CN203788697U - Mechanical arm paddy pot seedling collecting transplanter - Google Patents
Mechanical arm paddy pot seedling collecting transplanter Download PDFInfo
- Publication number
- CN203788697U CN203788697U CN201420197824.8U CN201420197824U CN203788697U CN 203788697 U CN203788697 U CN 203788697U CN 201420197824 U CN201420197824 U CN 201420197824U CN 203788697 U CN203788697 U CN 203788697U
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- seedling
- manipulator
- sensor
- mechanical arm
- folder
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Abstract
The utility model discloses a mechanical arm paddy pot seedling collecting transplanter which is used for solving the problems that the rice seedling inserting leakage rate is high, the percent of pass is low and the rice seedling damage rate is high. The mechanical arm paddy pot seedling collecting transplanter comprises a seedling conveying mechanism, a mechanical arm, a seedling falling slide rail, a seedling storage rack, a driver seat, a control handle, a gearbox, an electric generator, an engine, driving wheels, a traction frame, a mechanical arm support, a ship plate and a recycling bin. The electric generator serves as a power source. The seedling conveying mechanism comprises a seedling tray, a belt wheel, a belt wheel axle and a seedling conveying rack. The seedling conveying rack is provided with a sensor. A seedling clamp is matched on the mechanical arm, and the seedling clamp is provided with an oval cam and a spring. The sensor chooses one of a reflecting type photoelectric sensor and a magnetoelectric sensor.
Description
Technical field
The utility model relates to the transplant rice seedlings accurate rice pot seedling manipulator seedling taking transplanter of cropping pattern of rice shoot of a kind of throwing, relates in particular to a kind of accurate rice pot seedling manipulator seedling taking transplanter.
Background technology
With socio-economic development and rural laborer, shift, traditional-handwork rice transplanting plantation has been not suitable with Rice Production growth requirement, and China's Rice Production is in the urgent need to take transplanting as main mechanized cultivation technology, tradition blanket appearance seedling transplanting technology exists that seeding quantity is large, seedling quality is poor, little, the low amount of broadcasting of seedling age elasticity become blanket poor, hinder seedling and hinder that root is serious, higher, the every Cong Miao number of miss in seedling setting rate is inhomogeneous and the slow problem of turning green, restriction machine-transplanted rice yield potential, the accurate rice pot seedling machine transplanting of rice and planting technology, for traditional blanket appearance seedling machine transplanting of rice existing problems, by pot seedling, cultivate, utilize common seedling transplanter or transplanting machine by the accurate seedling taking of alms bowl, realize the pot seedling machine transplanting of rice or planting, rice shoot root system band soil is many, hinder seedling and hinder root rate low, after planting, rice shoot is turned green soon, root of hair and tillering early, can make full use of low level joint tillers, effective tiller is many, thereby be conducive to realize high yield, press the quantitative seedling taking of pot seedling simultaneously, seedling taking is more accurate, machine transplanting of rice miss in seedling setting rate reduces, uniformity between machine transplanting of rice seedling clump, thereby being conducive to yielding Populations forms, realize machine transplanting of rice high-yield and high-efficiency.
Utility model content
For addressing the above problem, the utility model provides a kind of accurate rice pot seedling manipulator seedling taking transplanter that rice shoot leaks the problem that rate is high, qualification rate is low, damaged seedling rate is large of inserting that solves.
The utility model solves the technical scheme that its technical problem adopts: a kind of accurate rice pot seedling manipulator seedling taking transplanter, comprise seedlings sending mechanism, manipulator, the seedling slideway that falls, put seedling frame, driver's seat, control crank, gearbox, generator, engine, driving wheel, hitch frame, manipulator support, the deck of boat, collection box, and described generator is its power source; Described seedlings sending mechanism comprises seedling dish, belt pulley, Pulley shaft, seedling sending frame, and described seedling sending frame is provided with sensor; On described manipulator, be furnished with seedling folder, and seedling folder is provided with an oval cam and a spring.
The operation principle of seedlings sending mechanism: seedling dish is placed on belt pulley, drives Pulley shaft feeding by direct current generator, when sensor detects a line pot seedling, is transported to while pulling up seedlings position, and seedling sending motor stops, and waits for that the clamping of seedling folder is with this row pot seedling of choosing; After a line rice shoot puts in place, cover the utilizing emitted light of sensor also by it reflection, when sensor receives after reverberation, output HIGH voltage; And after pot seedling is pulled up, sensor light is unimpeded, whether output LOW voltage, can detect rice shoot and put in place; Drive motor that seedling dish moves by electro-optical pickoff signal controlling, when sensor does not detect rice shoot, the feeding of seedling sending electrical power, when a line rice shoot being detected, seedling sending motor stops operating, and other power source just can move successively, makes manipulator work.
