CN204443055U - A kind of pot seedling inferior is rejected and is transplanted packaging type clamping ends actuator - Google Patents

Abstract

The utility model discloses a wrapping-type clamping end effector for rejecting inferior pot seedlings. Including force plate, four bearing bracket fixing rings, four bearing brackets, four fixing pins, four bearings and the seedling shovel down-pressing execution parts of the down-press cylinder; including four sets of upper guide tube supports, cylinder fixed support plates and Cylinder fixing bracket parts of two sets of downcomer supports; seedling shovel sliding actuator parts composed of four seedling shovel rods with the same structure; clamping seedling shovel actuators including seedling shovel clamping cylinders, extension arms and two connecting brackets , four seedling shovel rods with the same structure are respectively installed between the seedling shovel pressing down execution part, the cylinder fixing support part and the clamping seedling shovel execution part. The small hole on the fixed support plate of the cylinder is installed on the three-degree-of-freedom mechanical arm of the transplanting machine. The utility model completes the actions of inserting, wrapping and clamping the pot seedlings, lifting and releasing the pot seedlings along the hole wall, and realizes the automatic transplanting of inferior pot seedlings. Reliable grasping and effective removal during transplanting operations, improving the success rate of pot seedling removal and transplanting.

Description

A Wrapped Clamping End Effector for Removing and Transplanting Inferior Potted Seedlings

technical field

The utility model relates to a transplanting machine in agricultural machinery, in particular to a packaged clamping end effector for removing and transplanting inferior pot seedlings.

Background technique

The plant seedling cultivation technology has been widely used in the world. The quality of pot seedlings should be checked before leaving the factory, and the inferior seedlings should be removed and replaced with healthy seedlings. Traditionally, manual work is used. The working environment of workers in the greenhouse is harsh and the production efficiency is low. The use of mechanization for culling and replanting can solve the above problems, and the transplanting consistency of potted seedlings is good.

The pot-moving equipment realizes the grasping and release of pot seedlings through the end effector, which needs to be adapted to pot seedlings of different crop varieties, different substrates, and moisture content conditions. Obviously, the development of end-effectors has become one of the mechanical transplanting operations of pot seedlings in greenhouses. key technologies. In 1987, Kutz et al. designed a parallel clamping end effector, which consisted of a cylinder and a parallel clamping gripper, and only had two states of opening and closing to ensure that the substrate could be clamped. The transplantation of 36 seedlings can be completed within 3.3 minutes, with a survival rate of 96%. In 1990, Ting et al. developed a needle-shaped SNS holder. The needle is driven by a double-acting air cylinder. The success rate of seedling plate moving operation is 50%-95%. These end effectors are suitable for transplanting healthy seedlings, but they are fragile when clamping inferior potted seedlings with weak root systems, and the removal and transplanting effect is not good.

Utility model content

The purpose of this utility model is to provide a wrapping type clamping end effector for rejecting and transplanting inferior pot seedlings. The action of pot seedlings realizes the automatic removal and transplanting of inferior pot seedlings.

The technical scheme that the utility model adopts is as follows:

The utility model comprises from top to bottom a seedling shovel pressing down execution part, a cylinder fixing support part and a clamping seedling shovel execution part, and four seedling shovel sliding execution parts with the same structure are installed on the seedling shovel press down execution parts respectively. Between the parts, the cylinder fixing bracket part and the clamping seedling shovel executive part, its four seedling shovels are all located below the clamping seedling shovel executive part.

The seedling shovel press-down execution part includes: a force plate, four bearing bracket fixing rings, four bearing brackets, four fixed pins, four bearings and a press-down cylinder; the force plate is a square pressure plate, which presses down The cylinder rod of the cylinder is installed at the center of the lower part of the force plate, and the center of the four sides of the force plate is symmetrically opened with long grooves, each long groove is perpendicular to its own side, and one end of the four bearing brackets passes through the respective long grooves , are fixedly connected with bearing bracket fixing rings respectively, and the other ends of the four bearing brackets are all provided with grooves, and bearings are installed in the grooves, and fixed pins and bearings are used to form rotating pairs respectively.

