CN207869680U - A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically - Google Patents
A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically Download PDFInfo
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- CN207869680U CN207869680U CN201820169264.3U CN201820169264U CN207869680U CN 207869680 U CN207869680 U CN 207869680U CN 201820169264 U CN201820169264 U CN 201820169264U CN 207869680 U CN207869680 U CN 207869680U
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Abstract
The utility model provides a kind of agricultural greenhouse greenhouse leaf vegetables seedling and transplants seedlings automatically machine, including transplanting machine mobile phone structure, gantry type mechanical arm mechanism, cave seed plate and flowerpot conveying mechanism and rack, gantry type mechanical arm mechanism is to install mechanical arm horizontal moving guide rail and synchronous belt in upper rack both sides, be slidably connected mechanical arm connecting plate in horizontal moving guide rail, and connecting plate connects synchronous belt；Connect band is arranged between each manipulator in the multiple manipulators of slidably assemble on manipulator division motion guide rail；Transplanting machine mobile phone structure is to install locating piece in the affixed mechanical finger in the lower end of cylinder, affixed manipulator installs locating piece on cylinder piston rod, manipulator installs affixed finger sleeve on locating piece, and the mechanical finger that locating piece is installed across finger sleeve and manipulator is fixed on mechanical finger installation locating piece.Its feature is to be automatically performed vegetables and flowers hole tray transplantation of seedlings instead of manual operations with machine, it is simple in structure, conveniently, practical, dependable performance.
Description
Technical field
The utility model is related to agriculture automation apparatus technical fields, and in particular to a kind of agricultural greenhouse greenhouse leaf vegetables seedling from
Dynamic machine of transplanting seedlings.
Technical background
It is pollution-free in recent years, be favored by people without the remaining organic vegetable of fertilizer and pesticide.In order to reduce cost, labor is saved
Power ensures food security, organic vegetable is allowed to be widely used in the different consumer groups, realizes greenhouse leaf vegetables transplanting machine
Change have become production there is an urgent need to.
Leaf vegetables production generally comprises precision drilling, seedling fostering, seedling transplanting, leaf vegetables cultivation and leaf vegetables harvest five
A stage.Each cargo handling operation mechanization degree at present in production is very low, and certain machinery is only realized in the precision drilling stage
Change, there is still a need for a large amount of labours for other cargo handling operations, especially plant the transplantation of seedlings stage, need leaf vegetables seedling by intensive cultivation
It is transplanted to low-density in hole tray, cultivates in the larger cultivating container in space.Transplanting operation at present relies primarily on manual work completion,
And the seedling high yield transplanting cultivation time is short, workload is concentrated, therefore the labor intensity of artificial graft's operation is very big, and efficiency is low.Mesh
Preceding automatic transplantation technique both domestic and external is transplanted from hole tray or small flower to big flowerpot mainly for flowers seedling, since leaf vegetables is being transplanted
Root is undeveloped in phase cannot be by Tu Tuo around gathering, so the automatic transplanting transplanted from hole tray into cultivation bed for leaf vegetables seedling
The research of machine is still at an early stage.The degree that machinery is combined closely with agronomic technique is short of, transplanting operation process efficiency is low, at
Easily there is leakage seedling, sprout tumble, hinders key issues of seedling in this height.Based on the above present situation, leaf vegetables potted tray seedling transplanter is developed.
With the quickening of Urbanization in China, demand of the people to agricultural product simply having adequate food and clothing becomes to agriculture from past
The pursuit of product quality.Plug seedling transplantation technique can make full use of sunlight-heat reaources, and it is bad effectively to avoid low temperature, frost, insect pest etc.
The influence of condition, Crop growing stage, shortens crop cycle, and ensureing stable crop yield volume increase and improving product quality in advance
Etc. have advantageous advantage.Plug seedling transplantation technique has become main in modern greenhouse vegetables and flower seedling raising production
Planting measure.It is the trend for complying with vegetables and production of flowers and plants high growth rate to develop automatic vegetable and flowers transplantation technique, solution
Certainly existing high cost, poor efficiency and the important measure for promoting China's agricultural modernization.
Although prior art type can realize that the transplanting of Plug seedling, transplanter complete set of equipments huge structure are suitable for factory
The large area operation of metaplasia production, and robot manipulator structure is complicated, and control is also complicated, expensive, it is difficult to adapt to China's batch production
The middle and small scale production of agricultural.And due to China now used in agricultural production system and foreign countries plantation system between
It has differences, the purchasing power of peasant is limited.Therefore, in industrialized agriculture production automation, especially in greenhouse chief crop hole tray
Research work in terms of transplantation of seedlings automation is made slow progress, and ripe type is yet there are no.So developed country should fully be drawn
Successful experience, from the actual conditions of China's seedling transplanting technique, the automation and intelligence that adapt to China's agricultural production need
It asks, develops and be suitble to China's national situation, middle-size and small-size leaf vegetables hole tray transplantation of seedlings simple in structure, cheap, stable and reliable for performance
Machine is extremely urgent.
Utility model content
The utility model provides a kind of agricultural greenhouse greenhouse leaf vegetables seedling and transplants seedlings automatically machine, structure novel, it is applied widely,
It is suitble to China's national situation, simple in structure, cheap, stable and reliable for performance, is suitble to promote, good economic benefit can be generated.
The technical solution of use：
A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically, including six transplanting machine hands, gantry type mechanical arm system,
Leaf vegetables Plug seedling transport system, seedling thinning disk transport system, lower soil are dug a pit, hole, etc. system, rack and control system；It is characterized in that：Leaf vegetables
Plug seedling transport system, seedling thinning disk transport system set up separately in the left and right sides for machine of transplanting seedlings automatically；Six transplanting machine hands, planer-types
Mechanical arm system, seedling thinning disk transport system, lower soil system of digging a pit, hole, etc. are arranged in order setting on automatic machine of transplanting seedlings along the longitudinal direction；Leaf
In dish Plug seedling transport system, hole tray is fixed by positioning device on the synchronous slide unit of sealing, seals synchronous slide unit and drives hole tray
It is mobile, it seals synchronous slide unit and is connect with frame lower；Square position to be transplanted is separated by with conveyer belt is horizontally fixed on the synchronous cunning of sealing
Platform side；The lower soil system of digging a pit, hole, etc. is fixed on above conveyer belt；Gantry type mechanical arm system is led by vertical fixed ball-screw
Rail is connect with upper stand；Six transplanting machine hands are connect and are positioned with gantry type mechanical arm system by sliding straight guide rail；
Control system is mounted on machine frame inside；
The transplanting machine hand, including cylinder, mechanical finger install locating piece；In the affixed manipulator in the lower end of cylinder
Refer to installation locating piece, two shovel transplanting machine fingers, which are fixed on installation locating piece, to be connected with cylinder lower part by nut, is moved
It plants manipulator and passes through the groove with two fixinig plates received in elasticity by installing locating piece.
The bottom of the frame is equipped with removable land wheel.
Lower soil setting in system of digging a pit, hole, etc. is dug a pit, hole, etc. device, including the vertical driving mechanism up and down on top and beating for lower part
Pawl, pawl lower end of digging a pit, hole, etc. multiple pawl points arranged in parallel are cheated, pawl point is the inverted cone-shaped in imitative cave hole.
The transplanting machine hand inwardly receives 15-18 ° of folder by the limits of two fixed spring grooves, mechanical finger
Angle.
