CN204466225U - A kind of transplanting machine pawl - Google Patents
A kind of transplanting machine pawl Download PDFInfo
- Publication number
- CN204466225U CN204466225U CN201520069914.3U CN201520069914U CN204466225U CN 204466225 U CN204466225 U CN 204466225U CN 201520069914 U CN201520069914 U CN 201520069914U CN 204466225 U CN204466225 U CN 204466225U
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- connecting rod
- rocking arm
- steering wheel
- main stand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of transplanting machine pawl, comprise main stand, steering wheel, steering wheel mounting bracket, shaft coupling, power transmission shaft, not exclusively bevel gear rocking arm, connecting rod, draw point, gripper mounting bracket and bolster.Steering wheel is arranged on main stand by steering wheel mounting bracket, and four incomplete bevel gear rocking arms are arranged on main stand by axle.Steering wheel drives imperfect bevel gear rocker motion by shaft coupling and power transmission shaft, is with the parallel motion be dynamically connected, makes the draw point action be arranged on double leval jib, completes gripping or unclamps seedling operation.The utility model is applicable to the transplanting of Miao Panmiao, uses servo driving, can accurately control gripping action, have good adaptability to dissimilar seedling dish and seedling.
Description
Technical field
The utility model belongs to agricultural mechanical field, relates to a kind of transplanting machine pawl, mainly as the end effector of transplant robot, transplants object for gripping.
Background technology
In seeding tray seedling culture process, in seedling dish there is broadcast leakage or seedling depauperation in indivedual acupuncture point, needs to capture healthy transplantation of seedlings to these acupuncture points from seedling dish for subsequent use.At present, domestic seedling dish is filled the gaps with seedlings to transplant and is mainly completed by hand, and workman needs one one position that is short of seedling be transplanted to from seedling dish for subsequent use by healthy seedling operation seedling dish, operating environment is severe, and labour intensity is large, inefficiency, be difficult to realize large area operation, constrain the development of seeding tray seedling culture technology.
Along with the development of science and technology and the raising of people's living standard, the industrialized agriculture production automation becomes the inexorable trend of agricultural modernization development.Wherein, the automatic technology of transplanting operation is one of technology of the key of the industrialized agriculture production automation.Seedling tray seedling transplanter device people realizes the key equipment that seedling dish seedling transplants automatically, and transplanting machine pawl is the vitals that transplant robot directly contacts with seedling, and its service behaviour directly affects transplanting quality.Therefore develop stable performance, efficiently transplanting machine pawl the transplanting success rate and transplanting efficiency improving transplant robot is had very important significance.
The transplanting pawl that present stage develops is based on air cylinder driven, and such as patent of invention one is grabbed stem formula Plug seedling and transplanted paw (CN103797946A), needs additionally to arrange a compressed air source, and miniaturized difficulty is large, is difficult to be used on automatic walking robot.Meanwhile, it is large also to there are vibrations in this kind of transplanting pawl, and precision is low, the shortcoming that adaptability is not strong.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, provides a kind of transplanting machine pawl, adopts servo driving, and drived control is accurate, and noise and vibration is little, can complete the crawl release movement to seedling accurately and stably.
The purpose of this utility model is achieved through the following technical solutions: a kind of transplanting machine pawl, and by main stand, steering wheel, steering wheel mounting bracket, shaft coupling, power transmission shaft, not exclusively bevel gear rocking arm, first connecting rod, second connecting rod, draw point, gripper mounting bracket and bolster form; Described steering wheel is fixed on steering wheel mounting bracket, and described steering wheel mounting bracket and gripper mounting bracket are all fixed on main stand.
Described main stand is bilevel frame structure, lower floor is welded with four pairs of journal stirrups, the upper and lower side of each journal stirrup all has circular hole, and three bolsters are each passed through the circular hole on the circular hole of three pairs of journal stirrup upper ends and incomplete bevel gear rocking arm, are arranged on journal stirrup by incomplete bevel gear rocking arm; Described power transmission shaft is through the circular hole on the circular hole of the 4th pair of journal stirrup upper end and the 4th incomplete bevel gear rocking arm, and be arranged on journal stirrup by the 4th incomplete bevel gear rocking arm, described incomplete bevel gear rocking arm is fixedly connected with power transmission shaft; The output shaft of described steering wheel is connected with power transmission shaft by shaft coupling; The two ends of first connecting rod and second connecting rod all have circular hole; Between first connecting rod and second connecting rod, between second connecting rod and incomplete bevel gear rocking arm, all connected by pin between first connecting rod and journal stirrup lower end, form hinge arrangement; First connecting rod, second connecting rod, not exclusively bevel gear rocking arm and main stand form quadric chain.
Described main stand lower plywood has hole, and described quadric chain reaches below main stand through the lower plywood hole of main stand; Described draw point is fixed on the end of second connecting rod.