A kind of in open mode and closure state of described seedling folder.
Preferably, described sensor is selected a kind of of reflective photoelectric sensor and magnetoelectric sensor.
Preferably, described reflective photoelectric sensor is arranged on a side of seedling sending frame on seedling folder center line, and the work centre position of reflective photoelectric sensor and seedling folder center superposition, to guarantee seedling folder center folder seedling.
Adopting reflective photoelectric sensor to detect rice shoot puts in place, its course of work: reflective photoelectric sensor is arranged on a side of seedling sending frame on seedling folder center line, after a line rice shoot puts in place, cover the utilizing emitted light of reflective photoelectric sensor also by it reflection, when reflective photoelectric sensor receives after reverberation, export high/low voltage; And after pot seedling is pulled up, reflective photoelectric sensor light is unimpeded, export low/high voltage, can detect like this rice shoot and whether put in place.The motor that drive seedling dish moves is by electro-optical pickoff signal controlling.When reflective photoelectric sensor does not detect rice shoot, the feeding of seedling sending electrical power, when a line rice shoot being detected, seedling sending motor stops operating, and other power source just can move successively, makes manipulator work.Reflective photoelectric sensor work centre position and seedling folder center superposition, to guarantee seedling folder center folder seedling.
Preferably, described magnetoelectric sensor presss from both sides in same vertical plane with seedling in the middle of being arranged on seedling sending frame side wall.
Adopting magnetoelectric sensor to detect rice shoot puts in place, for indirect detection rice shoot mode, its course of work: the pot seedling that seedling dish is brought out is put into seedling disk support dish, corresponding every row rice shoot is 2.5 ~ 3.5mm hemispherical projections at seedling disk support dish sidewall welding radius, and magnetoelectric sensor presss from both sides in same vertical plane with seedling in the middle of being arranged on seedling sending frame side wall.Seedling sending motor is by the feeding of band drive transfer seedling dish, during through magnetoelectric sensor, sensor approaches the induction of seedling disk support dish projected side wall and sends potential pulse, input single-chip microcomputer is exported control motor and is stopped signal after processing, in seedling dish, a line seedling is parked in over against seedling folder position, seedling presss from both sides corresponding subsequent motion mechanism action, can clamp and extract pot seedling.
Operation principle of the present utility model: a kind of power source of accurate rice pot seedling manipulator seedling taking transplanter is generator, under driving, power source advances, press automatic control button, manipulator is started working, first seedling sending electromotor delivers to by rice shoot the position of pulling up seedlings, after reflective photoelectric sensor detects rice shoot, seedling sending motor stops, the manipulator behavior of seedling dish one side, insert that seedling is capable to be clamped half rice shoot in seedling dish and upwards pull up, seedling dish opposite side manipulator behavior now, insert that seedling is capable to be clamped second half rice shoot in seedling dish and pull up, the corresponding seedling slideway place that falls delivered to the rice shoot of choosing separately in succession in an orderly manner by two manipulators, seedling folder is opened, rice shoot falls to being colonizated in field along slideway, so far in seedling dish a line seedling by two manipulators choose throw plant complete, seedlings sending mechanism continues motion, complete the plantation of choosing of next line seedling.
The beneficial effects of the utility model are: function ordered transplantation rice seedling is transplanted in a kind of accurate rice pot seedling manipulator seedling taking; Adopt reflective photoelectric sensor tray seedling can be detected exactly; It is accurate that employing manipulator travel mechanism rationally, seedling presss from both sides open and close; Adopt accurate rice pot seedling manipulator seedling taking transplanter to solve the problem that rate is high, qualification rate is low, damaged seedling rate is large of inserting of leaking.
Accompanying drawing explanation
Fig. 1 is a kind of accurate rice pot seedling manipulator seedling taking transplanter structural representation.
Fig. 2 is seedlings sending mechanism structural representation.
Fig. 3 is that reflective photoelectric sensor detects rice shoot work schematic diagram.
Fig. 4 is seedling folder closure state structural representation.
Fig. 5 is seedling folder open mode structural representation.
Fig. 6 is the structural representation of manipulator.
Fig. 7 is manipulator course of work schematic diagram.
Fig. 8 is that magnetoelectric sensor detects rice shoot operation principle schematic diagram.
