CN206948877U - Pick transplantation of seedlings end effector in greenhouse - Google Patents
Pick transplantation of seedlings end effector in greenhouse Download PDFInfo
- Publication number
- CN206948877U CN206948877U CN201720795312.5U CN201720795312U CN206948877U CN 206948877 U CN206948877 U CN 206948877U CN 201720795312 U CN201720795312 U CN 201720795312U CN 206948877 U CN206948877 U CN 206948877U
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- shovel
- bar
- extension rod
- end effector
- transplantation
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- 239000012636 effector Substances 0.000 title claims abstract description 25
- 238000002054 transplantation Methods 0.000 title claims abstract description 17
- 239000011159 matrix material Substances 0.000 description 6
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- Transplanting Machines (AREA)
Abstract
It the utility model is related to agricultural machinery technological field.Purpose is to provide a kind of greenhouse and picks transplantation of seedlings end effector, and the actuator should be able to be used to pick seedling, and transplanter can be coordinated simply to be transplanted, while have dependable performance, lower-cost feature.Technical scheme is：Pick transplantation of seedlings end effector in greenhouse, it is characterised in that：The end effector is included setting on the supporting plate and the Chan Bei branches for driving cylinder that extension rod moves straight down and being arranged symmetrically in extension rod both sides；The extension rod front end is provided with connecting plate；In per Tiao Chan arms branch, shovel at the top of bar and be rotatably positioned on the supporting plate, the shovel top shoe being slidably matched with shovel bar is rotatably positioned on connecting plate again, and the bottom for shoveling bar is provided with shovel hand, and the pivot center for shoveling the pivot center and shovel top shoe of bar is arranged in parallel；In the Liang Tiaochan arms branch, the pivot center for shoveling bar is horizontally disposed and be parallel to each other；Shovel hand can be promoted to be flared out or inwardly collapse during the cylinder operation.
Description
Technical field
Agricultural machinery technological field is the utility model is related to, specifically a kind of pneumatic greenhouse picks transplantation of seedlings end effector.
Background technology
At present, developed countries pick the research of transplantation of seedlings end effector to greenhouse and have arrived at certain level, compare
The representative pneumatic type seedling picking mechanism including South Korea Ryu designs, the pointer manipulator of Choi designs, Australia
Arm end effector, the U.S. RAPID Automated of the plurality of specifications of Transplant Systems companies production
The RTW type transplantation devices of Systems companies.The automaticity of these transplanting end effectors is very high, is adapted to large area automatic
Transplant operation.
Comparatively speaking, China greenhouse is picked transplantation of seedlings end effector research it is at the early-stage, every technology is still not
Maturation, and China is chemurgy big country, and Agricultural Mechanization Degree is low, and the technical merit of working people is generally relatively low, to promote
Agricultural production machinery transplanting intelligence degree, promote greenhouse transplantation technique development, there is an urgent need to develop one kind meet national conditions and
Transplantation of seedlings end effector is picked with instead of hand labor in the low greenhouse of simple efficient, reliable operation, cost.
Utility model content
The purpose of this utility model is overcome the shortcomings of in above-mentioned background technology, there is provided is picked transplantation of seedlings end and is held in a kind of greenhouse
Row device, the actuator should be able to be used to pick seedling, and transplanter can be coordinated simply to be transplanted, at the same have dependable performance, cost compared with
The characteristics of low.
The technical solution of the utility model is：
Pick transplantation of seedlings end effector in greenhouse, it is characterised in that：The end effector include set on the supporting plate and
For the Chan Bei branches for driving cylinder that extension rod moves straight down and being arranged symmetrically in extension rod both sides；
The extension rod front end is provided with connecting plate；Supported per in Tiao Chan arms branch, shoveling at the top of bar to be rotatably positioned
On plate, the shovel top shoe being slidably matched with shovel bar is rotatably positioned on connecting plate again, and the bottom for shoveling bar is provided with shovel hand, shovels bar
Pivot center with shovel top shoe pivot center be arranged in parallel, shovel top shoe slide axis both perpendicular to shovel bar rotation
The pivot center of axis and shovel top shoe；In the Liang Tiaochan arms branch, the pivot center for shoveling bar is horizontally disposed and be parallel to each other；
Shovel hand can be promoted to be flared out or inwardly collapse during the cylinder operation.
The adjustable skid for also including being slidably located in supporting plate per Tiao Chan arms branch, shoveling the top of bar can turn
It is positioned at dynamicly on adjustable skid；In the Liang Tiaochan arms branch, the slip axis coaxle of two adjustable skids and horizontally disposed；
Some adjustable screws are additionally provided with the adjustable skid, separately have with adjustable screw coordinate adjustable bolt be used for by adjustable skid with
Supporting plate locks.
Lock sleeve has been slidably positioned on the extension rod, the both ends point of spring and spring are also coated with extension rod
Other top pressure supporting plate and lock sleeve；The lock sleeve is provided with locking screw holes, separately there is the clamping screw coordinated with locking screw holes
For by lock sleeve with extension rod lock.
The connecting plate is slidably located on extension rod by bearing；The bearing is provided with bearing screw, separately has
It is used for the carrier setting bolt that bearing screw coordinates by bearing and extension rod lock.
The beneficial effects of the utility model are：
The utility model picks seedling and transplanting operation for greenhouse automation transplanter, is suitable for different size hole tray,
Under the cooperation of transplanter, dead seedling can be rejected together with matrix or be turned seedling from intensive hole tray to evacuation hole tray
Move, easily operated, simple in construction, dependable performance, accurate positioning, action is quick clean, and matrix is not cohered during let-down, the company of can be achieved
Continuous operation.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is the dimensional structure diagram of adjustable skid in the utility model.
Fig. 3 is the dimensional structure diagram of connecting plate in the utility model.
Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 are job step schematic diagrames of the present utility model.
Embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
As shown in figure 1, greenhouse picks transplantation of seedlings end effector, including supporting plate 5, cylinder 7, connecting plate 4, spring 9, locking
Set 10, extension rod 11, bearing 12 and Liang Tiaochan arms branch.
The cylinder is arranged on the top surface of supporting plate, and the bottom surface of supporting plate is additionally provided with ring flange 8 and is used to fix cylinder.It is described
Extension rod is vertically arranged in below supporting plate, and the piston rod of cylinder is passed down through supporting plate with being fixed after ring flange with extension rod.
During the cylinder operation extension rod in the vertical direction can be promoted to stretch.
The spring is set on extension rod, and locking is set on below spring and lock sleeve can be vertical on extension rod
Slide, the both ends difference top pressure of spring ring flange and lock sleeve；The lock sleeve is provided with locking screw holes 10.1, by locking screw
Bolt (being omitted in figure) can make lock sleeve and extension rod lock after being screwed into locking screw holes.
The bearing be arranged on below lock sleeve and bearing can on extension rod vertical sliding；The bearing is provided with branch
Seat screw 12.1, carrier setting bolt (being omitted in figure) is screwed into can be by bearing and extension rod lock after bearing screw.The connecting plate
Fixed with bearing.
The Liang Tiaochan arms branch is symmetrically arranged at extension rod both sides.In per Tiao Chan arms branch, adjustable skid 6 is slidably
Ground is positioned on the supporting plate, and the top of shovel bar 2 is rotatably positioned on adjustable skid, and shovel top shoe 3 is slidably positioned
It is rotatably positioned again on connecting plate on shovel bar, the bottom for shoveling bar is provided with shovel hand 1, the slip axis horizontal cloth of adjustable skid
Put and also both perpendicular to the pivot center for the pivot center and shovel top shoe for shoveling bar, shovel the pivot center of bar with shoveling top shoe
Pivot center parallel arrangement, shovel top shoe slide axis both perpendicular to shovel bar pivot center with shovel top shoe rotation
Axis；In the Liang Tiaochan arms branch, shovel that the pivot center of bar is horizontally disposed and be parallel to each other, and the slip axis of adjustable skid is same
Axle is arranged.
Some adjustable screws 6.1 are additionally provided with the adjustable skid, adjustable bolt (being omitted in figure) is screwed into adjustable screw
After can lock adjustable skid and supporting plate.The both sides of the supporting plate are equipped with two guide rails 5.1 of parallel arrangement, adjustable slide
Block is also provided with the sliding groove 6.3 coordinated with guide rail.Hinge hole 6.3 is additionally provided with the adjustable skid, is shoveled be hinged at the top of bar
Axle is rotatably positioned in the hinge hole.The connecting plate is provided with mounting hole 4.1, and bearing passes through the mounting hole and connecting plate
It is fixed.The both sides of the connecting plate are also respectively provided with two shovel top shoe hinge holes 4.2, and the jointed shaft for shoveling top shoe is rotationally fixed
Position is in the hinge hole.
The end effector possesses angle adjustable adaptation function, and different size cave is suitable for when carrying out and picking seedling and transplanting
Disk seedling.Wherein, by changing position or selection of the position and bearing of adjustable skid on the supporting plate on extension rod not
Same shovel top shoe hinge hole (changing shovel top shoe spacing), the folding angle of shovel hand can be adjusted.In addition, locked by changing
The position being enclosed on extension rod, the movement travel of cylinder can be limited and adjust the slewing area of shovel hand, meanwhile, shunk in cylinder
When spring can also play certain cushioning effect.
The cylinder is double stroke cylinder, and when cylinder stretches out first paragraph stroke, shovel hand outwardly opens certain angle, and cylinder is stretched
When going out second segment stroke, shovel hand outwardly opens certain angle again, and when cylinder bounces back, shovel hand inwardly collapses.
Job step of the present utility model is as follows：
1st, adjustable skid, the position of bearing and shovel top shoe are adjusted, so that shovel hand possesses suitable insertion angle；
2nd, end effector is moved to above hole tray hole position, promotes end effector to decline and cause shovel hand insertion hole tray hole
In the matrix of position (as shown in Figure 4 and Figure 5), when end effector is moved to above hole tray hole position, cylinder stretches out first paragraph stroke,
Then during insertion, cylinder coordinates insertion speed retraction first paragraph stroke, ensures shovel hand all the time along hole tray hole position inwall
Inclination angle insertion matrix in.
3rd, end effector is lifted so as to take out seedling (as shown in fig. 6, matrix subsidiary on seedling is also taken out) simultaneously,
End effector is moved to above room or loose hole tray hole position, cylinder stretches out second segment row again after stretching out first paragraph stroke
Journey make it that shovel hand opens completely, complete to discharge seedling and matrix；
4th, cylinder is withdrawn completely, waits pending next hole tray hole position.
Claims (4)
1. greenhouse picks transplantation of seedlings end effector, it is characterised in that：The end effector include be arranged in supporting plate (5) and
For the Chan Bei branches for driving cylinder (7) that extension rod (11) moves straight down and being arranged symmetrically in extension rod both sides；
The extension rod front end is provided with connecting plate (4)；In per Tiao Chan arms branch, shovel at the top of bar (2) to be rotatably positioned and propping up
On fagging, the shovel top shoe (3) being slidably matched with shovel bar is rotatably positioned on connecting plate again, and the bottom for shoveling bar is provided with shovel hand
(1) pivot center for, shoveling the pivot center and shovel top shoe of bar is arranged in parallel, and shovels the slip axis of top shoe both perpendicular to shovel
The pivot center of the pivot center of bar and shovel top shoe；In the Liang Tiaochan arms branch, shovel bar pivot center it is horizontally disposed and
It is parallel to each other；Shovel hand can be promoted to be flared out or inwardly collapse during the cylinder operation.
2. greenhouse according to claim 1 picks transplantation of seedlings end effector, it is characterised in that：Every Tiao Chan arms branch is also
Including the adjustable skid (6) being slidably located in supporting plate, shovel at the top of bar and be rotatably positioned on adjustable skid；Institute
In Shu Liangtiaochan arms branch, the slip axis coaxle of two adjustable skids and horizontally disposed；If it is additionally provided with the adjustable skid
Adjustable screw (6.1) is done, separately has the adjustable bolt coordinated with adjustable screw to be used to lock adjustable skid and supporting plate.
3. greenhouse according to claim 2 picks transplantation of seedlings end effector, it is characterised in that：On the extension rod slidably
Lock sleeve (10) is located in ground, and the both ends difference top pressure that spring (9) and spring are also coated with extension rod supporting plate and lock
Tight set；The lock sleeve is provided with locking screw holes (10.1), separately has the clamping screw coordinated with locking screw holes to be used for lock sleeve
With extending rod lock.
4. greenhouse according to claim 3 picks transplantation of seedlings end effector, it is characterised in that：The connecting plate passes through bearing
(12) it is slidably located on extension rod；The bearing is provided with bearing screw (12.1), separately there is what is coordinated with bearing screw
Carrier setting bolt is used for bearing and extension rod lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720795312.5U CN206948877U (en) | 2017-07-03 | 2017-07-03 | Pick transplantation of seedlings end effector in greenhouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720795312.5U CN206948877U (en) | 2017-07-03 | 2017-07-03 | Pick transplantation of seedlings end effector in greenhouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206948877U true CN206948877U (en) | 2018-02-02 |
Family
ID=61384093
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720795312.5U Active CN206948877U (en) | 2017-07-03 | 2017-07-03 | Pick transplantation of seedlings end effector in greenhouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206948877U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107182399A (en) * | 2017-07-03 | 2017-09-22 | 浙江理工大学 | Pick transplantation of seedlings end effector in greenhouse |
| 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 |
-
2017
- 2017-07-03 CN CN201720795312.5U patent/CN206948877U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107182399A (en) * | 2017-07-03 | 2017-09-22 | 浙江理工大学 | Pick transplantation of seedlings end effector in greenhouse |
| 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 |
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