CN204733572U - Greenhouse alms bowl seedling marching type is pressed from both sides tightly and is pushed away seedling end effector - Google Patents
Greenhouse alms bowl seedling marching type is pressed from both sides tightly and is pushed away seedling end effector Download PDFInfo
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- CN204733572U CN204733572U CN201520438953.6U CN201520438953U CN204733572U CN 204733572 U CN204733572 U CN 204733572U CN 201520438953 U CN201520438953 U CN 201520438953U CN 204733572 U CN204733572 U CN 204733572U
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Abstract
The utility model discloses a greenhouse alms bowl seedling marching type is pressed from both sides tightly and is pushed away seedling end effector. After passing the fixed diaphragm orifice of motor with the step motor main shaft, is connected through shaft coupling and screw rod upper end, is connected screw rod lower extreme and slider backup pad centre bore component revolute pair on nut and the cross push rod mount, motor fixed plate and slider for the backup pad polished rod support, the slider is equipped with in the elongated slot of four diagonals of slider backup pad respectively, wear in seedling needle fixed block separately every offspring needle upper end, seedling needle fixed block is worn at the central square of slider separately downthehole fixedly, the one end of four push rods imbeds in the respective elongated slot of cross push rod mount fixedly respectively, and the other end passes the respective elongated slot of square slider backup pad respectively, every offspring needle lower extreme and push rod lower extreme guide block constitution sliding pair separately. The utility model discloses accomplish and gradually closely to insert miao tuo, press from both sides tight seedling and stick together, promote, shift, put into the cave hole, gradually closely push away the action of seedling separation, realize the tight and separation of clamp that various alms bowl seedlings sticked together and transplant the operation between the dish of cave.
Description
Technical field
The utility model relates to the transplanting machine in a kind of agricultural machinery, particularly relates to the pot seedling step-by-step movement clamping of a kind of greenhouse and pushes away seedling end effector.
Background technology
Greenhouse point disk seedling growing, batch production, can realize factory management, Quality of Seedlings is good, and economic worth is remarkable.In pot seedling cultivating process, need that rejecting is carried out to the bad seedling of growing way in the dish of cave and to fill the gaps with seedlings transplanting operation, or thin planting is carried out to the pot seedling that growing way is intensive transplant operation.Traditional work adopts and is manually engaged in this repetitive work, and labour intensity is large, at the bottom of efficiency, and adopts pot seedling automatic transplanting tool transplanting quality good, also meets the demand of modern agricultural production.
Greenhouse potted-seedling transplanting machinery is by end effector realization to the crawl of pot seedling and release, and require the pot seedling adapted to without crop varieties and different size specification, capture success rate high, seedling-damaging ratio is low, and it is the key technology that greenhouse potted-seedling transplanting machinery is developed.Nineteen ninety, the people such as Ting carry out moving the exploitation of alms bowl machine based on SCARA four-freedom degree industrial robot, devise needle-like SNS clamper, driven by two dynamic air cylinder, according to cave dish and the angle of the difference adjustable markingoff pin of rice shoot and position, Transplanting Test from 600 holes to the job success ratio of 48 hole seedling dishes between 50%-95%; Calendar year 2001, the people such as Ryu develop a set of special pot seedling transplanter, and it develops the removable end effector of finger-type, and clamping success rate 80%-98% is not etc.But above-mentioned end actuator performance is not very stable, needs further design innovation, reliability enhancing end effector being captured and discharges.
Utility model content
The purpose of this utility model is provide the pot seedling step-by-step movement clamping of a kind of greenhouse and push away seedling end effector, this end effector is installed on the Three Degree Of Freedom servo-drive arm of greenhouse potted-seedling transplanting system, complete asymptotic insertion seedling to stick together, clamp seedling and stick together, promote, be shifted, put into cavities, the asymptotic action pushing away seedling and be separated, realize various pot seedling and stick together transplant effective clamping and the reliable separation of operation between the dish of cave.
The technical solution adopted in the utility model is as follows:
Stepper motor is arranged on while be the motor fixing plate upper surface of convex by the utility model, stepper motor main shaft is through after motor fixing plate centre bore, be connected with screw rod upper end by shaft coupling, nut and screw rod form screw pair, screw rod is through after cross push rod fixed mount centre bore, nut is connected with cross push rod fixed mount upper surface, and screw rod lower end forms revolute pair by composite bearing and square slider gripper shoe centre bore; The convex arm aperture of motor fixing plate is connected with the Three Degree Of Freedom servo-drive arm of replanting system, motor fixing plate four limit and square slider gripper shoe four limit support with polished rod respectively, square slider gripper shoe four diagonals all have an elongated slot outwards opened, respectively slide block is housed in every bar elongated slot, every offspring pin upper end is through in respective seedling pin fixed block, seedling pin fixed block is through in the center square hole of respective slide block, is fixed in its direction and position by jackscrew; Cross push rod fixed mount all there is an elongated slot outwards opened, one end of four push rods embeds in respective elongated slot fixing respectively, the other end of four push rods is each passed through square slider gripper shoe elongated slot separately, four push rods are all positioned at the inner side of respective slide block, seedling pin guide pad is all housed in the other end lower channel of four push rods, and every offspring pin lower end and respective guide pad form sliding pair.