During leaf vegetables hole tray transplantation of seedlings, control system sends out instruction, cave seed plate and the work of seedling thinning disk conveyer belt, waits moving
The seedling thinning disk of cultivation is sent into from conveyer belt rear, is filled successively by lower native device, hairbrush soil-finishing device, firming by conveyer belt transmission
It sets and digs a pit, hole, etc. to fix in designated position after device and wait for transplanting, detected by photoelectric sensor and determine that cave seed plate and seedling thinning disk are defeated
It is sent to position, then controlling stepper motor makes manipulator realize that horizontal and vertical direction is displaced to up to the position that transplant cave seedling, control
The folding of system control solenoid valve processed, and then control the folding of cylinder, i.e., it is flexible under the driving of fingers opening-closing cylinder
Six transplanting machine fingers realize that the crawl of Plug seedling, stepper motor drive the linear guide along intilted concave slot sports
On sliding block be moved to designated position, sliding block pulls guide plate control division cylinder that six hands is made to separate, and then moves to seedling thinning disk
Position put seedling.
Affixed cylinder positioning sliding block on the robotic arm, cylinder locating piece over-assemble cylinder, on cylinder locating piece activity install
Guide rod, guide rod front end connect link block.
In the moment that cylinder pushes down on, transplanting machine hand inwardly receives 15- due to the limit of two fixed spring grooves
18 ° of angle, transplanting machine hand getting shovel, can hold in both hands out Tu Tuo, and leaf vegetables Tu Tuo is avoided to be scattered.
Operation principle：
The greenhouse leaf vegetables Plug seedling of the utility model is transplanted seedlings machine automatically, leaf vegetables hole tray transport system and seedling thinning disk transport system
Parallel arranged works at the same time, and stepper motor drives the linear guide movement in leaf vegetables hole tray transport system, cylindrical guide top shoe
It drives hole tray to advance, positioning plate is installed in sealing synchronous slide unit side, positioning plate is made a call to a round according to hole tray centre-to-centre spacing, passed through
Photoelectric sensor determines the position of first row seedling；Seedling thinning disk passes through Xia Tu mechanisms successively by the step motor control amount of feeding simultaneously
Lower soil, the compacting of hairbrush grading, cylinder and device of digging a pit, hole, etc. reach specified pause station simultaneously with other side hole tray after digging a pit, hole, etc.；Six shiftings
It plants pawl to be moved to above leaf vegetables Plug seedling under the sliding block effect that the linear guide is connect, under the pulling of guide post and guide plate
Merge, transplanting machine hand center is made to be aligned with leaf vegetables cave seed plate first row centre bore；Under the action of ball-screw guide rail downwards
Mobile, after being moved to certain distance, cylinder stretches, and transplanting machine hand is inserted into hole tray downwards at a certain angle, in ball-screw
It is moved up under the action of guide rail, transplanting machine holds out leaf vegetables seedling in hands；The linear guide drives transplanting machine hand to be moved to seedling thinning disk
Top is opened under the pulling of guide post and guide plate, is moved down under the action of ball-screw guide rail, is moved to a spacing
From rear, cylinder is shunk, and leaf vegetables seedling is put into the seedling thinning disk for accomplishing fluently hole, and transplanting machine hand is under the action of ball-screw to moving up
It is dynamic.By being manually transferred to designated position after transplanting；Plug seedling conveying device and seedling thinning disk conveyer belt advance one respectively
It is required that distance, start second and transplant, and so on continuous work, by manually placing Plug seedling and disk auxiliary in hole is transplanted seedlings machine
Operation.This example uses porous hole tray, and six transplanting machine hands transplant row's leaf vegetables Plug seedling every time.
Control system is opened by programmable logic controller (PLC) (PLC), stepper motor driver, solenoid valve and sensor and limit
The compositions such as pass.It is characterized in that：PLC as control unit, drive magnetic valve control cylinder realize manipulator folding and six
Being accurately positioned for the division of transplanting machine hand, control stepper motor driver realization hole tray and mechanical arm, realizes leaf vegetables hole tray
The automatic transplanting of seedling.