The cylinder fixing bracket part includes: four sets of upper conduit supports, cylinder fixed support plates and two sets of lower conduit supports; the cylinder fixed support plate is a "convex" shaped plate, and the small square of the "convex" shaped plate rests on There is a small hole on the outer edge for installation on the three-degree-of-freedom mechanical arm of the transplanting machine. The rodless end face of the down-pressing cylinder of the seedling shovel's down-pressing actuator is fixedly connected to the large square center of the "convex"-shaped plate, and the "convex" The four sides of the glyph plate are provided with long grooves corresponding to the long grooves on the four sides of the force plate in the seedling shovel pressing down executive part, and a group of upper and lower grooves are respectively installed on both sides of the four long grooves on the large square upper surface of the "convex" glyph plate. Conduit support, the large square lower surface of " convex " font plate is respectively equipped with a group of lower conduit support along the two long groove two sides of small square direction.

The seedling shovel sliding actuator part is composed of four seedling shovel rods with the same structure; each seedling shovel rod includes: seedling shovel, long guide rod, seedling shovel rod conduit, return spring, two positioning retaining rings and bearing pressure plate The lower end of the long guide rod is fixedly connected with the connecting rod at the bottom of the trapezoidal seedling shovel, the two ends of the seedling shovel conduit are respectively covered with square conduits, and the upper end of the long guide rod passes through the return spring in the seedling shovel conduit until the seedling shovel conduit In addition, one end of the return spring bears on the square conduit cover near the side of the seedling shovel, and the other end of the return spring bears on the positioning retaining ring located on the long guide rod, which is located on the long guide rod outside the guide rod of the seedling shovel rod in turn. Another locating retaining ring and a bearing pressing plate are fixedly connected.

The executive part for clamping the seedling shovel includes: a seedling shovel clamping cylinder, an extension arm and two connecting brackets; The rod end of the cylinder is fixedly connected to the center of the extension arm, and the two ends of the extension arm are respectively connected to the rotating pair at one end of the respective connecting bracket;

The two seedling shovel rod conduits in the sliding actuator part of the seedling shovel are symmetrically inserted into the two symmetrical long grooves of the respective large square "convex" shaped plates, and the two square conduit covers near the side of the seedling shovel are connected to the other end of the respective connecting brackets. The two square conduit covers on the other side are connected to the respective symmetrical conduit supports on the fixed support plate of the cylinder. The grooves on the bearing pressure plates on the two long guide rods are respectively connected to the two bearing brackets The other end of the bearing is slidingly connected; the other two seedling shovel rod conduits in the sliding executive part of the seedling shovel are symmetrically inserted into the other two symmetrical long grooves of their respective large square "convex" shaped plates, and the other two near the side of the seedling shovel The square conduit cover is connected with the other end rotating pair of the other connecting bracket, and the other square conduit cover on the other side is connected with the respective symmetrical conduit support rotating pair on the fixed support plate of the cylinder, and the bearings on the other two long guide rods The grooves on the pressing plate are respectively slidably connected with the bearings at the other ends of the other two bearing brackets.

The beneficial effect that the utility model has is:

The utility model is used in the pot seedling transplanting system. The small holes on the fixed support plate of the cylinder are installed on the three-degree-of-freedom mechanical arm of the transplanting machine to complete the insertion along the hole wall, wrapping and clamping the pot seedlings, lifting and releasing the pot seedlings. Action, to achieve reliable grasping and effective removal of inferior pot seedlings in automatic transplanting operations, and improve the success rate of removal, transplanting and grasping of pot seedlings in transplanting pot seedlings.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model.

Fig. 2 is a three-dimensional structural schematic diagram of the seedling shovel pressing down actuator.

Fig. 3 is a three-dimensional structural schematic view of the cylinder fixing bracket part.

Fig. 4 is a schematic diagram of the front view of the sliding execution part of the seedling shovel.

Fig. 5 is a perspective view of the three-dimensional structure of the clamping seedling shovel actuator.

Fig. 6 (a) - Fig. 6 (f) are the schematic diagrams of the action process of the picking and transplanting operation of the utility model.

