CN207235421U - A kind of controllable transplanting machine hand of chucking power - Google Patents
A kind of controllable transplanting machine hand of chucking power Download PDFInfo
- Publication number
- CN207235421U CN207235421U CN201720993298.XU CN201720993298U CN207235421U CN 207235421 U CN207235421 U CN 207235421U CN 201720993298 U CN201720993298 U CN 201720993298U CN 207235421 U CN207235421 U CN 207235421U
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- CN
- China
- Prior art keywords
- seedling
- seedling taking
- chucking power
- controllable
- air bag
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Abstract
A kind of controllable transplanting machine hand of chucking power, the seedling taking pin and grasping force control device for two ironys being rotatably dispose in including base, by seedling taking pin shaft in susceptor surface, seedling taking pin shaft forms leverage with seedling taking pin, the lower end of two seedling taking pins, which is formed, is used for the seedling claw that seedling taking throws seedling, and the grasping force control device includes being arranged at the air bag of upper position between two seedling taking pins, the electromagnet unit set respectively for the air pump for air bag inflation/deflation and seedling claw both sides.The utility model beneficial effect：The shifting mechanical arm chucking power of the utility model is controllable and has resiliency, is not easy to hinder seedling, it can be achieved that the low requirement for damaging seedling taking during seedling taking, ensure that transplanting quality.
Description
Technical field
It the utility model is related to transplanting machine field, the controllable transplanting machine hand of specifically a kind of chucking power.
Background technology
The action for needing to complete at work of dry land transplanter mainly includes four：Seedling taking, throw seedling, plant, earthing town
Pressure., it is necessary to consider that seedling taking clamping jaw influences the chucking power of rice shoot during seedling taking, if pressing from both sides seedling clamping jaw clamping force at work
It is too small, it will cause the influence to seedlings root matrix, cause matrix to be scattered, the situation for transplanting dew seedling occur；If clamp at the same time
The chucking power of rice shoot is excessive, can also cause the damage of rice shoot root system, reduces the survival rate of shoot transplanting equipment.Therefore during transplanting
Frequently occur seedling claw to hinder seedling or leak the situation of seedling, when particularly large area transplants operation, then can bring the field underproduction, cause to provide
Source wastes, and huge economic losses are brought to peasant.
In current transplanter seedling picking mechanism, rare transplanter carries out seedling claw in the control of chucking power, and big portion
Driving mechanism is divided to use cam or motor, gripping power resiliency is smaller, easily hinders seedling.Patent CN104280335A provides one kind
Using the method for pressure sensor detection chucking power, but the pressure sensor described in it needs to slide on seedling taking pin, and action is real
It is now more difficult and error information easily occur.
During transplanting, the gripping of transplanting machine hand is seedling, and matrix volume is certain, so seedling taking mechanical, hand-driven
It is smaller that work changes smaller and chucking power, it is contemplated that effect of the gripping power to seedling, should provide a kind of dynamics more soft seedling taking machinery
Hand, patent CN105638054A uses the seedling taking pin with certain elasticity, but elasticity is uncontrollable, gripping active force resiliency compared with
It is small, easily hinder seedling when gripping acts.
In order to reduce during transplanting due to seedling taking manipulator is in seedling taking when chucking power it is excessive or due to chucking power buffer
Property it is too small, cause rice shoot to damage or rice shoot matrix the occurrence of being scattered, the utility model proposes a kind of controllable shifting of chucking power
Plant manipulator.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of controllable transplanting machine hand of chucking power, solves current
In the transplanter course of work due to seedling taking manipulator clamping power is difficult to control and the problem of cause to hinder seedling or leakage seedling.
The utility model is that technical solution is used by solving above-mentioned technical problem：A kind of controllable transplanter of chucking power
Tool hand, including base, the seedling taking pin and chucking power of two ironys being rotatably dispose in by seedling taking pin shaft in susceptor surface
Control device, seedling taking pin shaft form leverage with seedling taking pin, and the lower end of two seedling taking pins, which is formed, is used for taking for seedling taking throwing seedling
Seedling pawl, the grasping force control device include being arranged at the air bag of upper position between two seedling taking pins, for being filled for air bag
The electromagnet unit that the air pump of deflation and seedling claw both sides are set respectively；
The control system for controlling grasping force control device, the control are additionally provided with base described in the utility model
System includes controller, magnet switching electric control unit and the piezoelectric membrane sensing being arranged between seedling taking pin and air bag
Device, piezoelectric film sensor are connected with controller, and controller is connected with magnet switching electric control unit and air pump respectively, piezoelectricity
Thin film sensor passes through the pressure signal transmission of the air bag detected and seedling taking pin expansion contact to pressure to controller, controller
The power on/off of judgement control magnet switching electric control unit and the inflation/deflation of air bag of force signal, and then control seedling claw
Throw seedling and seedling taking and the chucking power of seedling claw.
The midpoint that seedling taking pin shaft described in the utility model is located at seedling taking pin causes seedling taking pin shaft to be formed with seedling taking pin
1:1 leverage.
Connected between air bag and air pump described in the utility model by being arranged on the air pressure connecting tube of air bag top open part
Connect.
Air bag described in the utility model is long strip type, and the four sides of long strip type air bag is equipped with fixed baffle, works as airbag aeration
When, its expansion direction is the direction for promoting seedling taking pin.
The both sides of seedling claw described in the utility model are additionally provided with gag lever post, and gag lever post is fixed on base by caging bolt
In the limiting slot that seedling claw both sides are set, by adjusting different journeys of position realization of the caging bolt in limiting slot to seedling taking pin
That spends is spacing.
LCD display is additionally provided with base described in the utility model, the controller is connected with LCD display, control
The pressure signal that device processed detects piezoelectric film sensor is included on LCD display.
Transplanting machine hand described in the utility model passes through the fixing bolt that its susceptor surface is set and transplanter seedling taking machine
Tool arm connects.
Controller described in the utility model uses arm processor.
Gag lever post described in the utility model is hollow tubular structures, and the connecting line of electromagnet unit is located in gag lever post.
The beneficial effects of the utility model are：The shifting mechanical arm chucking power of the utility model is controllable and has resiliency,
It is not easy to hinder seedling, it can be achieved that the low requirement for damaging seedling taking during seedling taking, ensure that transplanting quality, be in particular in following side
Face：
1st, traditional seedling taking hand getting provides gripping power, this machinery hand getting gas with the mode of the machinery such as hydraulic pressure or cam
The method of expansion provides gripping power, as air pressure increase ballooning promotes seedling taking needle movement, to act on the gripping on pot seedling
Power provides certain resiliency, easy to protect seedling, suitable for transplanting operation；
2nd, using the power kind of drive of lever construction design seedling taking arm, power is gripped beneficial to detection, overcomes directly measurement folder
The problem of power taking, avoids sensor being arranged on seedling taking pin top, is directly contacted with soil, influences seedling taking action, pacifies at the same time
Dress is more difficult, and the utility model is passed through by being arranged on the piezoelectric film sensor of balloon and seedling taking pin upper-end contact position
Lever construction can obtain the gripping power of seedling taking pin lower end；
3rd, the elastic force flexibility provided using the mode of gas expansion is stronger, and dynamics increase is slow, has resiliency, is not easy to hinder
Seedling, while control gripping dynamics easy；
4th, provide seedling taking pin restoring force using the mode of magnet switching electricity, instead of torsional spring, using lever principle so that
The pressure that piezoelectric film sensor measures is more accurate.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model base back surface structure diagram；
Fig. 3 is the utility model control system connection block diagram.
Marked in figure：1st, air pump, 2, air pressure connecting tube, 3, piezoelectric film sensor, 4, gag lever post, 5, seedling taking pin shaft,
6th, base, 7, electromagnet unit, 8, seedling taking pin, 9, air bag, 10, controller, 11, limiting slot, 12, magnet switching electric control list
Member, 13, caging bolt, 14, fixing bolt, 15, baroceptor.
Embodiment
As shown in the figure, the transplanting machine hand that a kind of chucking power is controllable, including base 6, pass through seedling taking pin shaft 5 and rotate and set
In the seedling taking pin 8 and grasping force control device of two ironys on 6 surface of base, seedling taking pin shaft 5 forms thick stick with seedling taking pin 8
Linkage, the lower end of two seedling taking pins 8, which is formed, is used for the seedling claw that seedling taking throws seedling, and the grasping force control device includes setting
Between two seedling taking pins 8 air bag 9 of upper position, set respectively for the air pump 1 for 9 inflation/deflation of air bag and seedling claw both sides
The electromagnet unit 7 put；
The control system for controlling grasping force control device is additionally provided with the base 6, the control system includes
Controller 10, magnet switching electric control unit 12 and the piezoelectric film sensor 3 being arranged between seedling taking pin and air bag, pressure
Conductive film sensor 3 is connected with controller 10, and controller 10 is connected with magnet switching electric control unit 12 and air pump 1 respectively,
Piezoelectric film sensor 3 is by the pressure signal transmission in the air bag detected to controller 10, and controller 10 is by believing pressure
Number the power on/off of judgement control magnet switching electric control unit 12 and the inflation/deflation of air bag 9, and then control seedling claw
Throw seedling and seedling taking and the chucking power of seedling claw.
Further, the seedling taking pin shaft 5 is located at the midpoint of seedling taking pin 8 seedling taking pin shaft 5 is formed with seedling taking pin 8
1:1 leverage.
Further, connected between the air bag 9 and air pump 1 by being arranged on the air pressure connecting tube 2 of 9 top open part of air bag
Connect.
Further, the air bag 9 is long strip type, and the four sides of long strip type air bag 9 is equipped with fixed baffle, when air bag 9 is inflated
When, its expansion direction is the direction for promoting seedling taking pin 8.
Further, the both sides of the seedling claw are additionally provided with gag lever post 4, and gag lever post 4 is fixed on base 6 by caging bolt 13
In the limiting slot 11 that upper transplanting pawl both sides are set, realized by adjusting position of the caging bolt 13 in limiting slot 11 to seedling taking pin
It is different degrees of spacing, the fixed position of gag lever post 4 determines that seedling claw upper end is opened at utmost, and then limits and take
Maximum grip power during seedling pawl lower end seedling taking.
Further, LCD display is additionally provided with the base 6, the controller 10 is connected with LCD display, control
The pressure signal that device 10 processed detects piezoelectric film sensor 3 is included on LCD display.
Further, the transplanting machine hand passes through the fixing bolt 14 that its 6 surface of base is set and transplanter seedling taking machine
Tool arm connects.
Further, the controller 10 uses arm processor.
Further, the gag lever post 4 is hollow tubular structures, and the connecting line of electromagnet unit 7 is located in gag lever post 4.
Further, air bag 6 uses wear-resistant material, its expansion process and its intracavitary air pressure are in a linear relationship.
Further, the air pressure connecting tube 2 is equipped with baroceptor 15, detects balloon interior atmospheric pressure, protects air bag
Device, prevents air pressure is excessive from causing air bag to damage.
Signal connection between LCD display and controller 10 of the present invention uses wireless mode.
The method transplanted using the controllable transplanting machine hand of the chucking power, passes through fixed spiral shell by seedling taking manipulator
Bolt 14 is installed on seedling taking arm, and when seedling taking, which acts, to be started, in the seedling taking pin 8 insertion alms bowl disk, controller 10 controls electromagnetism
The power-off of iron unit 7 controls air pump 1 at the same time, and to 9 pressurising of air bag, the magnetic force between seedling taking pin 8 and electromagnet unit 7 disappears, air bag 9
The upper end for expanding against seedling taking pin 8 is opened, and due to leverage, the lower end of seedling taking pin 8 is close to centre, grips pot seedling, is taking
While seedling pin 8 grips pot seedling, piezoelectric film sensor 3 detects the pressure signal in air bag 9 and passes to controller 10, works as control
Device 10 processed detects that controller 10 controls air pump 1 to stop to 9 pressurising of air bag when pressure reaches threshold value；When seedling taking completes to throw seedling,
Controller 10 controls air pump 1 to reduce pressure in air bag 9, and electromagnet unit 7 is powered, and seedling taking pin 8 is playbacked by magneticaction,
8 lower end of seedling taking pin is opened, and pot seedling falls, and is thrown seedling and is completed.
The utility model grabs seedling taking by setting the threshold value of piezoelectric film sensor 3 to realize the chucking power of gripping pot seedling
Control.
