CN203581986U - Grafted seedling sequencing mechanism - Google Patents
Grafted seedling sequencing mechanism Download PDFInfo
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- CN203581986U CN203581986U CN201320583051.2U CN201320583051U CN203581986U CN 203581986 U CN203581986 U CN 203581986U CN 201320583051 U CN201320583051 U CN 201320583051U CN 203581986 U CN203581986 U CN 203581986U
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- seedling
- clamping
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Abstract
The utility model relates to a grafted seedling sequencing mechanism. The aim is that the provided mechanism can output obtained grafted seedlings according to the size sequence of the seedlings as requested, so as to provide good ensuring for the later high grafting success rate, and has the advantages of high degree of automation. The technical scheme is that, the grafted seedling sequencing mechanism is characterized by comprising a rotary disc driven by a power mechanism; a group of clamping hands uniformly distributed at the periphery of the rotary disc; two cam closing mechanism respectively cooperated with the clamping hands; a camera positioned at a seedling feeding station for monitoring the size of the seedling diameters; a computer for obtaining an image, analyzing and computing, and then transmitting a control signal to the power mechanism.
Description
Technical field
The utility model relates to a kind of grafting fruits and vegetables machine sequence mechanism, is specifically related to a kind of sequence of the grafting based on visual determination seedling footpath size mechanism.
Background technology
Along with the development of vegetables modern production, the expansion of greenhouse vegetable growing area, is also improving constantly for vegetable grafting growing nursery and culture demand.Grafting robot technology is a kind of new and high technology that integrates machinery, automatically control and facilities horticulture technology in recent years occurring in the world.Grafting mechanization research and development, to certain phase, requires improving constantly for the successful efficiency of grafting in the world at present; Wherein, in order to improve grafting success ratio and grafting efficiency, need to configure matched grafting sequence mechanism for grafting fruits and vegetables machine.
Utility model content
The utility model object is the grafting sequence mechanism that a kind of grafting fruits and vegetables machine will be provided, this mechanism should be able to be as required by the grafting obtaining by the Sequential output of seedling footpath size, to for the grafting high success rate in later stage provides good assurance, and have the advantages that degree of automation is high.
For achieving the above object, the technical scheme that the utility model is taked is:
A kind of grafting sequence mechanism, it is characterized in that this mechanism comprise the rotating disk that driven by actuating unit, one group of clamping hand that is evenly distributed on rotating disk periphery, respectively with two cam closed mechanisms of clamping hand compounding practice, be positioned at and send seedling station with the camera of monitoring seedling footpath size and the image obtaining carried out analytical calculation and then control signal transported to the computing machine of actuating unit.
Described clamping hand comprises a base, is arranged symmetrically on base and forms two four connecting rod grasping mechanisms of a pair of gripper jaw and two four connecting rod grasping mechanism application of forces are made to its closed spring.
The quantity of described one group of clamping hand is even number.
Described two cam closed mechanisms lay respectively at and send seedling station and get seedling station; Describedly send seedling station and get the distance of the normally closed grasping mechanism of seedling station interval odd number.
Described four connecting rod grasping mechanisms comprise base, be hinged on clamping connecting rod on base rotationally, be arranged in clamping rod rear end and be positioned at slidably the thrust link of chute of base and the short connecting rod hinged with thrust link top of one end and the hinged other end of clamping rod rear end.
Described cam closed mechanism comprise be vertically arranged on base and the piston rod of front end aim at normally closed grasping mechanism cylinder, be produced on the inclined-plane on piston rod top and be fixed on thrust link anterior and with described tiltedly carve that piece extruding coordinates tiltedly carve piece.
Principle of work of the present utility model is:
When this grafting sequence mechanism starts working, complete machine is in initial given position; During work, send the cylinder action of seedling station, cylinder piston rod up pushes up to press and is positioned at the clamping hand (the normally closed clamping hand of odd bits number) that send seedling station, by the interaction of tiltedly carving the skewback in piece and thrust link on piston rod top, force thrust link to overcome spring-force driven dual and move backward, this clamping hand is opened; Then the outside seedling manipulator that send is delivered to seedling in the middle of two gripper jaws of clamping hand, and then the piston rod of cylinder down resets, and clamps hand closure and clamp the stem of seedling under the effect of spring force; After sending the camera of seedling station to obtain seedling graphicinformation, transport to computing machine machine simultaneously, by graphical analysis, obtain the seedling footpath size of seedling.According to said process, respectively one by one by all upper completely seedling of the clamping hand of odd bits number, and the seedling footpath size obtaining is sorted, then according to clooating sequence, the clamping hand that is clamping seedling is turned to one by one and gets seedling station, by the seedling manipulator of getting of getting seedling station, first clamp seedling, then by the cylinder action of this station, open the clamping hand that is clamping seedling, then get seedling manipulator and with the seedling of clamping, leave rotating disk and be sent to assigned address; When the clamping hand of odd numbered is clamping seedling and turns to one by one and get seedling station, even number clamping hand arrive and send seedling station, send seedling manipulator to repeat the foregoing seedling operation of sending with outside, so loop, grafting sequence is carried out continuously.Because send seedling station and get seedling station, differ odd number station, so send seedling operation and get seedling operation, can carry out simultaneously.
The beneficial effects of the utility model are: owing to having designed corresponding mechanism, thereby can realize grafting unordered seedling footpath size by seedling footpath size Sequential output, for the design of high-survival rate grafting machine is laid a good foundation; And can full automation operation, increased substantially production efficiency.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the perspective view of clamping hand of the present utility model.
Fig. 3 is the main TV structure schematic diagram of turning cylinder in the utility model.
Fig. 4 is the perspective view of cam closed mechanism of the present utility model.
Fig. 5 is the working state schematic representation of cam closed mechanism of the present utility model.
Fig. 6 is one of working state schematic representation of the present utility model.
Fig. 7 is two of working state schematic representation of the present utility model.
Fig. 8 is three of working state schematic representation of the present utility model.
Fig. 9 is four of working state schematic representation of the present utility model.
Figure 10 is five of working state schematic representation of the present utility model.
Figure 11 is six of working state schematic representation of the present utility model.
Figure 12 is the perspective view of the utility model mode of operation.
In figure, have: adapter plate 1; Cylinder erecting frame 2; Cylinder 3; Seedling 4; Rotating disk 5; Clamping hand 6; Top cover 6-1; Spring 6-2; Thrust link 6-3; Short connecting rod 6-4; Clamping connecting rod 6-5; Base 6-6; Push rod 7; Rotating shaft 8; Pedestal 9; Bearing 10; Skewback 11; Camera 12.
The specific embodiment
Grafting shown in the drawings is sorted in mechanism, rotating disk 5 is driven (in figure: rotating shaft 8 is rotatably positioned in pedestal 9 by bearing 10 from actuating unit (normally stepping motor), the top of rotating shaft is fixedly connected with (bolt is connected) with the center of rotating disk, and transmission of power is carried out by gear cluster and stepping motor output shaft in the bottom of rotating shaft; The bottom of pedestal is fixed on adapter plate 1, and makes turning cylinder keep vertical state), driver train is conventional mechanism; One group of clamping hand (normally closed clamping hand) is evenly distributed on rotating disk periphery, and the quantity of described clamping hand is even number, according to cw or anticlockwise direction, numbers respectively; Two positions at rotating disk edge are also set as sending seedling station a and get seedling station b, send seedling station and get the certain distance in seedling station interval (the arc length distance of the normally closed grasping mechanism of odd number).In described normally closed clamping hand, two four connecting rod grasping mechanisms that form a pair of gripper jaw are arranged symmetrically in base 6-6 above, and spring 6-2 makes it remain closed clamp position to two four connecting rod grasping mechanism application of forces.
In described four connecting rod grasping mechanisms, clamping connecting rod 6-5 is hinged on base (two clamping connecting rod symmetries be hinged on base form a pair of gripper jaw) rotationally, thrust link 6-3 is arranged in clamping rod rear end and is positioned at slidably chute of base, and one end of short connecting rod 6-4 is hinged with thrust link top with the hinged other end of clamping rod rear end.Like this, under the pressure effect of the top of spring force, two clamping connecting rods remain closed clamp position.
Send seedling station and get seedling station place a cam closed mechanism is set respectively again, these two cam closed mechanisms are fixed on adapter plate 1 by cylinder erecting frame 2 respectively; Two cam closed mechanisms separately with clamping hand compounding practice, the operation of opening respectively clamping hand; Send seedling station that the camera 12 of monitoring seedling footpath size is also installed, separately by computing machine (omitting in figure), the image obtaining is carried out to analytical calculation and then turn signal order is transported to actuating unit.
In described cam closed mechanism, cylinder 3 is vertically arranged on base, and the piston rod of cylinder front end (being push rod 7) top is shaped with inclined-plane, and thrust link front portion is fixed one and tiltedly carved piece 11, this inclined-plane is tiltedly carved piece extruding and is coordinated with described, can force thrust link to overcome spring force and move backward.