The beneficial effect that the utility model has is:
The utility model is installed on the Three Degree Of Freedom servo-drive arm of greenhouse potted-seedling transplanting system, complete asymptotic insertion seedling to stick together, clamp seedling and stick together, promote, be shifted, put into cavities, the asymptotic action pushing away seedling and be separated, realize various pot seedling and stick together transplant effective clamping and the reliable separation of operation between the dish of cave.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the perspective view of motor screw driver part.
Fig. 3 is the perspective view of support frame component.
Fig. 4 is the perspective view that clamping pushes away seedling parts.
Fig. 5 is the perspective view of seedling pin slider part.
Fig. 6 is pusher structure schematic diagram.
Fig. 7 is slide block structure schematic diagram.
Fig. 8 (a) ~ Fig. 8 (i) is potted-seedling transplanting operation course of action schematic diagram of the present utility model.
In figure: 1, motor screw driver part, 2, support frame component, 3, clamping pushes away seedling parts, 4, seedling pin slider part, 5, stepper motor, 6, shaft coupling, 7, screw rod, 8, nut, 9, upper spacer, 10, composite bearing, 11, lower spacer, 12, binding nut, 13, motor fixing plate, 14, polished rod, 15, square slider gripper shoe, 16, cross push rod fixed mount, 17, push rod fixed block, 18, push rod, 19, seedling pin guide pad, 20, seedling pin fixed block, 21, slide block, 22, seedling pin.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, stepper motor 5 is arranged on while be motor fixing plate 13 upper surface of convex, stepper motor 5 main shaft is through after motor fixing plate 13 centre bore, be connected with screw rod 7 upper end by shaft coupling 6, nut 8 and screw rod 7 form screw pair, screw rod 7 is through after cross push rod fixed mount 16 centre bore, and nut 8 is connected with cross push rod fixed mount 16 upper surface, and screw rod 7 lower end forms revolute pair by composite bearing 10 and square slider gripper shoe 15 centre bore; The convex arm aperture of motor fixing plate 13 is connected with the Three Degree Of Freedom servo-drive arm of replanting system, motor fixing plate 13 4 limit and square slider gripper shoe 15 4 limit support with polished rod 14 respectively, square slider gripper shoe 15 4 diagonals all have an elongated slot outwards opened, in every bar elongated slot, slide block 21 is housed respectively, every offspring pin 22 upper end is through in respective seedling pin fixed block 20, seedling pin fixed block 20 is through in the center square hole of respective slide block 21, is fixed in its direction and position by two jackscrews; Cross push rod fixed mount 16 all there is an elongated slot outwards opened, one end of four push rods embeds in respective elongated slot fixing respectively, the other end of four push rods is each passed through the respective elongated slot of square slider gripper shoe 15, four push rods are all positioned at the inner side of respective slide block 21, seedling pin guide pad 19 is all housed in the other end lower channel of four push rods, and every offspring pin 22 lower end and respective guide pad 19 form sliding pair.
The utility model comprises motor screw driver part 1, support frame component 2, clamping push away seedling parts 3 and seedling pin slider part 4 four parts, existing is described in detail as follows to the structure of each parts:
As shown in Figure 1 and Figure 2, motor screw driver part 1: comprise stepper motor 5, shaft coupling 6, screw rod 7, screw pair 8, upper spacer 9, composite bearing 10, lower spacer 11 and binding nut 12, stepper motor 5 is positioned at greenhouse pot seedling step-by-step movement clamping and the top pushing away seedling end effector, and be connected by the mounting hole site in motor installation end face down and motor fixing plate 13 centre position, the main shaft that end face side installed by stepper motor 5 is connected with screw rod 7 upper end by shaft coupling 6, screw pair 8 forms screw pair with nut 7 and coordinates, spacer 9 is equipped with from top to bottom successively in screw rod 7 lower end, composite bearing 10, lower spacer 11 and binding nut 12, composite bearing 10 and slider support plate 15 centre bore form revolute pair, upper spacer 9 and lower spacer 11 lay respectively at the upper of slider support plate 15, downside, with binding nut 12, screw rod 7 is fixed on slider support plate 15.
