and the seedlings are pushed are separately controlled; and on the basis that the seedling pushing stroke is met, the clamping needles open appropriately, so that the outer edge of a cave disc seedling pot is prevented from being broken. The instrument is low in cost, high in transplanting quality and high in seedling taking success rate, and can be applied to automatic transplanting of cave disc seedlings of different specifications and sizes such as 128 caves and 72 caves when being coordinated and cooperated with a seedling taking mechanism.
Description
Technical field
The utility model relates to the transplanting operation in industrialized agriculture, particularly relates to a kind of automatic transplanter for plug seedling and gets the seedling end effector.
Background technology
In recent years, China cave dish seedling semi-automatic transplanter is promoted and uses (as the 2Z one 2 type corn pot seedling transplanters of the 2ZDF type seedling guiding tubular transplanting machine of China Agricultural University's development, Heilongjiang Reclamation Area academy of sciences development etc.), although having solved, this class semi-automatic transplanter plants operation, but still need configuration one fix the number of workers divide seedling, get seedling, the operation such as throwing seedling, far do not reach the effect of saving of labor's abridged edition.Especially frequency 〉=40 strains/the min that ought plant manually throws seedling and does already can't adapt to.The starting of external cave dish transplantation of seedlings technology early, some Automatic Transplanter (the H-D series cave dish field-transplanting machine of producing as Australian Transplant Systems company, foreign horse PA1A type all automatic vegetables transplanter etc.) have been developed, concerning China, external automatic transplanter type is huge, expensive, complex structure, does not match with patch operation, seedling growing process and cave dish etc. of China.Therefore, the research that is fit to all automatic vegetables dry land transplanter of China's national situation has Great significance, and is also very urgent.
The automatic potted-seedling picking device by semi-automatic transplanter to the key technology that Automatic Transplanter develops.Be to guarantee the automatic seedling taking success rate, the automatic potted-seedling picking device not only will satisfy gets the requirement of seedling track, and directly getting the seedling end effector and need completing and manually get the seedling process in semi-automatic transplanter of object transplanted in contact simultaneously.The flexible method of external extensive use pneumatic control gripping pin folding, pneumatic control gripping pin is two to be driven and realizes that the gripping pin stretches out to clamp and get seedling, gripping pin and open the seedling process of getting that pushes away seedling of retracting (flying the Pic-O-Mat PC21 of shuttle company etc. as Holland), although this class transplant apparatus efficient still can, but high based on the pneumatic system cost, bulky, be difficult to implement at large Tanaka's machinery.China has developed some and has got the seedling end effector, and as the bright Double drive end effector for plug seedling pot transplanting system that waits design of the Jiang Huan of Zhejiang University in 2011, it adopted pneumatic control, has equally the problems referred to above; The automatic transplanter seedling picking mechanism that grows tobacco of the designs such as Huidong will of Agricultural University Of Hunan in 2010, it has been realized clamping and has got seedling, but does not guarantee successfully to push away pot seedling, and the seedling success rate is got in impact; It is that folder seedling needle guard is in the annular cover that existing mechanical means is controlled the mode that pushes away seedling, control the lifting of four annular covers with push rod, realize that simultaneously the gripping pin opens and pushes away two processes of seedling, unrealized gripping pin opens and pushes away two processes of seedling and separately moves, throwing needs in the seedling course of work to satisfy: the gripping pin opens low-angle, push away pushing away the seedling stroke and can pushing away cave dish seedling of seedling device, this mechanical means pushes away on the basis of seedling stroke satisfied, gripping pin opening angle is large, support the external edge of dish seedling alms bowl, broken cave, impact pushes away backward alms bowl weight.
The utility model content
The purpose of this utility model is to provide a kind of automatic transplanter for plug seedling to get the seedling end effector, to reduce costs, improves and gets the seedling success rate and transplant quality.