In the figure: 5. Force plate, 6. Bearing bracket fixed ring, 7. Bearing bracket, 8. Fixed pin, 9. Bearing, 10. Press down cylinder, 11. Upper guide tube support, 12. Cylinder fixed support plate, 13, lower conduit support, 14, seedling shovel, 15, long guide rod, 16, square conduit cover, 17, seedling shovel rod conduit, 18, back-moving spring, 19, positioning retaining ring, 20, bearing pressure plate, 21, Seedling shovel clamping cylinder, 22, extension arm, 23, connecting support.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Fig. 1, the utility model comprises from top to bottom in order: seedling shovel press-down execution part, cylinder fixing support part and clamping seedling shovel execution part, four seedling shovel rods with the same structure of seedling shovel sliding execution part, respectively The four seedling shovels are all located under the clamping seedling shovel executive parts.

As shown in Figure 2, the seedling shovel presses down the execution parts, including: a force plate 5, four bearing bracket fixing rings 6, four bearing brackets 7, four fixing pins 8, four bearings 9 and a press down cylinder 10; the force applying plate 5 is a square pressing plate, and the cylinder rod of the downward pressure cylinder 10 is installed at the center below the force applying plate 5, and the central positions of the four sides of the force applying plate 5 are respectively symmetrically opened with long grooves, and each long groove is connected with a respective The sides are perpendicular, and one end of the four bearing brackets 7 passes through the respective long grooves, and is fixedly connected with the bearing bracket fixing ring 6 respectively, and the other ends of the four bearing brackets 7 are all provided with grooves, and bearings are arranged in the grooves. Form revolving pair with fixed pin 8 and bearing respectively.

As shown in Fig. 2 and Fig. 3, the cylinder fixed bracket parts include: four sets of upper guide supports 11, cylinder fixed support plates 12 and two groups of lower guide supports 13; the cylinder fixed support plates 12 are a piece of "convex "" shaped plate, the small square of the "convex" shaped plate has a small hole on the outer edge for installation on the three-degree-of-freedom mechanical arm of the transplanting machine, and the rodless end surface of the pressing cylinder 10 of the seedling shovel pressing down actuator part and " The large square center of the "convex"-shaped plate is affixed, and the four sides of the "convex"-shaped plate are provided with long grooves corresponding to the long grooves on the four sides of the force plate 5 in the seedling shovel pressing down executive parts, and the large square of the "convex"-shaped plate A group of upper conduit supports 11 are installed on both sides of the four long grooves on the upper surface, and a group of lower conduit supports are respectively installed on the two sides of the two long grooves in the direction of the small square on the large square lower surface of the "convex" shaped plate. 13.

As shown in Fig. 4, the described seedling shovel sliding execution part is made up of four seedling shovel bars with the same structure; 18. Two positioning retaining rings 19 and bearing pressure plate 20; the lower end of the long guide rod 15 is affixed to the connecting rod at the bottom of the trapezoidal seedling shovel 14, and the two ends of the seedling shovel rod conduit 17 have square conduit cover 16 respectively, and the long guide rod 15 upper ends pass back-moving spring 18 in the seedling shovel bar conduit 17 until outside the seedling shovel bar conduit 17, one end of back-moving spring 18 bears on the square conduit cover 16 near the side of seedling shovel, and the other end of back-moving spring 18 pushes on On the positioning retaining ring 19 on the long guide rod 15, another positioning retaining ring 19 and bearing platen 20 are fixedly connected successively on the long guide rod 15 outside the seedling shovel bar conduit 17.

As shown in Figure 5, the clamping seedling shovel executive parts include: seedling shovel clamping cylinder 21, extension arm 22 and two connecting brackets 23; 12 lower surface centers are affixed, the seedling shovel clamping cylinder 21 has a rod end and the center of the extension arm 21 is affixed, and the extension arm 21 two ends are respectively connected with one end rotating pair of the respective connecting bracket 23.

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, and Fig. 5, the two seedling shovel rod conduits 17 in the sliding actuator parts of the seedling shovel are symmetrically inserted into the two symmetrical long grooves of the respective large square "convex" shaped plates, The two square conduit covers 16 near the side of the seedling shovel are connected to the other end of the respective connecting bracket 23, and the two square conduit covers 16 on the other side are connected to the respective symmetrical conduit supports 11 on the cylinder fixed support plate 12. The rotating pair is connected, and the grooves on the bearing pressure plates 20 on the two long guide rods 15 are respectively slidingly connected with the bearings 9 on the other ends of the two bearing brackets 7; 17 are symmetrically inserted into the other two long grooves of the respective large square "convex" shaped plates, and the other two square duct covers 16 on one side of the seedling shovel are connected with the other end rotating pairs of the other connecting brackets 23 respectively. The other square duct cover 16 is connected with the respective symmetrical duct supports 11 rotation pairs on the fixed support plate 12 of the cylinder, and the grooves on the bearing pressure plates 20 on the other two long guide rods 15 are connected with the other two bearing brackets 7 respectively. The bearings 9 slidingly connected at the other end of the four bearings 9 are in line contact with the bearing pressing plates 20 on the four seedling shovel sliding execution parts respectively to form a high pair.

Concrete work process of the present utility model is as follows:

The three-degree-of-freedom mechanical arm moves to the top of the inferior pot seedling hole with the installed inferior pot seedling removal and transplanting wrapping clamping end effector, as shown in Figure 6(a), and descends to the position close to the inferior pot seedling lump. As shown in Figure 6 (b); Connect the gas source of the down-press cylinder 10 pipelines, and now the down-press cylinder 10 cylinder rods become contracted, so that the down-press cylinder 10 drives the force plate 5, the bearing support 7 and the bearing 9 are all descended, and the long guide rod 15 and the seedling shovel 14 of the sliding executive part of the seedling shovel are also pushed down, and the return spring 18 inside the seedling shovel rod conduit 17 is also in a compressed state, and the four seedling shovels 14 are all inserted into the inferior Potted seedlings, as shown in Figure 6(c).

Connect the air source of the seedling shovel clamping cylinder 21 pipeline, and now the seedling shovel clamping cylinder 21 cylinder rod becomes contracted state, drives the extension arm 22 to move upwards, and simultaneously drags the two connecting brackets 23 and the two connecting brackets 23 connected thereto. The seedling shovel slides the execution part, so that the clamping pot seedling angle of the two seedling shovels 14 becomes smaller, and the other two seedling shovels 14 form a wrap-around clamping on the pot seedlings, as shown in Figure 6(d).

The three-degree-of-freedom mechanical arm drives the inferior pot seedling removal and transplanting wrapping clamping end effector to move upward, holding the pot seedlings away from the hole, as shown in Figure 6(e), and moving to the inferior pot seedling holding container. After moving to the top of the holding container where the pot seedling release operation is to be performed, connect the air source of the seedling shovel clamping cylinder 21 and the down-pressing cylinder 10 pipeline, and now the seedling shovel clamping cylinder 21 cylinder rod becomes extended state , to drive the extension arm 22 to move downward, and simultaneously push the two connecting brackets 23 and the two seedling shovel sliding execution parts connected thereto, so that the clamping pot seedling angle of the two seedling shovels 14 becomes larger; at this time, press the cylinder 10 cylinder rod Become extended state, make the force applying plate 5 driven by the downward pressure cylinder 10, the bearing bracket 7 and the bearing 9 all rise, the long guide rod 15 of the seedling shovel sliding execution part and the reset of the seedling shovel 14 inside the seedling shovel rod conduit 17 Spring 18 also rises under the stretching effect, and the opening surface of four seedling shovels 14 is bigger, and the poor-quality pot seedling lump free falls into the inferior pot seedling holding container, as shown in Figure 6 (f), completes a pot seedling Eliminate transplanting operations.

The above-mentioned specific embodiments are used to explain the utility model, rather than to limit the utility model. Within the spirit of the utility model and the protection scope of the claims, any modifications and changes made to the utility model all fall into the scope of the utility model. A new type of protection.

Claims (5)

1. a pot seedling inferior is rejected and is transplanted packaging type clamping ends actuator, it is characterized in that, comprise successively from top to bottom: seedling shovel presses down execution unit, cylinder fixed support parts and clamping seedling shovel execution unit, four structures identical seedling shovel bar of seedling shovel slip execution unit, be arranged on seedling shovel respectively to press down execution unit, cylinder fixed support parts and clamp between seedling shovel execution unit, its four seedlings shovels are all positioned at below clamping seedling shovel execution unit.