As shown in Figure 1, Figure 3, support frame component 2: comprise motor fixing plate 13, four polished rods and square slider gripper shoe 15, while be the motor fixing plate 13 of convex, the convex arm of motor fixing plate 13 has the Three Degree Of Freedom servo-drive arm of installing hole with replanting system and installs, the center of motor fixing plate 13 has in order to the hole through electric machine main shaft, centre bore surrounding has motor installing hole, motor fixing plate 13 4 limit and center, square slider gripper shoe 15 4 limit support with polished rod 14 respectively, polished rod 14 is fixed by the screw on motor fixing plate 13 4 limit and square slider gripper shoe 15 4 limit, the hole that square slider gripper shoe 15 center drilling and composite bearing 10 match, square slider gripper shoe 15 diagonal, have an elongated slot externally opened, extend there through in order to four push rods, article four, elongated slot and respective 21 slide blocks are formed and are slidably matched.
As shown in Fig. 1, Fig. 4, Fig. 6, clamping pushes away seedling parts 3: comprise cross push rod fixed mount 16, four push rod fixed blocks, four push rods and four seedling pin guide pads;
Cross push rod fixed mount 16 center has hole, cross push rod fixed mount 16 all there is an elongated slot outwards opened, one end of every root push rod 18 embeds in respective elongated slot fixing, and four push rod fixed block 17 holes are screwed in each slotted lower portion of push rod fixed mount 16 through push rod 18 with jackscrew is fixing again; Every root push rod 18 lower end has groove in side outwardly, and every root push rod 18 has the two sides of groove, is fixed in the direction of guide pad 19 and position with two jackscrews.
As shown in Fig. 1, Fig. 5, Fig. 7, seedling pin slider part 4: comprise four offspring pins, four fixed blocks and four slide blocks; Every offspring pin 22 upper end is through in every offspring pin fixed block 20; Seedling pin fixed block 20 is through in the center square hole of slide block 21, is fixed in its direction and position by two jackscrews; Slide block 21 cross section, as I-shaped, be through in slider support plate 15 4 long sides to be formed and be slidably matched.
Specific works process of the present utility model is as follows:
The greenhouse pot seedling step-by-step movement clamping of moving installation of the Three Degree Of Freedom servo-drive arm straps of greenhouse potted-seedling transplanting system with push away seedling end effector and move to and transplant cave and coil above pot seedling cavities, as shown in Fig. 8 (a), drop to close to pot seedling position, as shown in Fig. 8 (b); Three Degree Of Freedom servo-drive arm continues to decline, and simultaneously stepper motor 5 is connected, and drives screw rod 7 to rotate, and drives nut 8 and clamping to push away seedling parts 3 simultaneously and moves upward, and seedling pin 22 progressively stretches into seedling and to stick together and angle progressively draws in, as shown in Fig. 8 (c); Drive seedling pin 22 to extend into seedling to stick together behind bottom when Three Degree Of Freedom servo-drive arm continues to decline, stepper motor 5 stops driving, as shown in Fig. 8 (d).
Three Degree Of Freedom servo-drive arm rises, and drives the clamping of greenhouse pot seedling step-by-step movement and pushes away seedling end effector and clamp seedling and stick together to leave and transplant cave and coil cavities, as shown in Fig. 8 (e).The clamping of Three Degree Of Freedom servo-drive arm straps dynamic temperature room pot seedling step-by-step movement with push away seedling end effector and move to object cave and coil above cavities, as shown in Fig. 8 (f).Three Degree Of Freedom servo-drive arm straps dynamic temperature room pot seedling step-by-step movement clamps and pushes away seedling end effector and declines, and seedling sticks together and puts into dish cavities inside, object cave, as shown in Fig. 8 (g).
Three Degree Of Freedom servo-drive arm straps dynamic temperature room pot seedling step-by-step movement clamps and pushes away seedling end effector and rises, stepper motor 5 is connected simultaneously, drive screw pair 8 and clamping to push away seedling parts 3 to move downward, seedling pin 22 progressively leaves seedling and to stick together and angle progressively opens, guide pad (19) sticks together with seedling all the time to contact and promotes being separated, as shown in Fig. 8 (h) of Miao Tuo and seedling pin 22; Three Degree Of Freedom servo-drive arm straps dynamic temperature room pot seedling step-by-step movement clamps and pushes away seedling end effector and continues to rise, and leaves object cave dish cavities, as shown in Fig. 8 (i).
By adjusting the needs that on four adjustable seedling pins, fixed block 20 drives the distance of push rod fixed mount to meet Bu Tong large vesicle disk hole to transplant with the direction of seedling pin guide pad 19 with screw rod 7.