In figure, 1, seedlings sending mechanism; 2, manipulator; 3, the seedling slideway that falls; 4, put seedling frame; 5, driver's seat; 6, control crank; 7, gearbox; 8, generator; 9, engine; 10, driving wheel; 11, hitch frame; 12, manipulator support; 13, the deck of boat; 14, collection box; 15, seedling dish; 16, belt pulley; 17, Pulley shaft; 18, seedling sending frame; 19, seedling sending motor; 20, reflective photoelectric sensor; 22, rice shoot; 23, seedling folder; 24, spring; 25, oval cam; 26, gear; 27, tooth bar; 28, manipulator A; 29, manipulator B; 30, seedling disk support dish; 31, hemispherical projections; 32, magnetoelectric sensor.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Specific embodiment one
Please refer to Fig. 1, this embodiment, an accurate rice pot seedling manipulator seedling taking transplanter, comprises seedlings sending mechanism, manipulator, the seedling slideway that falls, puts seedling frame, driver's seat, control crank, gearbox, generator, engine, driving wheel, hitch frame, manipulator support, the deck of boat, collection box.
Please refer to Fig. 1 and Fig. 2, seedlings sending mechanism comprises seedling dish, belt pulley, Pulley shaft, seedling sending frame.
Please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, this embodiment, a kind of power source of accurate rice pot seedling manipulator seedling taking transplanter is generator, under driving, power source advances, press automatic control button, manipulator is started working, first seedling sending electromotor delivers to by rice shoot the position of pulling up seedlings, after reflective photoelectric sensor detects rice shoot, seedling sending motor stops, the manipulator behavior of seedling dish one side, insert that seedling is capable to be clamped half rice shoot in seedling dish and upwards pull up, seedling dish opposite side manipulator behavior now, insert that seedling is capable to be clamped second half rice shoot in seedling dish and pull up, the corresponding seedling slideway place that falls delivered to the rice shoot of choosing separately in succession in an orderly manner by two manipulators, seedling folder is opened, rice shoot falls to being colonizated in field along slideway, so far in seedling dish a line seedling by two manipulators choose throw plant complete, seedlings sending mechanism continues motion, complete the plantation of choosing of next line seedling.
Please refer to Fig. 1 and Fig. 3, on described seedling folder center line, in seedling sending frame one side, be provided with reflective photoelectric sensor.
Please refer to Fig. 1 and Fig. 3, sensor is selected reflective photoelectric sensor, in a side of seedling sending frame, over against seedling, press from both sides on center line, and the work centre position of reflective photoelectric sensor and seedling folder center superposition, to guarantee seedling folder center folder seedling.
Please refer to Fig. 1 and Fig. 3, adopting reflective photoelectric sensor to detect rice shoot puts in place, its course of work: reflective photoelectric sensor is arranged on a side of seedling sending frame on seedling folder center line, after a line rice shoot puts in place, cover the utilizing emitted light of reflective photoelectric sensor also by it reflection, when reflective photoelectric sensor receives after reverberation, export high/low voltage; And after pot seedling is pulled up, reflective photoelectric sensor light is unimpeded, export low/high voltage, can detect like this rice shoot and whether put in place.The motor that drive seedling dish moves is by electro-optical pickoff signal controlling.When reflective photoelectric sensor does not detect rice shoot, the feeding of seedling sending electrical power, when a line rice shoot being detected, seedling sending motor stops operating, and other power source just can move successively, makes manipulator work.Reflective photoelectric sensor work centre position and seedling folder center superposition, to guarantee seedling folder center folder seedling.
Please refer to Fig. 1, Fig. 4, described seedling folder, when oval cam minor axis is horizontal, seedling is clipped under spring-force driven dual closed, presss from both sides seedling.
Please refer to Fig. 4 and Fig. 5, described seedling folder, when oval cam major axis is horizontal, the positive opening of seedling double-layered quilt, unclasps alms bowl seedling; The large I of motor reserve capacity adapts to the change of spring force, and the size of motor reserve capacity can not affect the opening degree of seedling folder, as long as seedling folder can be opened, its degree of opening is just consistent.
Please refer to Fig. 1, Fig. 6 and Fig. 7, the course of work of described manipulator: motor is by gear driven tooth bar, and side-to-side movement on slideway, at intervals fixes two robot movements on tooth bar; When manipulator A is parked in when putting seedling and finishing raw bits A1 place, manipulator B must be take and pulled up B1 place, rice shoot position as its raw bits, and is parked in this place; When tooth bar moves to left, manipulator A arrives folder seedling position A2 like this, and manipulator B arrives to start to decline and puts B2 place, seedling position simultaneously, then tooth bar stops, manipulator A, B press from both sides seedling rising (pulling up seedlings) separately and seedling is put in decline, and arrive A3 and B3 place simultaneously, and tooth bar is oppositely turned right afterwards, manipulator A arrives to start to decline puts A4 place, seedling position, simultaneously manipulator B arrives folder B4 place, seedling position, and tooth bar stops, and manipulator A decline is put seedling and returned raw bits, raw bits, follow-up loop cycle work are returned in manipulator B folder seedling rising (pulling up seedlings).