2. a kind of pot seedling inferior is rejected and is transplanted packaging type clamping ends actuator according to claim 1, it is characterized in that, described seedling shovel presses down execution unit, comprising: force application board (5), four support of bearing retainer plates, four supports of bearing, four steady pins, four bearings and lower air cylinders (10);

Force application board (5) is one piece of square pressing plate, the cylinder rod of lower air cylinder (10) is arranged on force application board (5) center below, force application board (5) four center, limit respectively symmetry has elongated slot, the limit of each elongated slot all with respective is perpendicular, one end of four supports of bearing is through respective elongated slot, and use support of bearing retainer plate affixed respectively, the other end of four supports of bearing all has groove, all bearing is housed in groove, uses steady pin (8) and bearing to form revolute pair respectively.

3. a kind of pot seedling inferior is rejected and is transplanted packaging type clamping ends actuator according to claim 1, and it is characterized in that, described cylinder fixed support parts, comprising: four groups of upper conduit bearings, cylinder fixed support plate (12) and two groups of downcomer bearings, cylinder fixed support plate (12) is one piece is " convex " font plate, the little square outer edge of " convex " font plate has the aperture for being arranged in transplanter three-freedom mechanical arm, the rear end face that seedling shovel presses down the lower air cylinder (10) of execution unit is affixed with the large square center of " convex " font plate, four limits of " convex " font plate have shovels the corresponding elongated slot of force application board (5) four length of side groove pressed down in execution unit with seedling, four elongated slot dual-sides of the large square upper surface of " convex " font plate are equipped with one group of upper conduit bearing (11) respectively, the large square lower surface of " convex " font plate is equipped with one group of downcomer bearing respectively along two elongated slot dual-sides in little square direction.

4. a kind of pot seedling inferior is rejected and is transplanted packaging type clamping ends actuator according to claim 1, it is characterized in that, described seedling shovel slip execution unit, shovels bar form by the seedling that four structures are identical, each seedling shovel bar includes: seedling shovel (14), long guide rod (15), seedling shovel bar conduit (17), back-moving spring (18), two positioning retainer rings and bearing plate (20), it is affixed that long guide rod (15) lower end and trapezoidal seedling shovel the connecting rod of (14) going to the bottom, the two ends of seedling shovel bar conduit (17) have square duct capping respectively, the back-moving spring (18) in bar conduit (17) is shoveled until seedling shovels bar conduit (17) outward through seedling in long guide rod (15) upper end, one end of back-moving spring (18) withstands in the square duct capping of seedling shovel side, the other end of back-moving spring (18) withstands on the positioning retainer ring that is positioned on long guide rod (15), be positioned on seedling shovel bar conduit (17) long guide rod (15) outward and be connected with another positioning retainer ring and bearing plate (20) successively.

5. a kind of pot seedling inferior is rejected and is transplanted packaging type clamping ends actuator according to claim 1, it is characterized in that, described clamping seedling shovel execution unit, comprising: seedling shovel clamping cylinder (21), adjutage (22) and two connection brackets; Seedling shovel clamping cylinder (21) without bar flange end and cylinder fixed support plate (12) lower surface center affixed, seedling shovel clamping cylinder (21) rod end and adjutage (21) center affixed, adjutage (21) two ends are connected with one end revolute pair of respective connection bracket respectively;

Two seedling shovel bar conduit (17) symmetries in seedling shovel slip execution unit are inserted in two elongated slots of respective large square " convex " font plate symmetry, two square duct cappings near seedling shovel side are connected with the other end revolute pair of respective connection bracket, two square duct cappings of opposite side are connected with the upper pipe carrier revolute pair symmetrical separately of cylinder fixed support plate (12), and the groove on the bearing plate on two long guide rods is slidably connected with the bearing of the other end of respective two supports of bearing respectively; Two other seedling shovel bar conduit (17) symmetry in seedling shovel slip execution unit is inserted in two other elongated slot of respective large square " convex " font plate symmetry, two other square duct capping near seedling shovel side is connected with the other end revolute pair of respective connection bracket in addition, the other square duct capping of opposite side and upper pipe carrier (11) revolute pair symmetrical separately of cylinder fixed support plate (12) are connected, and the groove on the bearing plate on other two long guide rods is slidably connected with the bearing of the other end of respective two supports of bearing in addition respectively.