Two piezoelectric film sensors 3 detect the pressure of two seedling taking pins 8 at the same time, two pressure signals respectively obtained into
Row difference processing improves the accuracy of gripping power detection to eliminate error.
Claims (9)
- A kind of 1. controllable transplanting machine hand of chucking power, it is characterised in that：Including base（6）, pass through seedling taking pin shaft（5）Rotate It is arranged at base（6）The seedling taking pin of two ironys on surface（8）And grasping force control device, seedling taking pin shaft（5）With taking Seedling pin（8）Form leverage, two seedling taking pins（8）Lower end form be used for seedling taking throw seedling seedling claw, the chucking power Control device includes being arranged at two seedling taking pins（8）Between upper position air bag（9）, for for air bag（9）The gas of inflation/deflation Pump（1）And the electromagnet unit that seedling claw both sides are set respectively（7）；The base（6）On be additionally provided with control system for controlling grasping force control device, the control system includes control Device processed（10）, magnet switching electric control unit（12）And it is arranged at the piezoelectric film sensor between seedling taking pin and air bag （3）, piezoelectric film sensor（3）With controller（10）Connection, controller（10）Respectively with magnet switching electric control unit （12）And air pump（1）Connection.
- A kind of 2. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The seedling taking pin shaft （5）Positioned at seedling taking pin（8）Midpoint cause seedling taking pin shaft（5）With seedling taking pin（8）Form 1:1 leverage.
- A kind of 3. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The air bag（9） With air pump（1）Between by being arranged on air bag（9）The air pressure connecting tube of top open part（2）Connection.
- A kind of 4. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The air bag（9） For long strip type, long strip type air bag（9）Four sides be equipped with fixed baffle, work as air bag（9）During inflation, its expansion direction is promotion seedling taking Pin（8）Direction.
- A kind of 5. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The two of the seedling claw Side is additionally provided with gag lever post（4）, gag lever post（4）Pass through caging bolt（13）It is fixed on base（6）The limit that upper transplanting pawl both sides are set Position groove（11）In, by adjusting caging bolt（13）In limiting slot（11）In position realize to the different degrees of limit of seedling taking pin Position.
- A kind of 6. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The base（6） On be additionally provided with LCD display, the controller（10）It is connected with LCD display, controller（10）By piezoelectric film sensor （3）The pressure signal of detection is shown on LCD display.
- A kind of 7. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The transplanting machine Hand passes through its base（6）The fixing bolt that surface is set（14）It is connected with transplanter seedling taking mechanical arm.
- A kind of 8. controllable transplanting machine hand of chucking power according to claim 1, it is characterised in that：The controller （10）Using arm processor.
- A kind of 9. controllable transplanting machine hand of chucking power according to claim 5, it is characterised in that：The gag lever post （4）For hollow tubular structures, electromagnet unit（7）Connecting line be located at gag lever post（4）In.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720993298.XU CN207235421U (en) | 2017-08-10 | 2017-08-10 | A kind of controllable transplanting machine hand of chucking power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720993298.XU CN207235421U (en) | 2017-08-10 | 2017-08-10 | A kind of controllable transplanting machine hand of chucking power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207235421U true CN207235421U (en) | 2018-04-17 |
Family
ID=61880474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720993298.XU Expired - Fee Related CN207235421U (en) | 2017-08-10 | 2017-08-10 | A kind of controllable transplanting machine hand of chucking power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207235421U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178505A (en) * | 2019-07-11 | 2019-08-30 | 山东省科创食用菌产业技术研究院 | A kind of crop transplanting machine |
| CN117158168A (en) * | 2023-11-03 | 2023-12-05 | 西南林业大学 | Forestry planting device |
-
2017
- 2017-08-10 CN CN201720993298.XU patent/CN207235421U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110178505A (en) * | 2019-07-11 | 2019-08-30 | 山东省科创食用菌产业技术研究院 | A kind of crop transplanting machine |
| CN117158168A (en) * | 2023-11-03 | 2023-12-05 | 西南林业大学 | Forestry planting device |
| CN117158168B (en) * | 2023-11-03 | 2024-01-19 | 西南林业大学 | Forestry planting device |
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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: 20180417 Termination date: 20180810 |