Radical function of the present utility model is when grafting fruits and vegetables, and the seedling of sending into is sorted and is then sequentially transported on exterior holding manipulator according to seedling footpath thickness.For this reason, first need ten clamping hands in embodiment to be numbered from one to ten; During work, No. one clamping hand is positioned at and send seedling station (meanwhile, the clamping hand of even bit is in getting seedling station; Because send seedling station and get seedling station the position that differs odd number clamping hand), send the cylinder 3 at seedling station place to move and up eject piston rod (being push rod), by the inclined-plane on piston rod top and the piece of tiltedly carving of thrust link 6-3 front portion, interact, the application force that overcomes spring makes to clamp hand and opens, and outside send seedling manipulator seedling to be delivered in the middle of two gripper jaws of clamping hand; Then cylinder retraction, two gripper jaws are closed under spring-force driven dual, and obvolvent is clamping seedling (obtaining seedling).Send the camera 12 that install at seedling station place then seedling to be made a video recording, and seedling seedling footpath pictorial information is transported to computing machine, by Computer Analysis, calculate seedling footpath size.Then rotating disk rotates (the S. A. rotation that motor drives rotating disk) under driven by motor, clamps hand for three, five, seven, No. nine and turns to one by one respectively and send seedling station, as stated above gripping seedling one by one again.Until one, three, five, seven, No. nine clamping hand, all go up and expire (as Fig. 7) after seedling, the seedling that computing machine just clamps these on hand is immediately ranked respectively according to seedling footpath size order, and give an order and make five clamping hands (, three, five, seven, No. nine clamping hand) rotate successively (forward rotation or rotate backward) according to seedling footpath size order, to getting seedling station, by getting seedling manipulator, to obtain one by one respectively seedling (as Fig. 8).Clamping hand is transferred to seedling the process of getting seedling manipulator, and the process of obtaining seedling with aforementioned clamping hand is just in time contrary.
Owing to sending seedling station and getting seedling station the position that differs odd number clamping hand, so when getting seedling manipulator and often taking a seedling away, clamping (as Fig. 8, the Fig. 9) on hand that send seedling manipulator again a seedling to be sent into corresponding even bit, and by camera, obtained the information of seedling seedling footpath size simultaneously.So when odd number clamps five strain seedling on hand and exports completely, in all even number clamping hands, be covered with again new one group of seedling (Figure 10, Figure 11 represent operation process), so next round is carried out the operation that even number clamping hand output seedling odd number clamping hand obtains seedling; Repetition is with cocycle, and seedling scheduling carries out continuously.
Claims (6)
1. a grafting sequence mechanism, it is characterized in that this mechanism comprise the rotating disk (5) that driven by actuating unit, one group of clamping hand that is evenly distributed on rotating disk periphery, respectively with two cam closed mechanisms of clamping hand compounding practice, be positioned at and send seedling station with the camera (12) of monitoring seedling footpath size and the image obtaining carried out analytical calculation and then control signal transported to the computing machine of actuating unit.
2. a kind of grafting sequence according to claim 1 mechanism, is characterized in that: described clamping hand comprises a base (6-6), is arranged symmetrically on base and forms two four connecting rod grasping mechanisms of a pair of gripper jaw and two four connecting rod grasping mechanism application of forces are made to its closed spring (6-2).
3. a kind of grafting sequence according to claim 2 mechanism, is characterized in that: the quantity of described one group of clamping hand is even number.
4. a kind of grafting sequence according to claim 3 mechanism, is characterized in that: described two cam closed mechanisms lay respectively at and send seedling station and get seedling station; Describedly send seedling station and get the distance of the normally closed grasping mechanism of seedling station interval odd number.
5. a kind of grafting sequence according to claim 4 mechanism, is characterized in that: described four connecting rod grasping mechanisms comprise base, be hinged on clamping connecting rod (6-5) on base rotationally, be arranged in clamping rod rear end and be positioned at slidably the thrust link (6-3) of chute of base and the short connecting rod (6-4) hinged with thrust link top of one end and the hinged other end of clamping rod rear end.
6. a kind of grafting sequence according to claim 5 mechanism, is characterized in that: described cam closed mechanism comprise be vertically arranged on base and the piston rod of front end aim at normally closed grasping mechanism cylinder (3), be produced on the inclined-plane on piston rod top and be fixed on thrust link anterior and coordinate with the extruding of described inclined-plane tiltedly carve piece (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320583051.2U CN203581986U (en) | 2013-09-18 | 2013-09-18 | Grafted seedling sequencing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320583051.2U CN203581986U (en) | 2013-09-18 | 2013-09-18 | Grafted seedling sequencing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203581986U true CN203581986U (en) | 2014-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320583051.2U Withdrawn - After Issue CN203581986U (en) | 2013-09-18 | 2013-09-18 | Grafted seedling sequencing mechanism |
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| Country | Link |
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| CN (1) | CN203581986U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496586A (en) * | 2013-09-18 | 2014-01-08 | 浙江理工大学 | Grafting seedling sequencing mechanism |
| CN109941747A (en) * | 2019-04-24 | 2019-06-28 | 无锡先导智能装备股份有限公司 | Gasket supplies machine |
-
2013
- 2013-09-18 CN CN201320583051.2U patent/CN203581986U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496586A (en) * | 2013-09-18 | 2014-01-08 | 浙江理工大学 | Grafting seedling sequencing mechanism |
| CN109941747A (en) * | 2019-04-24 | 2019-06-28 | 无锡先导智能装备股份有限公司 | Gasket supplies machine |
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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: 20140507 Effective date of abandoning: 20160803 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |