CN206196318U - Intelligent multirow garlic seed box captures delivery device - Google Patents
Intelligent multirow garlic seed box captures delivery device Download PDFInfo
- Publication number
- CN206196318U CN206196318U CN201621267596.2U CN201621267596U CN206196318U CN 206196318 U CN206196318 U CN 206196318U CN 201621267596 U CN201621267596 U CN 201621267596U CN 206196318 U CN206196318 U CN 206196318U
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- CN
- China
- Prior art keywords
- guide rail
- stepper motor
- seed box
- garlic seed
- cross
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Abstract
The utility model is related to a kind of intelligent multirow garlic seed box crawl delivery device, including frame and rack-mounted garlic seed box conveying mechanism, guide rail, cross guide rail, telescopic arm, manipulator and control system；Garlic seed box conveying mechanism includes conveyer belt and garlic seed box；Guide rail includes mounting seat, horizontal guide rail, upright guide rail, sliding sleeve, stepper motor one, stepper motor two；Sliding sleeve is fixedly installed togather by two orthogonal sleeves and constituted；One sleeve of sliding sleeve is socketed on horizontal guide rail；In mobilizable another sleeve installed in sliding sleeve of upright guide rail；Cross guideway centreline is fixedly mounted on immediately below upright guide rail；Telescopic arm is made up of multigroup parallelogram lindage；Manipulator is arranged on parallelogram lindage culminating point lower section；Control system includes single-chip microcomputer and motor driver；The utility model can realize that the automatic crawl of garlic seed box is delivered, and can guarantee that the erectility after garlic root plantation, and plant/line spacing uniformity, productivity ratio are high.
Description
First, technical field
The utility model is related to a kind of intelligent multirow garlic seed box crawl delivery device, belongs to agricultural equipment technology field.
2nd, background technology
Due to the particular/special requirement " point above, is uprightly planted under root " of garlic sowing, planting garlic is by being accomplished manually for a long time.
In recent years, scientific research institutions in all parts of the country, agricultural machinery enterprise have developed polytype garlic planter in succession, but these seeders exist
The aspects such as the u-turn of garlic kind, upright plantation are thrown away and can not meet planting garlic demand.In consideration of it, Shandong Agricultural University proposes kind of a boxlike
Seeding method, the intelligent multirow garlic seed box crawl delivery device that this patent is related to is exactly that the garlic seed box for being loaded into garlic kind keeps garlic kind
The state of " under root on point " captures dispensing automatically, realizes that garlic is sowed.
3rd, the content of the invention
In order to solve the above problems, the utility model provides a kind of intelligent multirow garlic seed box crawl delivery device；This reality
The automatic crawl for realizing garlic seed box with New Energy is delivered, and can guarantee that the erectility after garlic root plantation, plant/line spacing uniform
Cause, productivity ratio are high.
A kind of intelligent multirow garlic seed box crawl delivery device, including frame and rack-mounted garlic seed box conveyer
Structure, guide rail, cross guide rail, telescopic arm, manipulator and control system；
Described garlic seed box conveying mechanism includes conveyer belt and garlic seed box；Conveyer belt and direction of machine travel vertical water safety
In frame, garlic seed box is evenly distributed on the conveyor belt, and the placing direction of garlic seed box is parallel with the direction of machine travel.Adjacent garlic
Interval is provided between kind box, facilitates manipulator to capture.The motion of conveyer belt is set by stepper motor four by conveyer belt two ends
Roll shaft drives, and the rotation of stepper motor four is by control system control.
The guide rail includes mounting seat, horizontal guide rail, upright guide rail, sliding sleeve, stepper motor one, stepper motor two；Sliding sleeve
It is fixedly installed togather by two orthogonal sleeves and is constituted；There is a groove on each sleeve；The endoporus of each sleeve
Shape is identical with the transverse shape of guide rail, and size is slightly larger compared with the cross dimension of guide rail；Mounting seat is hung down along the direction of machine travel
In the straight frame installed in front of conveyer belt, horizontal guide rail is horizontally arranged at mounting seat top and positioned at conveyer belt top；Level
Install or be processed into tooth bar in guide rail downside；One sleeve of sliding sleeve is mobilizable to be socketed on horizontal guide rail；Upright guide rail can
In another sleeve installed in sliding sleeve of activity；Tooth bar is also installed or be processed into the leading flank of upright guide rail, and tooth bar is from two
Expose at the groove of individual sleeve；One stepper motor is respectively installed on two sleeves, motor tooth is installed on stepper motor output shaft
Wheel, two motor gears are meshed with the tooth bar on horizontal guide rail and upright guide rail respectively.Stepping on vertical sleeve
Motor two is rotated, and by rack and pinion engagement upright guide rail can be driven to be moved forward or rearward along horizontal guide rail；Installed in level
Stepper motor one on sleeve is rotated, and by rack and pinion engagement upright guide rail can be driven to be moved upwardly or downwardly.
Described cross guideway centreline is fixedly mounted on immediately below upright guide rail；Cross guide rail level is put during installation
Put, wherein a line of cross guide rail is parallel with the direction of machine travel, another a line is vertical with the direction of machine travel, cross
Two sides lower surface of guide rail is equipped with guide groove；
Described telescopic arm is horizontally arranged at below cross guide rail；Telescopic arm is made up of multigroup parallelogram lindage；Stretch
Four summits of the parallelogram lindage in center are separately mounted in the guide groove of cross guide rail on contracting arm, and this is parallel
Moved in guide groove on four summits of four-bar mechanism；And the parallelogram lindage is located in the guide groove vertical with the direction of machine travel
A summit one nonelastic rope and a spring are installed, the other end of spring is fixed on the cross close with the summit
On the end points of type guide rail；The other end of this is nonelastic rope is wound on the axle of stepper motor three, and stepper motor three is arranged on cross
On type guide rail.Stepper motor three is rotated, and spring force can be overcome to pull the summit of parallelogram lindage to cross guideway centreline
Direction is moved, and telescopic arm shrinks, and manipulator is concentrated to cross guideway centreline.When stepper motor reversion, rope unclamps, in spring
The summit of parallelogram lindage is moved out under elastic force, and telescopic arm stretches, and manipulator is outwards stretched out.
Described manipulator is arranged on parallelogram lindage culminating point lower section, and the folding of manipulator is passed through by control system
Servos control.A manipulator is equipped with below each parallelogram lindage culminating point, manipulator can use prior art reality
It is existing.
Described control system includes single-chip microcomputer and motor driver；Stepper motor one, stepper motor two, stepper motor
3rd, stepper motor four and steering wheel are connected to motor driver；Single-chip microcomputer respectively with stepper motor one, stepper motor two, step
The motor driver connection of stepper motor three, stepper motor four and steering wheel；Control system be used for control each stepper motor, steering wheel turn
The dynamic, time of stopping and angle, make garlic seed box convey crawl, transport, deliver, cooperation, orderly controllable.
When the garlic seed box on same conveyer belt is transported to whne crawl position, conveyer belt is stopped operating, and stepper motor one is rotated
Upright guide rail is driven to move downward by rack-and-pinion, now manipulator opens, when stepper motor one turns to set angle,
Manipulator can just grab garlic seed box；Manipulator clamps garlic seed box after catching garlic seed box, and stepper motor one is inverted, by garlic seed box
Pick up and leave conveyer belt, stepper motor one stops operating.After garlic seed box is removed on conveyer belt, control system control conveyer belt
Rotate, garlic seed box below is transported to and treats crawl position.Stepper motor two starts to rotate simultaneously, is driven by rack-and-pinion perpendicular
Straight guide, cross guide rail, telescopic arm, manipulator garlic seed box are translated backward.Meanwhile, stepper motor three is inverted, nonelastic rope
Unclamp, spring pulls the summit of parallelogram lindage to be flexed outward along cross guide rail, and telescopic arm is stretched out, when three turns of stepper motor
Stopped operating during to angle computed in advance, now adjacent garlic seed box spacing is equal to garlic and sows line-spacing, one turn of stepper motor
Dynamic, upright guide rail is moved downward, and when stepper motor one goes to the angle for setting, manipulator opens, and realizes that garlic seed box is delivered.Garlic
After planting box dispensing, stepper motor one is inverted, and manipulator lifts, and stepper motor one goes to and stopped operating when setting angle, now
Garlic seed box upper limb on the highly a little higher than conveyer belt of manipulator most lower edge.Following stepper motor two is inverted, drive upright guide rail,
Manipulator etc. is translated forward；Stepper motor three is rotated simultaneously, is pulled in parallelogram lindage summit by nonelastic rope and received, and is stretched
Contracting arm is retracted, and when adjacent machine hand center spacing is equal to adjacent garlic seed box centre-to-centre spacing on conveyer belt, stepper motor three stops turning
It is dynamic.Stepper motor one is rotated and drives upright guide rail to move downward next group of garlic seed box of crawl.Each stepper motor, the rotation of steering wheel,
The time of stopping and angle etc. can be previously set according to the actual foundation prior art of sowing in single-chip microcomputer.
4th, illustrate
Fig. 1 is intelligent multirow garlic seed box crawl delivery device overall structure diagram；
Fig. 2 is cross guide rail and telescopic arm assembling figure；
Fig. 3 is shift sleeve structure schematic diagram；
In figure：1. the stepping of 6. mounting seat of cross 3. telescopic arm of guide rail of frame 2. 4. manipulator, 5. control system 7.
The garlic seed box conveying mechanism 13. parallel four of one 11. sliding sleeve of motor 2 8. horizontal guide rail, 9. upright guide rail, 10. stepper motor 12.
Linkage 14. the is nonelastic vertical sleeve 20. of 3 18. connecting hole of rope 15. pin, 16. spring, 17. stepper motor 19.
The mounting hole of 22. stepper motor of stepper motor two mounting holes, 21. horizontal bush one
5th, specific embodiment
A kind of full-automatic garlic seed box is extracted delivers seeder, and conveyer belt is horizontally arranged at the top of frame 1, and conveyer belt is rotated
Driving stepper motor is controlled by control system 5.The frame 1 that mounting seat 6 is arranged on before conveyer belt is close to conveyer belt one end, level
Guide rail 8 is fixedly mounted in mounting seat 6, and the length direction of horizontal guide rail 8 is parallel with the direction of machine travel during installation, horizontal guide rail
Tooth bar is installed or be processed into 8 one sides.Sliding sleeve 11 is mutually perpendicular to be fixed together by two open sleeves, the endoporus of sliding sleeve 11
Shape is identical with the section configuration of guide rail, and size is slightly larger compared with the cross dimensions of guide rail, and the horizontal bush set 21 of sliding sleeve 11 is in level
The outside of guide rail 8, the tooth bar of horizontal guide rail 8 exposes sliding sleeve from the opening of sleeve can be slided along horizontal guide rail 8.Upright guide rail 9 is filled
In the vertical sleeve 19 of sliding sleeve 11, the tooth bar of upright guide rail 9 also exposes from the opening of vertical sleeve 19.The vertical He of sleeve 19
A stepper motor is respectively fixedly mounted on horizontal bush 21, a gear is respectively installed, respectively with level on stepper motor output shaft
Tooth bar on guide rail and upright guide rail is meshed.Stepper motor 27 is rotated, and sliding sleeve 11, upright guide rail 9 are driven by rack-and-pinion
Slided forward or backward along horizontal guide rail 8；Stepper motor 1 is rotated, and upright guide rail 9 is driven up or down by rack-and-pinion
Slide.A cross guide rail 2 is installed in the lower section of upright guide rail 9 with bolt, during installation before a line of cross guide rail 2 and machine
Enter direction parallel, another a line is vertical with the direction of machine travel, there is groove long in each edge, telescopic arm 3 is mounted in cross guide rail 2
Below, telescopic arm 3 is made up of multigroup parallelogram lindage 13 as needed, four of parallelogram lindage in an intermediate position
Summit pin 15 is attached separately in the groove of cross guide rail 2, and pin 15 is protruded upward from the groove of cross guide rail 2, and one
A nonelastic rope and a spring are fixedly connected on individual pin, the other end of spring is fixedly connected near the pin ten
One end of font guide rail 2；Stepper motor 3 17, nonelastic rope are installed near the position of upright guide rail 4 on cross guide rail 2
The other end of rope 14 is wound on the output shaft of stepper motor 3 17.Stepper motor 3 17 is rotated, and is pulled by nonelastic rope 14
The summit of parallelogram lindage is inwardly moved along cross guide rail 2, and telescopic arm 3 shrinks, and stepper motor 3 17 is inverted, nonelastic rope
Rope 14 is unclamped, and the summit of parallelogram lindage is inwardly moved along cross guide rail 2 under the effect of spring 16, and telescopic arm 3 is stretched out.Stretch
A manipulator 4 is respectively installed in intermediate vertex lower section on contracting arm 3, and the folding of manipulator 4 passes through servos control by control system 5.
During work, manipulator 4 treats crawl position top positioned at conveyer belt garlic seed box, and manipulator 4 is in open configuration, now
Stepper motor 1 is rotated and drives upright guide rail 9 to move downward by rack-and-pinion, when the control stepper motor of control system 5 is rotated
During to set angle, manipulator 4 can just grab garlic seed box, and stepper motor 1 stops operating；The control machinery of control system 5
Steering wheel is rotated on hand 4, is received in manipulator 4 and is clamped garlic seed box, and steering wheel stops operating；Then stepper motor 1 is inverted, upright guide rail
Garlic seed box is picked up and leaves conveyer belt by 9 motions upwards, manipulator 4, and stepper motor 1 stops operating.When garlic seed box on conveyer belt
After being removed, the control conveyer belt of control system 5 is rotated, and garlic seed box below is transported to and treats crawl position.While stepper motor
27 start to rotate, and upright guide rail 9, cross guide rail 2, telescopic arm 3, manipulator 4 and garlic seed box are driven backward by rack-and-pinion
It is mobile.Now, stepper motor 3 17 is inverted, and nonelastic rope stepper motor 3 14 unclamps, and spring 16 pulls parallelogram lindage
14 summit is flexed outward along cross guide rail 2, and telescopic arm 3 is stretched out, when the centre-to-centre spacing of adjacent machine hand 4 is equal to planting garlic line-spacing
When control system control stepper motor 3 17 stop operating, now adjacent garlic seed box spacing be equal to garlic sow line-spacing；Then walk
Stepper motor 1 is rotated, and upright guide rail 9 is moved downward, and when garlic seed box reaches suitable release altitude, manipulator 4 opens, and realizes
Garlic seed box is delivered.After garlic seed box is delivered, stepper motor 1 is inverted, and manipulator 4 lifts, when the most lower edge of manipulator 4 height slightly
Higher than during garlic seed box upper limb, stepper motor 1 stops operating on conveyer belt.Following stepper motor 27 is inverted, and it is vertical to drive
Guide rail 9, manipulator 4 etc. are moved forward；Stepper motor 3 17 is rotated simultaneously, and parallelogram lindage is pulled by nonelastic rope 14
Received in 13 summits, telescopic arm 3 is retracted, when the spacing of adjacent machine hand center 4 is equal to adjacent garlic seed box centre-to-centre spacing on conveyer belt, step
Stepper motor 3 17 stops operating.Stepper motor 1 is rotated and drives upright guide rail 4 to move downward next group of garlic seed box of crawl.
Protection domain not limited to this of the present utility model, any one skilled in the art is in the utility model
In the technical scope of disclosure, the simple change or equivalence replacement of the technical scheme that can be become apparent to each fall within this practicality newly
In the protection domain of type.
Claims (1)
1. a kind of intelligent multirow garlic seed box captures delivery device, it is characterised in that including frame and rack-mounted garlic seed box
Conveying mechanism, guide rail, cross guide rail, telescopic arm, manipulator and control system；
Described garlic seed box conveying mechanism includes conveyer belt and garlic seed box；Conveyer belt is arranged on direction of machine travel vertical-horizontal
In frame, garlic seed box is evenly distributed on the conveyor belt, and the placing direction of garlic seed box is parallel with the direction of machine travel；Adjacent garlic seed box
Between be provided with interval, facilitate manipulator to capture；The roll shaft that the motion of conveyer belt is set by stepper motor four by conveyer belt two ends
Drive, the rotation of stepper motor four is by control system control；
The guide rail includes mounting seat, horizontal guide rail, upright guide rail, sliding sleeve, stepper motor one and stepper motor two；Sliding sleeve is by two
Individual orthogonal sleeve is fixedly installed togather composition；There is a groove on each sleeve；The internal via shape of each sleeve
Transverse shape with guide rail is identical, and size is slightly larger compared with the cross dimension of guide rail；Mounting seat is vertically pacified along the direction of machine travel
In the frame in front of conveyer belt, horizontal guide rail is horizontally arranged at mounting seat top and positioned at conveyer belt top；Horizontal guide rail
Install or be processed into tooth bar in downside；One sleeve of sliding sleeve is mobilizable to be socketed on horizontal guide rail；Upright guide rail is movable
Another sleeve installed in sliding sleeve in；Tooth bar is also installed or be processed into the leading flank of upright guide rail, and tooth bar covers from two