Further, described incomplete bevel gear rocking arm is that two symmetrical incomplete bevel gears and a rocking arm are welded, bevel gear center is provided with axle installing hole; rocking arm front end is provided with pin installing hole; four incomplete bevel gear rocking arms are arranged on four pairs of journal stirrups of main stand respectively, and adjacent bevel gear part engages between two.
The beneficial effect that the utility model has: the utility model transplanting machine pawl overall volume is little, and noise and vibration is little, claw motion is precise and stable.Steering wheel accurately can export rotational angle, thus accurately drives the size of dehiscing of front end draw point.Accurate control holding action, can control draw point and act on to the power of transplanting on object, object is transplanted in protection better.Simultaneously draw point size of dehiscing controls by signal, makes this gripper can be applicable to different types of seedling dish.
Accompanying drawing explanation
Fig. 1 is transplanting machine pawl axonometric drawing;
Fig. 2 is transplanting machine pawl front view;
Fig. 3 is transplanting machine pawl front view;
Fig. 4 is the A-A cutaway view of Fig. 3;
Fig. 5 is transplanting machine pawl four-bar linkage structure schematic diagram;
In figure, main stand 1, power transmission shaft 2, gripper mounting bracket 3, shaft coupling 4, steering wheel mounting bracket 5, steering wheel 6, pin 8, second connecting rod 9, first connecting rod 10, draw point 11, bolster 12, not exclusively bevel gear rocking arm 13.
Embodiment
Below in conjunction with accompanying drawing and example, the utility model is described in further detail.
As Figure 1-5, the utility model transplanting machine pawl, by main stand 1, steering wheel 6, steering wheel mounting bracket 5, shaft coupling 4, power transmission shaft 2, not exclusively bevel gear rocking arm 13, first connecting rod 10, second connecting rod 9, draw point 11, gripper mounting bracket 3, bolster 12 and pin 8 form; Described steering wheel 6 is fixed on steering wheel mounting bracket 5, and described steering wheel mounting bracket 5 and gripper mounting bracket 3 are all fixed on main stand 1.
Described main stand 1 is bilevel frame structure, lower floor is welded with four pairs of journal stirrups, the upper and lower side of each journal stirrup all has circular hole, described three bolsters 12 are each passed through the circular hole on the circular hole of three pairs of journal stirrup upper ends and incomplete bevel gear rocking arm 13, be arranged on journal stirrup by incomplete bevel gear rocking arm 13, described incomplete bevel gear rocking arm 13 can rotate around bolster 12; The two ends of first connecting rod 10 and second connecting rod 9 all have circular hole; Between first connecting rod 10 and second connecting rod 9, between second connecting rod 9 and incomplete bevel gear rocking arm 13, all connected by pin 8 between first connecting rod 10 and journal stirrup lower end, form hinge arrangement; First connecting rod 10, second connecting rod 9, not exclusively bevel gear rocking arm 13 and main stand 1 form quadric chain.
Described main stand 1 lower plywood has hole, and described quadric chain reaches below main stand 1 through the lower plywood hole of main stand 1.
Described power transmission shaft 2 is through the circular hole on the circular hole of the 4th pair of journal stirrup upper end and the 4th incomplete bevel gear rocking arm 13, and be arranged on journal stirrup by the 4th incomplete bevel gear rocking arm 13, described incomplete bevel gear rocking arm 13 is fixedly connected with power transmission shaft 2; The output shaft of described steering wheel 6 is connected with power transmission shaft 2 by shaft coupling 4; Described draw point 11 is fixed on the end of second connecting rod 9.
Described incomplete bevel gear rocking arm 13 is that two symmetrical incomplete bevel gears and a rocking arm are welded, bevel gear is incomplete toothing, cone tooth two sides flank of tooth angle is 90 degree, and bevel gear center is provided with back shaft 12 installing hole, and rocking arm front end is provided with pin 8 installing hole.Four incomplete bevel gear rocking arms 13 are arranged on four pairs of journal stirrups of main stand 1 respectively.Adjacent bevel gear part engages between two, can mutual synchronous axial system.What be connected with power transmission shaft 2 is active not exclusively bevel gear rocking arm, and its excess-three is driven incomplete bevel gear rocking arm, is moved together by meshing relation.
The course of work of the present utility model is as follows:
During the work of transplanting machine pawl, input certain signal of telecommunication by control signal wire to steering wheel 6, steering wheel 6 main shaft can turn to predetermined angular, drives the shaft coupling 4 be attached thereto and power transmission shaft 2 to rotate when rotation.The rotation of turning cylinder 2, also drives an incomplete bevel gear rocking arm 13 fixed with it simultaneously and rotates, and the bevel gear part of four incomplete bevel gear rocking arms 13 engages between two, synchronous axial system.The rotation of incomplete bevel gear rocking arm 13 can cause the motion of quadric chain.Incomplete bevel gear rocking arm 13 only swings in certain angular range, and the position of its motion and the shape of quadric chain form one-to-one relationship.Therefore, the rotational angle controlling steering wheel 6 output shaft accurately can control front end draw point 11 and open posture.
When real work, gripper needs cooperative mechanical arm to work.Transplanting machine pawl is arranged on corresponding mechanical arm, and the first driving mechanical pawl of mechanical arm moves to the overhead needing the seedling of transplanting, then drives it to insert in seedling disk base material.Control system is to gripper control signal, and claw front end draw point 11 closes up, and clamps the matrix at seedling place, mechanical arm is carried, matrix taken out in the lump together with seedling.Mechanical arm driving mechanical pawl moves to the top in cave to be put, and then drops to release altitude, and gripper opens draw point 11, matrix is discharged together with seedling, completes a transplanting process.
Claims (2)
1. a transplanting machine pawl, it is characterized in that, by main stand (1), steering wheel (6), steering wheel mounting bracket (5), shaft coupling (4), power transmission shaft (2), not exclusively bevel gear rocking arm (13), first connecting rod (10), second connecting rod (9), draw point (11), gripper mounting bracket (3) and bolster (12) form; Described steering wheel (6) is fixed on steering wheel mounting bracket (5), and described steering wheel mounting bracket (5) and gripper mounting bracket (3) are all fixed on main stand (1);
Described main stand (1) is bilevel frame structure, lower floor is welded with four pairs of journal stirrups, the upper and lower side of each journal stirrup all has circular hole, article three, bolster (12) is each passed through the circular hole on the circular hole of three pairs of journal stirrup upper ends and incomplete bevel gear rocking arm (13), is arranged on journal stirrup by incomplete bevel gear rocking arm (13); Described power transmission shaft (2) is through the circular hole on the circular hole of the 4th pair of journal stirrup upper end and the 4th incomplete bevel gear rocking arm (13), be arranged on journal stirrup by the 4th incomplete bevel gear rocking arm (13), described incomplete bevel gear rocking arm (13) is fixedly connected with power transmission shaft (2); The output shaft of described steering wheel (6) is connected with power transmission shaft (2) by shaft coupling (4); The two ends of first connecting rod (10) and second connecting rod (9) all have circular hole; All connected by pin (8) between first connecting rod (10) and second connecting rod (9), between second connecting rod (9) and incomplete bevel gear rocking arm (13), between first connecting rod (10) and journal stirrup lower end, form hinge arrangement; First connecting rod (10), second connecting rod (9), not exclusively bevel gear rocking arm (13) and main stand (1) form quadric chain;
Described main stand (1) lower plywood has hole, and described quadric chain reaches main stand (1) below through the lower plywood hole of main stand (1); Described draw point (11) is fixed on the end of second connecting rod (9).
2. a kind of transplanting machine pawl according to claims 1, it is characterized in that, described incomplete bevel gear rocking arm (13) is that two symmetrical incomplete bevel gears and a rocking arm are welded, bevel gear center is provided with axle installing hole; rocking arm front end is provided with pin installing hole; four incomplete bevel gear rocking arms (13) are arranged on four pairs of journal stirrups of main stand (1) respectively, and adjacent bevel gear part engages between two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520069914.3U CN204466225U (en) | 2015-02-01 | 2015-02-01 | A kind of transplanting machine pawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520069914.3U CN204466225U (en) | 2015-02-01 | 2015-02-01 | A kind of transplanting machine pawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204466225U true CN204466225U (en) | 2015-07-15 |
Family
ID=53621973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520069914.3U Withdrawn - After Issue CN204466225U (en) | 2015-02-01 | 2015-02-01 | A kind of transplanting machine pawl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204466225U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104604402A (en) * | 2015-02-01 | 2015-05-13 | 浙江大学 | Electric mechanical claw for transplanting seedlings of seeding tray |
| CN109664325A (en) * | 2019-01-07 | 2019-04-23 | 英穆自动化科技(厦门)有限公司 | A kind of novel four paws mechanism |
-
2015
- 2015-02-01 CN CN201520069914.3U patent/CN204466225U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104604402A (en) * | 2015-02-01 | 2015-05-13 | 浙江大学 | Electric mechanical claw for transplanting seedlings of seeding tray |
| CN109664325A (en) * | 2019-01-07 | 2019-04-23 | 英穆自动化科技(厦门)有限公司 | A kind of novel four paws mechanism |
| CN109664325B (en) * | 2019-01-07 | 2023-09-08 | 英穆自动化科技(厦门)有限公司 | Novel four-jaw mechanism |
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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: 20150715 Effective date of abandoning: 20160720 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |