CN207612617U - One kind pushing away seedling oblique cutting folder alms bowl seedling taking end effector - Google Patents

Abstract

The utility model belongs to the field of agricultural machinery and relates to an end effector for pushing seedlings obliquely inserting and clamping pots for seedling picking. It comprises a seedling pushing obliquely inserting unit and a parallel opening and closing unit. It is located directly below the oblique insertion unit for pushing seedlings, and is straightly fastened on the bracket; when taking seedlings, use the pushing board of the oblique seedlings insertion unit to bend the seedling plants first, to allow the working space for clamping and taking needles, and then Use the clamping needle to insert the clamping pot obliquely along the diagonal direction of the hole, and extract the seedlings from the hole under the drive of the seedling picking mechanism; when releasing the seedlings, first relax the clamping needle, and then retract the clamping needle, The pot body of the seedlings is freed from the clamping effect, and the seedlings and their growing pots fall into the planting system by their own weight. The utility model has a simple structure and can effectively prevent the seedlings from being clamped by the needles. Two pairs of clamping needles are used to obliquely insert into the pot body along the inclination angle and azimuth of the edge of the hole, which can ensure the maximum clamping depth and better guarantee the seedling extraction. The quality can be used in the field of mechanized transplanting of plug seedlings.

Description

An end effector for pushing seedlings obliquely inserting seedlings in a clamping pot

technical field

The utility model belongs to the field of agricultural machinery, in particular to an end effector for pushing seedlings and inserting them obliquely into a clamping bowl to take seedlings.

Background technique

The seedling-taking end effector is a device that liberates manual labor. Driven by the seedling-taking mechanism, the seedlings are picked out from the growth hole and released to the corresponding planting system. Foreign automatic transplanters for plug seedlings widely use flexible claws to take seedlings, such as the Dutch Pic-O-Mat PC series automatic transfer machine, the Italian Transplanter RW series transplanter, etc., which perform well in terms of seedling picking speed and seedling quality .

Scholars in my country have designed end effectors according to the needs of picking seedlings from pots, such as pneumatic seedling claws for pot seedling transplanting machines, application number: 201620215875.8, a device for automatic transplanting of seedlings with two fingers and four needles, application number: 201210477010.5, and an end effector for picking seedlings of an automatic transplanter for plug seedlings, application number: 201220698202.4. These similar seedling picking end effectors only consider the needs of picking seedlings from the pot, and do not consider the characteristics of the seedlings, especially the seedlings with large stems and leaves, and the height of the plants is large. The direct clamping method will inevitably cause damage to the seedlings. If it happens, the serious ones will pinch off the stems of the seedlings, so it is meaningless to take seedlings and transplant them. More importantly, when picking seedlings in a row, the size of the end effector for seedling picking should not be too large due to the limitation of the hole spacing distance, otherwise too many seedling claws cannot be arranged on a row of seedling picking mechanisms. For this reason, it is necessary to further study the seedling picking method of large plant seedlings, and develop a correspondingly streamlined seedling picking end effector to make it simple in structure and avoid damage to seedlings.

Utility model content

The purpose of this utility model is to solve the above problems and provide an end effector for pushing seedlings and inserting them obliquely into the clamping bowl to take seedlings. Insert the clamping bowl obliquely and diagonally, and the seedlings are extracted from the hole under the drive of the seedling picking mechanism; The seedlings and their growing pots fall into the planting system by their own weight.

The technical solution of the utility model is: an end effector for pushing seedlings obliquely inserting into a clamping bowl to take seedlings, including a seedling pushing obliquely inserting unit and a parallel opening and closing unit;

The oblique insertion unit for pushing seedlings is obliquely fastened on the bracket, and the oblique insertion unit for pushing seedlings includes a clamping needle, a tapered block, a telescopic rod, a seedling pushing plate, a support plate, a direct-acting telescopic mechanism and a tailstock; The needles are fork-shaped and arranged symmetrically on both sides of the conical block. The conical block is locked and connected to one end of the telescopic rod, and the other end of the telescopic rod is fastened to the telescopic rod of the direct-acting telescopic mechanism. The seedling pushing plate is straight and fixed on the front end of the direct-acting telescopic mechanism, one end of the support plate is fastened on the bracket, and the other end supports the front end of the direct-acting telescopic mechanism obliquely, and one end of the tailstock It is connected with the bracket, and the other end is connected with the end of the fuselage of the direct-acting telescopic mechanism;

The parallel opening and closing unit is located directly below the seedling pushing and obliquely inserting unit, and is straightly fastened on the bracket. The parallel opening and closing unit includes a parallel opening and closing mechanism and a strut; the body of the parallel opening and closing mechanism is connected with The bracket is connected, and the support rod is located inside the two pairs of clamping needles of the seedling pushing and obliquely inserting unit, and is symmetrically and fixedly connected to the opening and closing rods of the parallel opening and closing mechanism.

In the above solution, the oblique insertion unit for pushing seedlings is fastened on the bracket at the same inclination angle as the side taper of the hole.

In the above solution, the fork-shaped width of the clamping needle does not exceed the side length of the bottom of the hole.

In the above solution, the side taper of the tapered block is consistent with the side taper of the hole.

In the above scheme, the format size of the seedling pushing plate is consistent with the plant size of the seedlings.

In the above scheme, the direct-acting telescopic mechanism is any one of a linear motion reciprocating cylinder, an oil cylinder, an electric push rod, and a push-pull electromagnet.

In the above solution, the parallel opening and closing mechanism is any one of parallel opening and closing finger cylinders and oil cylinders.

Compared with the prior art, the beneficial effects of the utility model are:

1. The utility model uses a seedling pusher to push away the seedlings. The bending range of the seedling pusher to push the seedlings does not exceed the bending strength of the seedlings, and it can allow two pairs of oblique insertion spaces for clamping and taking needles, which can effectively avoid out of sight. The needle picks up the wounded seedlings.

2. This utility model adopts two pairs of clamping needles to insert obliquely into the pot body along the edge of the hole with the same taper, and the depth does not penetrate the growth pot body of the seedlings, which can ensure the maximum clamping depth, and then extract, similar to manually digging with a shovel , to better ensure the quality of seedlings.

3. When taking seedlings in the utility model, use the seedling pushing plate of the seedling pushing unit to bend the seedling plants first, so as to give way to the working space of the clamping needle, and then use the clamping needle to insert the clamping bowl obliquely along the diagonal direction of the hole Driven by the seedling picking mechanism, the seedlings are extracted from the hole; when releasing the seedlings, first loosen the clamping needle, and then retract the clamping needle, so that the seedling pot body is free from the clamping effect, and the seedlings together with the growing pot The body falls into the planting system by its own weight.

4. The utility model has a simple structure, especially for seedlings with large stems and leaves and high plant heights. When picking seedlings from a whole row, it can effectively avoid pinching and damaging seedlings, and can be used in the field of mechanized transplanting of plug seedlings.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.

Fig. 2 is a schematic diagram of the structure of the clamping needle according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a state of pushing seedlings in translation according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of an oblique insertion extraction state according to an embodiment of the present invention.

In the figure: 1. Cave hole; 2. Bowl body; 3. Seedling; 4. Clamping needle; 5. Conical block; 6. Telescopic rod; 7. Seedling pushing board; Mechanism; 10. Tailstock; 11. Bracket; 12. Parallel opening and closing mechanism; 13. Strut.

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the utility model is not limited thereto.

Figure 1 shows an embodiment of the end effector for pushing seedlings obliquely inserted into a pot for seedling retrieval. The end effector for pushing seedlings obliquely inserted into a pot for seedling retrieval includes a seedling pushing obliquely inserted unit, a parallel opening and closing unit and and control unit.

The oblique insertion unit for pushing seedlings is obliquely fastened on the bracket 11, and includes a clamping needle 4, a tapered block 5, a telescopic rod 6, a seedling pushing plate 7, a support plate 8, a direct-acting telescopic mechanism 9 and a tailstock 10; As shown in Fig. 2, the clamping needle 4 is fork-shaped, symmetrically arranged on both sides of the conical block 5, the conical block 5 is locked and connected to the end of the telescopic rod 6, and the end of the telescopic rod 6 The other end is fastened on the telescopic bar of the direct-acting telescopic mechanism 9, and the described seedling pushing plate 7 is facing the seedlings 3 to be clamped and fixed on the fuselage front end of the direct-acting telescopic mechanism 9, and the support plate 8 Fastened on the bracket 11, obliquely supporting the front end of the direct-acting telescopic mechanism 9, the tailstock 10 is fastened to the bracket 11, and locked to connect the end of the fuselage of the direct-acting telescopic mechanism 9;

The parallel opening and closing unit is located directly below the seedling pushing and obliquely inserting unit, and is straightly fastened on the support 11, including a parallel opening and closing mechanism 12 and a strut 13; the body of the parallel opening and closing mechanism 12 and the support 11 is tightly connected, and the struts 13 are located inside the two pairs of clamping needles 4 of the seedling pushing unit, and are symmetrically and fixedly connected to the opening and closing rods of the parallel opening and closing mechanism 12.

The control unit is respectively connected with the direct-acting telescopic mechanism 9 and the parallel opening-closing mechanism 12 to control the stretching of the direct-acting telescopic mechanism 9 and the opening and closing of the parallel opening-closing mechanism 12 .

The oblique insertion unit for pushing seedlings is fastened on the bracket 11 at the same inclination angle as the side taper of the hole 1, so that the clamping needle 4 can be obliquely inserted into the pot body 2 along the maximum depth of the diagonally opposite angle of the hole 1.

The fork-shaped width of the clamping needle 4 does not exceed the side length of the bottom of the hole 1 .

The side taper of the tapered block 5 is consistent with the side taper of the hole 1, and the format size of the seedling pushing plate 7 is consistent with the plant size of the seedling 3.

The support bar 13 is opened and closed by the opening and closing mechanism 12 to prop up or loosen the two pairs of gripping needles 4 of the inclined seedling pushing unit.

The direct-acting telescopic mechanism 9 is any one of linear reciprocating cylinders, oil cylinders, electric push rods, and push-pull electromagnets, and the parallel opening and closing mechanism 12 is any one of parallel opening and closing finger cylinders and oil cylinders. kind.

As shown in Figures 3 and 4, a method for picking seedlings according to the end effector for pushing seedlings obliquely inserting seedlings in a pot, including the following steps:

Step S1, the control unit controls the direct-acting telescopic mechanism 9 to retract the telescopic rod 6, and the needle tip of the gripping needle 4 moves out of the side of the strut 13;

Step S2, the control unit controls the parallel opening and closing mechanism 12 to open, and the strut 13 expands the two pairs of clamping needles 4;

Step S3. Driven by the seedling picking mechanism, the end effector for pushing seedlings and inserting the seedlings into the clamping pot is translated to the top of the pot body 2 where the seedlings 3 are to be picked up, and the seedling pushing plate 7 touches the seedlings 3, and makes Seedling 3 bends away from the direction of translation;

Step S4, the control unit controls the direct-acting telescopic mechanism 9 to push out the telescopic rod 6, and two pairs of clamping needles 4 are inserted obliquely into the bowl body 2 along the inclination angle and azimuth of the edge of the hole 1;

Step S5, the control unit controls the parallel opening and closing mechanism 12 to close, and the strut 13 releases the two pairs of clamping needles 4, so that the two pairs of clamping needles 4 clamp the bowl body 2;

Step S5, driven by the seedling picking mechanism, vertically lift the end effector for pushing seedlings and inserting the seedlings into the clamping pot, so as to take out the seedlings 3 from the hole 1 by clamping the pot body 2;

Step S6, when the seedlings 3 are released, the control unit controls the parallel opening and closing mechanism 12 to open, the strut 13 stretches two pairs of clamping needles 4, and the control unit controls the direct-acting telescopic mechanism 9 to retract the telescopic rod 6 again , the needle point of the clamping needle 4 moves to the side of the support rod 13, so that the clamping needle 4 loosens the clamping pot body 2, so that the seedling 3 is released together with the growing pot body 2, and falls into it by its own weight. in the planting system;

Step S7, repeat steps S3 to S6, and continue to perform the operations of pushing seedlings, obliquely inserting, clamping, extracting, loosening, and releasing the next seedling 3 to be clamped until the required task of picking seedlings is completed.

In the above method, the control unit in the step S2 controls the opening of the two pairs of clamping needles 4 by controlling the opening of the parallel opening and closing mechanism 12. .

In the above method, the seedling pushing plate 7 in the step S3 pushes the seedlings 3 to bend within a range not exceeding the bending strength of the seedlings 3, and allows two pairs of pinching needles 4 to be obliquely inserted.

In the above method, the control unit in the step S4 controls the telescopic length of the telescopic rod 6 so that the clamping needle 4 is obliquely inserted into the pot body 2 along the edge of the hole 1 to a depth that does not penetrate the growing pot body 2 of the seedling 3 .

The utility model has a simple structure, can effectively avoid pinch-out damage to seedlings, and better guarantees the quality of the seedlings, and can be used in the field of mechanized transplanting of plug seedlings.

A series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present utility model, and they are not intended to limit the scope of protection of the present utility model. Embodiments or changes should be included within the protection scope of the present utility model.

Claims (7)

1. An end effector for pushing seedlings obliquely inserting and clamping pots to take seedlings, characterized in that it includes a seedling pushing obliquely inserting unit and a parallel opening and closing unit; The oblique insertion unit for pushing seedlings is obliquely fastened on the support (11), and the oblique insertion unit for pushing seedlings includes a clamping needle (4), a tapered block (5), a telescopic rod (6), a seedling pushing plate (7), Support plate (8), direct-acting telescopic mechanism (9) and tailstock (10); the clamping needle (4) is fork-shaped, symmetrically arranged on both sides of the tapered block (5), and the tapered The block (5) is locked and connected with one end of the telescopic rod (6), and the other end of the telescopic rod (6) is fastened on the telescopic rod of the direct-acting telescopic mechanism (9), and the seedling pushing plate (7) It is fixed straight on the front end of the direct-acting telescopic mechanism (9), one end of the support plate (8) is fastened on the bracket (11), and the other end obliquely supports the front end of the direct-acting telescopic mechanism (9). , one end of the tailstock (10) is connected to the bracket (11), and the other end is connected to the fuselage end of the direct-acting telescopic mechanism (9); The parallel opening and closing unit is located directly below the seedling pushing and obliquely inserting unit, and is straightly fastened on the bracket (11). The parallel opening and closing unit includes a parallel opening and closing mechanism (12) and a strut (13); The fuselage of the parallel opening and closing mechanism (12) is connected to the bracket (11), and the support rod (13) is located inside the two pairs of clamping needles (4) of the seedling pushing unit, and is symmetrically and fixedly connected to the On the opening and closing bar of the parallel opening and closing mechanism (12). 2. The end effector for pushing seedlings obliquely inserting seedlings in a clamping pot according to claim 1, characterized in that, the inclined seedling pushing unit is fastened on the on the bracket (11). 3. The end effector for pushing seedlings according to claim 2, characterized in that the fork-shaped width of the picking needle (4) does not exceed the side length of the bottom of the hole (1) . 4. The end effector for pushing seedlings according to claim 1, characterized in that the side taper of the tapered block (5) is consistent with the side taper of the hole (1) . 5. The end effector for pushing seedlings according to claim 1, characterized in that the size of the seedling pushing plate (7) is consistent with the size of the plant type of the seedlings (3). 6. The end effector for pushing seedlings according to claim 1, characterized in that, the direct-acting telescopic mechanism (9) is a linear motion reciprocating cylinder, an oil cylinder, an electric push rod, Any of the push-pull electromagnets. 7 . The end effector for pushing seedlings obliquely to insert seedlings in a bowl according to claim 1 , characterized in that, the parallel opening and closing mechanism ( 12 ) is any one of parallel opening and closing finger cylinders and oil cylinders. 8 .