In order to solve above technical problem, the technical scheme that the utility model adopts is as follows.
a kind of automatic transplanter for plug seedling is got the seedling end effector, comprises installing plate 1, cam feed device, mechanical finger and pushes away the seedling device, and installing plate 1 is connected on the transplanter mechanical arm, it is characterized in that: described cam feed device by cam 2, camshaft 3, roller 4, spring 6, mechanical finger skeleton 7, push rod 8, form for T-shaped 9, camshaft 3 is rotatably installed on installing plate 1, cam 2 is consolidated with camshaft 3, mechanical finger skeleton 7 is cemented on installing plate 1, roller is articulated in an end of push rod, roller keeps higher pair to contact with cam under spring is spacing, and fixed T-shaped of the push rod other end, push rod consist of moving sets with the mechanical finger skeleton and be connected, described mechanical finger is comprised of mechanical finger joint 11, roller 12, rolling wheel support 13, gripping pin skeleton axle 16, gripping pin 17, mechanical finger joint one end is hinged on the mechanical finger skeleton, rolling wheel support is cemented on the mechanical finger joint, roller is hinged on rolling wheel support, gripping pin skeleton axle is cemented in the other end in mechanical finger joint, the gripping pin is cemented on gripping pin skeleton axle, and described two mechanical fingers make two described roller higher pairs be contacted with the both sides of T-shaped by tightening up spring 14 pretensions, the described seedling device that pushes away is by pushing away seedling device fixed head 10, guide plate A23-1 and guide plate B23-2, gripper shoe 20, guide rod 21, push away seedling cover 18, bearing pin 22, bearing pin 19 forms, push away seedling device fixed head and be cemented in the end face of described T-shaped, guide plate A and guide plate B are hinged on and push away on seedling device fixed head, it is also movable in the groove of guide plate A and guide plate B that bearing pin is hinged on the mechanical finger skeleton, bearing pin is cemented in guide plate A and guide plate B is upper and movable in the groove of gripper shoe, guide rod is cemented on the mechanical finger skeleton, and be connected with gripper shoe formation moving sets, pushing away the seedling cover is cemented on gripper shoe, and can be free to slide on the gripping pin.
Described to push away seedling cover 18 be that an arm is fixed on gripper shoe, and the place ahead bends out one and is enclosed within gap four rings on the gripping pin, and upper young than hole, the corresponding cave of dish seedling, cave of anchor ring.
The described seedling cover that pushes away is that two arms are fixed on gripper shoe, and two arm the place aheads respectively bend out a right angle, and described right angle is positioned at the inboard of gripping pin 17; The described seedling cover that pushes away can be fixed on gripper shoe by two arms, and two arm the place aheads respectively bend out a ring, are enclosed within gap respectively on two gripping pins in mechanical finger.
The fixed angle of described gripping pin skeleton axle and the fixed length of gripping pin are adjustable.
The utlity model has beneficial effect.This device utilizes machine power to control the folding of mechanical finger and two actions of seedling that push away that push away the seedling device are separately carried out, and has reduced driving force, reduces costs.The gripping pin opens and pushes away seedling two processes separately to be controlled, and makes and pushes away the seedling stroke, gripping pin folding angle can satisfy the demands, and has improved and has got the seedling success rate and transplant quality.This automatic transplanter for plug seedling is got the seedling end effector and is driven at the transplanter mechanical arm and throw Miao Dianshi, and mechanical finger first opens, and pushes away the seedling device and pushes away cave dish seedling to the transplanter planting apparatus, and cave dish seedling and gripping pin disengage, and successfully fall into planting apparatus, gets the seedling success rate high.
Description of drawings
Fig. 1 is overall structure sketch of the present utility model.
Fig. 2 is mechanical finger joint sketch.
Fig. 3 is Cam feed machine roller transfer bar mechanism sketch.
Fig. 4 is that mechanical finger pushes away seedling device sketch.
In figure, 1. installing plate 2. cam 3. camshafts 4,12. rollers 19,22. bearing pin 6. spring 7. mechanical finger skeleton 8. push rod 9.T type pieces 10. push away seedling device fixed head 11. mechanical finger joint 13. rolling wheel supports 14. and tighten up spring 16. gripping pin skeleton axle 17. gripping pins 18. and push away seedling cover 20. gripper shoe 21. guide rod 23-1. guide plate A 23-2. guide plate B.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail.
a kind of automatic transplanter for plug seedling is got the seedling end effector, comprise installing plate 1, cam feed device, mechanical finger and push away the seedling device, realize to clamp and to get seedling, open and push away seedling, both guarantee successfully the cave to be coiled seedling and taken out the cave dish, guarantee that again cave dish seedling successfully falls into planting apparatus, installing plate 1 is connected on the transplanter mechanical arm, it is characterized in that: described cam feed device is by cam 2, camshaft 3, roller 4, spring 6, mechanical finger skeleton 7, push rod 8, form for T-shaped 9, camshaft 3 is rotatably installed on installing plate 1, cam 2 is consolidated with camshaft 3, roller 4, mechanical finger skeleton 7, push rod 8, consist of cam feed device roller push rod driven member for T-shaped 9, as shown in Figure 3, mechanical finger skeleton 7 is cemented on installing plate 1, roller 4 is articulated in an end of push rod 8, under spring 6 is spacing, described roller 4 keeps higher pair to contact with cam 2, fixed T-shaped of push rod 8 other ends, described push rod 8 consists of moving sets with mechanical finger skeleton 7 and is connected, described mechanical finger is comprised of mechanical finger joint 11, roller 12, rolling wheel support 13, gripping pin skeleton axle 16, gripping pin 17, as shown in Figure 2, mechanical finger joint 11 1 ends are hinged on mechanical finger skeleton 7, rolling wheel support 13 is cemented on mechanical finger joint 11, roller 12 is hinged on rolling wheel support 13, gripping pin skeleton axle 16 is cemented in the other end in mechanical finger joint 11, gripping pin 17 is cemented on gripping pin skeleton axle 16, and described two mechanical fingers make two described roller 12 higher pairs be contacted with the both sides of described T-shaped 9 by tightening up spring 14 pretensions, the described seedling device that pushes away is by pushing away seedling device fixed head 10, guide plate A231 and guide plate B232, gripper shoe 20, guide rod 21, push away seedling cover 18, bearing pin 22, bearing pin 19 forms, as shown in Figure 4, push away seedling device fixed head 10 and be cemented in the end face of described T-shaped 9, guide plate A231 and guide plate B232 are hinged on and push away on seedling device fixed head, it is also movable in the groove of described guide plate A231 and described guide plate B232 that bearing pin 22 is hinged on the mechanical finger skeleton, bearing pin 19 is cemented in described guide plate A231 and described guide plate B232 is upper and movable in the groove of gripper shoe 20, guide rod 21 is cemented on mechanical finger skeleton 7, and be connected with described gripper shoe 20 formation moving sets, pushing away seedling cover 18 is cemented on gripper shoe 20, and can be free to slide on gripping pin 17.
Described to push away seedling cover 18 can be that an arm is fixed on gripper shoe 20, and the place ahead bends out one and is enclosed within gap four rings on the gripping pin, and upper young than hole, the corresponding cave of dish seedling, cave of anchor ring; The described seedling cover 18 that pushes away can be fixed on gripper shoe 20 by two arms, and two arm the place aheads respectively bend out a right angle, and described right angle is positioned at the inboard of gripping pin 17; The described seedling cover 18 that pushes away can be fixed on gripper shoe 20 by two arms, and two arm the place aheads respectively bend out a ring, are enclosed within gap respectively on two gripping pins 17 in mechanical finger.
The fixed angle of described gripping pin skeleton axle 16, the fixed length of described gripping pin 17 is adjustable.
The course of work of the present utility model is as follows:
The whole course of work: when transplanter is got seedling, described cam feed device is controlled described gripping pin 17 and is opened, pushing away seedling cover 18 does not contact with cave dish seedling alms bowl body, get the seedling end effector under the drive of transplanter mechanical arm, gripping pin 17 injects the alms bowl body from dish seedling both sides, cave, cam feed device roller push rod upwards promotes described T-shaped 9, tighten up under spring 14 effects, and mechanical finger joint 11 closes up, and gripping pin 17 clamps cave dish seedling; Under the transplanter mechanical arm drove, cave dish seedling broke away from the cave dish; Arrive to throw Miao Dianshi when getting the seedling end effector, cam feed device roller push rod promotes T-shaped 9 downwards, and open in mechanical finger joint 11, pushes away seedling cover 18 and do not contact cave dish seedling alms bowl body to the directions motion near cave dish seedling; Described cam feed device roller push rod continues to promote T-shaped 9 downwards, and mechanical finger joint 11 keeps opening angles, pushes away seedling cover 18 to the directions motion near cave dish seedling, finally pushes away cave dish seedling to the transplanter planting apparatus.
push away the seedling device course of work: throwing Miao Dianshi, the gripping pin 17 that the cam feed device is controlled on described mechanical finger opens, the cam feed device drives and pushes away seedling device fixed head 10 to the direction motion near cave dish seedling, the described seedling device fixed head 10 of pushing away drives guide plate A23-1 and guide plate B23-2 around bearing pin 22 rotations, gripper shoe 20 is under the drive of described guide plate A23-1 and guide plate B23-2, direction along guide rod 21 is moved to the direction of coiling seedling near the cave, described gripper shoe 20 drives push away seedling cover 18 and push away cave dish seedling along described gripping pin 17 to transplanter planting apparatus direction, guarantee cave dish seedling and the instantaneous disengaging of described gripping pin 17, the described seedling end effector of getting is taken back in the process of getting seedling point at the transplanter mechanical arm, described cam feed device drives the described seedling device fixed head 10 that pushes away to the direction motion near described mechanical finger skeleton 7, push away seedling device fixed head 10 drive guide plate A23-1 and guide plate B23-2 around bearing pin 22 rotations, gripper shoe 20 is under the drive of guide plate A23-1 and guide plate B23-2, direction along guide rod 21 is moved to the direction near mechanical finger skeleton 7, described gripper shoe 20 drives push away seedling cover 18 and move to the direction near described mechanical finger skeleton 7 along gripping pin 17, the described seedling cover 18 that pushes away returns, give gripping pin folder slot milling gripping cave dish seedling alms bowl body.
Claims (4)
1. an automatic transplanter for plug seedling is got the seedling end effector, comprises installing plate (1), cam feed device, mechanical finger and pushes away the seedling device, and installing plate (1) is connected on the transplanter mechanical arm, it is characterized in that: described cam feed device is comprised of cam (2), camshaft (3), roller (4), spring (6), mechanical finger skeleton (7), push rod (8), T-shaped (9), camshaft (3) is rotatably installed on installing plate, cam (2) is consolidated with camshaft (3), the mechanical finger skeleton is cemented on installing plate, roller is articulated in an end of push rod, roller keeps higher pair to contact with cam under spring is spacing, fixed T-shaped of the push rod other end, push rod consist of moving sets with the mechanical finger skeleton and are connected, described mechanical finger is comprised of mechanical finger joint (11), roller (12), rolling wheel support (13), gripping pin skeleton axle (16), gripping pin (17), mechanical finger joint one end is hinged on the mechanical finger skeleton, rolling wheel support is cemented on the mechanical finger joint, roller is hinged on rolling wheel support, gripping pin skeleton axle is cemented in the other end in mechanical finger joint, the gripping pin is cemented on gripping pin skeleton axle, and described two mechanical fingers make two described roller higher pairs be contacted with the both sides of T-shaped by tightening up spring (14) pretension, the described seedling device that pushes away is by pushing away seedling device fixed head (10), guide plate A(23-1) and guide plate B(23-2), gripper shoe (20), guide rod (21), push away seedling cover (18), bearing pin (22), bearing pin (19) forms, push away seedling device fixed head and be cemented in the end face of described T-shaped, guide plate A and guide plate B are hinged on and push away on seedling device fixed head, it is also movable in the groove of guide plate A and guide plate B that bearing pin is hinged on the mechanical finger skeleton, bearing pin is cemented in guide plate A and guide plate B is upper and movable in the groove of gripper shoe, guide rod is cemented on the mechanical finger skeleton, and be connected with gripper shoe formation moving sets, pushing away the seedling cover is cemented on gripper shoe, and can be free to slide on the gripping pin.