Specific embodiment two
Please refer to Fig. 1, Fig. 2 and Fig. 8, sensor is selected magnetoelectric sensor, is arranged on seedling sending frame side wall centre and presss from both sides in same vertical plane with seedling.
Please refer to Fig. 1, Fig. 2 and Fig. 8, adopting magnetoelectric sensor to detect rice shoot puts in place, for indirect detection rice shoot mode, its course of work: the pot seedling that seedling dish is brought out is put into seedling disk support dish, corresponding every row rice shoot is 2.5 ~ 3.5mm hemispherical projections at seedling disk support dish sidewall welding radius, and magnetoelectric sensor presss from both sides in same vertical plane with seedling in the middle of being arranged on seedling sending frame side wall.Seedling sending motor is by the feeding of band drive transfer seedling dish, during through magnetoelectric sensor, sensor approaches the induction of seedling disk support dish projected side wall and sends potential pulse, input single-chip microcomputer is exported control motor and is stopped signal after processing, in seedling dish, a line seedling is parked in over against seedling folder position, seedling presss from both sides corresponding subsequent motion mechanism action, can clamp and extract pot seedling.
By reference to the accompanying drawings the utility model has been carried out to exemplary description above; obvious realization of the present utility model is not subject to the restrictions described above; as long as the various improvement that adopted technical solutions of the utility model to carry out; or say that without improvement design of the present utility model and technical scheme are applied to other occasions, all in protection domain of the present utility model.
Claims (4)
1. an accurate rice pot seedling manipulator seedling taking transplanter, it is characterized in that: comprise seedlings sending mechanism, manipulator, the seedling slideway that falls, put seedling frame, driver's seat, control crank, gearbox, generator, engine, driving wheel, hitch frame, manipulator support, the deck of boat, collection box, and described generator is its power source; Described seedlings sending mechanism comprises seedling dish, belt pulley, Pulley shaft, seedling sending frame, and described seedling sending frame is provided with sensor; On described manipulator, be furnished with seedling folder, and seedling folder is provided with an oval cam and a spring.
2. a kind of accurate rice pot seedling manipulator seedling taking transplanter according to claim 1, is characterized in that, described sensor is selected a kind of of reflective photoelectric sensor and magnetoelectric sensor.
3. a kind of accurate rice pot seedling manipulator seedling taking transplanter according to claim 1 and 2, it is characterized in that, described reflective photoelectric sensor is arranged on a side of seedling sending frame on seedling folder center line, and the work centre position of reflective photoelectric sensor and seedling folder center superposition.
4. a kind of accurate rice pot seedling manipulator seedling taking transplanter according to claim 1 and 2, is characterized in that, described magnetoelectric sensor presss from both sides in same vertical plane with seedling in the middle of being arranged on seedling sending frame side wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420197824.8U CN203788697U (en) | 2014-04-23 | 2014-04-23 | Mechanical arm paddy pot seedling collecting transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420197824.8U CN203788697U (en) | 2014-04-23 | 2014-04-23 | Mechanical arm paddy pot seedling collecting transplanter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203788697U true CN203788697U (en) | 2014-08-27 |
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ID=51370997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420197824.8U Expired - Fee Related CN203788697U (en) | 2014-04-23 | 2014-04-23 | Mechanical arm paddy pot seedling collecting transplanter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203788697U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104838780A (en) * | 2015-05-25 | 2015-08-19 | 陈勇 | Rice transplanter transverse seedling grasping mechanism |
| CN106489376A (en) * | 2016-09-22 | 2017-03-15 | 福建农林大学 | A kind of Juncao sowing of solar power and leakage seeding detection mark all-in-one |
-
2014
- 2014-04-23 CN CN201420197824.8U patent/CN203788697U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104838780A (en) * | 2015-05-25 | 2015-08-19 | 陈勇 | Rice transplanter transverse seedling grasping mechanism |
| CN106489376A (en) * | 2016-09-22 | 2017-03-15 | 福建农林大学 | A kind of Juncao sowing of solar power and leakage seeding detection mark all-in-one |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20150423 |
|
| EXPY | Termination of patent right or utility model |