Push rod fixed mount cross also can be become triangle by the utility model, and corresponding uniform three clampings push away seedling parts and three seedling pin slider parts, and three seedling pin phase differences are that 120 degree of angles are arranged.
Above-mentioned embodiment is used for explaining and the utility model is described; instead of the utility model is limited; in the protection domain of spirit of the present utility model and claim, any amendment make the utility model and change, all fall into protection domain of the present utility model.
Claims (1)
1. a greenhouse pot seedling step-by-step movement clamps and pushes away seedling end effector, it is characterized in that: stepper motor (5) is arranged on motor fixing plate (13) upper surface for convex, stepper motor (5) main shaft is through after motor fixing plate (13) centre bore, be connected with screw rod (7) upper end by shaft coupling (6), nut (8) and screw rod (7) form screw pair, screw rod (7) is through after cross push rod fixed mount (16) centre bore, nut (8) is connected with cross push rod fixed mount (16) upper surface, screw rod (7) lower end forms revolute pair by composite bearing (10) and square slider gripper shoe (15) centre bore, the convex arm aperture of motor fixing plate (13) is connected with the Three Degree Of Freedom servo-drive arm of replanting system, motor fixing plate (13) four limit and square slider gripper shoe (15) four limit use polished rod (14) to support respectively, square slider gripper shoe (15) four diagonals all have an elongated slot outwards opened, slide block (21) is housed in every bar elongated slot respectively, every offspring pin (22) upper end is through in respective seedling pin fixed block (20), seedling pin fixed block (20) is through in the center square hole of respective slide block (21), is fixed in its direction and position by jackscrew, cross push rod fixed mount (16) all there is an elongated slot outwards opened, one end of four push rods embeds in respective elongated slot fixing respectively, the other end of four push rods is each passed through the respective elongated slot of square slider gripper shoe (15), four push rods are all positioned at the inner side of respective slide block (21), seedling pin guide pad (19) is all housed in the other end lower channel of four push rods, and every offspring pin (22) lower end and respective guide pad (19) form sliding pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520438953.6U CN204733572U (en) | 2015-06-23 | 2015-06-23 | Greenhouse alms bowl seedling marching type is pressed from both sides tightly and is pushed away seedling end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520438953.6U CN204733572U (en) | 2015-06-23 | 2015-06-23 | Greenhouse alms bowl seedling marching type is pressed from both sides tightly and is pushed away seedling end effector |
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| Publication Number | Publication Date |
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| CN204733572U true CN204733572U (en) | 2015-11-04 |
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| CN201520438953.6U Active CN204733572U (en) | 2015-06-23 | 2015-06-23 | Greenhouse alms bowl seedling marching type is pressed from both sides tightly and is pushed away seedling end effector |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104919955A (en) * | 2015-06-23 | 2015-09-23 | 浙江理工大学 | Stepping clamping and seedling pushing end actuator for pot seedlings in greenhouses |
| CN108184466A (en) * | 2018-01-16 | 2018-06-22 | 浙江理工大学 | A kind of transplanting grafts all-in-one machine with entire row parallel type Plug seedling |
| CN109937761A (en) * | 2019-01-11 | 2019-06-28 | 浙江理工大学 | The mobile inspection of greenhouse seedbed is filled the gaps with seedlings robot |
| CN113973552A (en) * | 2021-08-24 | 2022-01-28 | 沈阳农业大学 | Automatic seedling feeding device based on narrow plant spacing eight-row leaf vegetable transplanter |
-
2015
- 2015-06-23 CN CN201520438953.6U patent/CN204733572U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104919955A (en) * | 2015-06-23 | 2015-09-23 | 浙江理工大学 | Stepping clamping and seedling pushing end actuator for pot seedlings in greenhouses |
| CN104919955B (en) * | 2015-06-23 | 2017-01-11 | 浙江理工大学 | Stepping clamping and seedling pushing end actuator for pot seedlings in greenhouses |
| CN108184466A (en) * | 2018-01-16 | 2018-06-22 | 浙江理工大学 | A kind of transplanting grafts all-in-one machine with entire row parallel type Plug seedling |
| CN109937761A (en) * | 2019-01-11 | 2019-06-28 | 浙江理工大学 | The mobile inspection of greenhouse seedbed is filled the gaps with seedlings robot |
| CN109937761B (en) * | 2019-01-11 | 2021-12-14 | 浙江理工大学 | Greenhouse seedbed moving, inspection and seedling supplementing robot |
| CN113973552A (en) * | 2021-08-24 | 2022-01-28 | 沈阳农业大学 | Automatic seedling feeding device based on narrow plant spacing eight-row leaf vegetable transplanter |
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| GR01 | Patent grant |