2. a kind of automatic transplanter for plug seedling as claimed in claim 1 is got the seedling end effector, it is characterized in that: the described seedling cover (18) that pushes away is that an arm is fixed on gripper shoe, the place ahead bends out one and is enclosed within gap four rings on the gripping pin, and anchor ring coils the upper young of hole, the corresponding cave of seedling than the cave.
3. a kind of automatic transplanter for plug seedling as claimed in claim 1 is got the seedling end effector, it is characterized in that: the described seedling cover that pushes away is that two arms are fixed on gripper shoe, and two arm the place aheads respectively bend out a right angle, and described right angle is positioned at the inboard of gripping pin; The described seedling cover that pushes away can be fixed on gripper shoe by two arms, and two arm the place aheads respectively bend out a ring, are enclosed within gap respectively on two gripping pins in mechanical finger.
4. get the seedling end effector as claim 1,2 or 3 described a kind of automatic transplanter for plug seedling, it is characterized in that: the fixed angle of described gripping pin skeleton axle and the fixed length of gripping pin are adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220698202 CN202979645U (en) | 2012-12-17 | 2012-12-17 | Seedling-taking rear end executor of automatic cave disc seedling transplanting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220698202 CN202979645U (en) | 2012-12-17 | 2012-12-17 | Seedling-taking rear end executor of automatic cave disc seedling transplanting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202979645U true CN202979645U (en) | 2013-06-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220698202 Withdrawn - After Issue CN202979645U (en) | 2012-12-17 | 2012-12-17 | Seedling-taking rear end executor of automatic cave disc seedling transplanting machine |
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| CN (1) | CN202979645U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103069954A (en) * | 2012-12-17 | 2013-05-01 | 江苏大学 | Seedling taking end performer of automatic plug seedling transplanting machine |
| CN105009752A (en) * | 2014-04-28 | 2015-11-04 | 梁喜凤 | Mechanical hand for plug seedling transplanting |
| CN107211635A (en) * | 2017-07-12 | 2017-09-29 | 河南科技大学 | A kind of double cam link-type automatic seedling taking device |
| CN110100545A (en) * | 2019-05-30 | 2019-08-09 | 黑龙江省农垦科学院 | A kind of convertible pot seedling clamping throwing mechanism of full-automatic potted-seedling transplanting slideway |
| CN111955116A (en) * | 2020-09-03 | 2020-11-20 | 石河子大学 | Motor-driven plug seedling taking device |
| WO2022194280A1 (en) * | 2021-03-17 | 2022-09-22 | 江苏大学 | End effector capable of picking up seedlings for automatic transplanting of plug seedlings |
-
2012
- 2012-12-17 CN CN 201220698202 patent/CN202979645U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103069954A (en) * | 2012-12-17 | 2013-05-01 | 江苏大学 | Seedling taking end performer of automatic plug seedling transplanting machine |
| CN103069954B (en) * | 2012-12-17 | 2015-02-11 | 江苏大学 | Seedling taking end performer of automatic plug seedling transplanting machine |
| CN105009752A (en) * | 2014-04-28 | 2015-11-04 | 梁喜凤 | Mechanical hand for plug seedling transplanting |
| CN107211635A (en) * | 2017-07-12 | 2017-09-29 | 河南科技大学 | A kind of double cam link-type automatic seedling taking device |
| CN107211635B (en) * | 2017-07-12 | 2023-03-03 | 河南科技大学 | Double-cam connecting rod type automatic seedling taking device |
| CN110100545A (en) * | 2019-05-30 | 2019-08-09 | 黑龙江省农垦科学院 | A kind of convertible pot seedling clamping throwing mechanism of full-automatic potted-seedling transplanting slideway |
| CN111955116A (en) * | 2020-09-03 | 2020-11-20 | 石河子大学 | Motor-driven plug seedling taking device |
| WO2022194280A1 (en) * | 2021-03-17 | 2022-09-22 | 江苏大学 | End effector capable of picking up seedlings for automatic transplanting of plug seedlings |
| US11938619B2 (en) | 2021-03-17 | 2024-03-26 | Jiangsu University | Adjustable seedling pick-up end effector for automatically transplanting plug seedlings |
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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: 20130612 Effective date of abandoning: 20150211 |
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| RGAV | Abandon patent right to avoid regrant |