Expose at the groove of cylinder；One stepper motor is respectively installed on two sleeves, motor gear, two are installed on stepper motor output shaft
Individual motor gear is meshed with the tooth bar on horizontal guide rail and upright guide rail respectively；Stepper motor two on vertical sleeve
Rotate, by rack and pinion engagement upright guide rail can be driven to be moved forward or rearward along horizontal guide rail；On horizontal bush
Stepper motor one rotate, upright guide rail can be driven to be moved upwardly or downwardly by rack and pinion engagement；
Described cross guideway centreline is fixedly mounted on immediately below upright guide rail；Cross guide rail horizontal positioned during installation, its
In cross guide rail a line it is parallel with the direction of machine travel, another a line is vertical with the direction of machine travel, cross guide rail
Two sides lower surface be equipped with guide groove；
Described telescopic arm is horizontally arranged at below cross guide rail；Telescopic arm is made up of multigroup parallelogram lindage；Telescopic arm
Four summits of the upper parallelogram lindage in center are separately mounted in the guide groove of cross guide rail, the parallel four-bar
Moved in guide groove on four summits of mechanism；And the parallelogram lindage be located at the guide groove vertical with the direction of machine travel in one
Individual summit is provided with a nonelastic rope and a spring, and the other end of spring is fixed on close with the summit cross lead
On the end points of rail；The other end of this is nonelastic rope is wound on the axle of stepper motor three, and stepper motor three is arranged on cross leading
On rail；Stepper motor three is rotated, and spring force can be overcome to pull the summit of parallelogram lindage to cross guideway centreline direction
Motion, telescopic arm is shunk, and manipulator is concentrated to cross guideway centreline；When stepper motor reversion, rope unclamps, in spring force
The summit of lower parallelogram lindage is moved out, and telescopic arm stretches, and manipulator is outwards stretched out；
Described manipulator is arranged on parallelogram lindage culminating point lower section, and the folding of manipulator passes through steering wheel by control system
Control；A manipulator is equipped with below each parallelogram lindage culminating point；
Described control system includes single-chip microcomputer and motor driver；Stepper motor one, stepper motor two, stepper motor three, step
Stepper motor four and steering wheel are connected to motor driver；Single-chip microcomputer respectively with stepper motor one, stepper motor two, stepper motor
3rd, the motor driver connection of stepper motor four and steering wheel；Control system is used to control each stepper motor, steering wheel to rotate, stop
Time and angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621267596.2U CN206196318U (en) | 2016-11-23 | 2016-11-23 | Intelligent multirow garlic seed box captures delivery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621267596.2U CN206196318U (en) | 2016-11-23 | 2016-11-23 | Intelligent multirow garlic seed box captures delivery device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206196318U true CN206196318U (en) | 2017-05-31 |
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ID=58747501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621267596.2U Expired - Fee Related CN206196318U (en) | 2016-11-23 | 2016-11-23 | Intelligent multirow garlic seed box captures delivery device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206196318U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106717363A (en) * | 2016-11-23 | 2017-05-31 | 山东农业大学 | Intelligent multirow garlic seed box captures delivery device |
| CN109121610A (en) * | 2018-10-25 | 2019-01-04 | 吉林省农业机械研究院 | A kind of sugarcane precise seeder |
| CN109429639A (en) * | 2018-12-29 | 2019-03-08 | 济南华庆农业机械科技有限公司 | A kind of efficient garlic planter of front and back alternative expression |
-
2016
- 2016-11-23 CN CN201621267596.2U patent/CN206196318U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106717363A (en) * | 2016-11-23 | 2017-05-31 | 山东农业大学 | Intelligent multirow garlic seed box captures delivery device |
| CN109121610A (en) * | 2018-10-25 | 2019-01-04 | 吉林省农业机械研究院 | A kind of sugarcane precise seeder |
| CN109429639A (en) * | 2018-12-29 | 2019-03-08 | 济南华庆农业机械科技有限公司 | A kind of efficient garlic planter of front and back alternative expression |
| CN109429639B (en) * | 2018-12-29 | 2023-09-12 | 济南华庆农业机械科技有限公司 | Front-back alternating type efficient garlic seeder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20191123 |