The advantage and characteristic of the utility model is：
With machine leaf vegetables hole tray transplantation of seedlings is automatically performed instead of manual operations, it is simple in structure, dependable performance, practical and convenient,
Improving operating efficiency reduces operating cost.
Description of the drawings
Fig. 1 is overall structure diagram.
Fig. 2 is leaf vegetables Plug seedling conveying schematic diagram.
Fig. 3 is that the conveying of seedling thinning disk and lower soil are dug a pit, hole, etc. schematic diagram.
Fig. 4 is gantry type mechanical arm replanting system schematic diagram.
Fig. 5 is transplanting machine hand structural schematic diagram.
Fig. 6 is lower native mechanism structure schematic diagram.
Fig. 7 is hairbrush grading mechanism structural schematic diagram.
Fig. 8 is system for compacting structural schematic diagram.
Fig. 9 is mechanism structure schematic diagram of digging a pit, hole, etc..
Specific implementation mode
A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine, including six transplanting machine hands 1, gantry type mechanical arm system automatically
2, leaf vegetables Plug seedling transport system 3, seedling thinning disk transport system 4, lower soil are dug a pit, hole, etc. system 5, rack 6 and control system 7；Leaf vegetables hole tray
Seedling transport system 3, seedling thinning disk transport system 4 set up separately in the left and right sides for machine of transplanting seedlings automatically；Six transplanting machine hands 1, planer-types
Mechanical arm system 2, seedling thinning disk transport system 4, lower soil system 5 of digging a pit, hole, etc. are arranged in order on automatic machine of transplanting seedlings set along the longitudinal direction
It sets；In leaf vegetables Plug seedling transport system 3, hole tray 8, which is fixed by positioning device, to be synchronized in sealing on slide unit 9, and synchronous slide unit 9 is sealed
It drives hole tray 8 to move, seals synchronous slide unit 9 and connect with 6 lower part of rack；Square position to be transplanted is separated by horizontal fixation with conveyer belt 10
In 9 side of the synchronous slide unit of sealing；Lower soil system 5 of digging a pit, hole, etc. is fixed on the top of conveyer belt 10；Gantry type mechanical arm system 2 is by vertical
Fixed ball-screw guide rail is connect with upper stand 6；Six transplanting machine hands 1 pass through sliding straight guide rail and planer-type machinery
Arm system 2 is connected and is positioned；Control system 7 is mounted on inside rack 6；
The transplanting machine hand 1, including cylinder, mechanical finger install locating piece；In the affixed manipulator in the lower end of cylinder
Refer to installation locating piece, two shovel transplanting machine fingers, which are fixed on installation locating piece, to be connected with cylinder lower part by nut, is moved
It plants manipulator 1 and is passed through with the two fixinig plate grooves received in elasticity by installing locating piece；
The gantry type mechanical arm system 2, including the driving of the ball-screw of mechanical arm vertical shift, arm vertical and straight movement
Stepper motor, the linear guide moved horizontally, arm horizontal movement Driving Stepping Motor, transplanting machine hand are connect with the linear guide
Sliding block, six 1 division campaigns of transplanting machine hand guide post and guide plate, mechanical arm rack；Six transplanting machine hands 1 it is vertical
It is controlled respectively by vertical ball screw arrangement and horizontal linear guide rail with moving horizontally, guide plate passes through guide post and transplanting machine hand
1 sliding block connection；
The leaf vegetables Plug seedling transport system 3, including the synchronous slide unit of sealing, hole tray positioning device, synchronous belt and corresponding
Driving motor, leaf vegetables Plug seedling and seedling thinning disk conveyer belt are arranged parallel, wherein leaf vegetables hole tray conveying device include cylinder sliding rail,
Sliding block, sliding block and pallet connecting plate, dust excluding plate, hole tray bracket, stepper motor；
The lower soil is dug a pit, hole, etc. system 5, including lower native device, hairbrush soil-finishing device, firming device, the device and corresponding of digging a pit, hole, etc.
Driving motor；Lower soil digs a pit, hole, etc. device mounted on the feed belt rear that no cave hole tray conveys；
The control system 7 includes programmable logic controller (PLC), stepper motor driver, solenoid valve and sensor and limit
Bit switch；Programmable logic controller (PLC) is separately connected multiple solenoid valves and stepper motor as control unit.
6 bottom of rack is equipped with removable land wheel.
The hairbrush soil-finishing device, includes the roller brush and shell of cylindrical type horizontal type, and roller brush passes through shaft
Assembly is inside the shell.
The device of digging a pit, hole, etc. includes the pawl of digging a pit, hole, etc. of the vertical driving mechanism up and down on top and lower part, the pawl of digging a pit, hole, etc.
Lower end multiple pawl points arranged in parallel, pawl point are the inverted cone-shaped in imitative cave hole.
The firming device is made of firming idler wheel and its holder.
The transplanting machine hand 1 is by the limits of two fixed spring grooves, in the moment that cylinder pushes down on, inwardly
Receive 15-18 ° of angle.
Claims (4)
- The machine 1. a kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings automatically, including six transplanting machine hands (1), gantry type mechanical arm systems (2), leaf vegetables Plug seedling transport system (3), seedling thinning disk transport system (4), lower soil are dug a pit, hole, etc. system (5), rack (6) and control system (7)；It is characterized in that：Leaf vegetables Plug seedling transport system (3), seedling thinning disk transport system (4) set up separately in the left and right for machine of transplanting seedlings automatically Both sides；Six transplanting machine hands (1), gantry type mechanical arm system (2), seedling thinning disk transport system (4), lower soil are dug a pit, hole, etc. system (5) Along the longitudinal direction setting is arranged in order on automatic machine of transplanting seedlings；In leaf vegetables Plug seedling transport system (3), hole tray (8) passes through positioning Device is fixed on the synchronous slide unit (9) of sealing, is sealed synchronous slide unit (9) and is driven hole tray (8) mobile, seal synchronous slide unit (9) with Rack (6) lower part connects；Square position to be transplanted is separated by with conveyer belt (10) is horizontally fixed on synchronous slide unit (9) side of sealing；Under Soil system (5) of digging a pit, hole, etc. is fixed on above conveyer belt (10)；Gantry type mechanical arm system (2) is led by vertical fixed ball-screw Rail is connect with upper stand (6)；Six transplanting machine hands (1) are connected by sliding straight guide rail and gantry type mechanical arm system (2) It connects and positions；It is internal that control system (7) is mounted on rack (6)；The transplanting machine hand (1), including cylinder, mechanical finger install locating piece；In the affixed mechanical finger in the lower end of cylinder Locating piece is installed, two shovel transplanting machine fingers, which are fixed on installation locating piece, to be connected with cylinder lower part by nut, is transplanted Manipulator (1) passes through the groove with two fixinig plates received in elasticity by installing locating piece.
- The machine 2. a kind of agricultural greenhouse greenhouse leaf vegetables seedling according to claim 1 is transplanted seedlings automatically, it is characterised in that：The machine Frame (6) bottom is equipped with removable land wheel.
- The machine 3. a kind of agricultural greenhouse greenhouse leaf vegetables seedling according to claim 1 is transplanted seedlings automatically, it is characterised in that：Under described Soil is dug a pit, hole, etc., and system (5) is middle to be arranged device of digging a pit, hole, etc., and includes the pawl of digging a pit, hole, etc. of the vertical driving mechanism up and down on top and lower part, described beats Pawl lower end multiple pawl points arranged in parallel are cheated, pawl point is the inverted cone-shaped in imitative cave hole.
- The machine 4. a kind of agricultural greenhouse greenhouse leaf vegetables seedling according to claim 1 is transplanted seedlings automatically, it is characterised in that：The shifting Limit of the manipulator (1) by two fixed spring grooves is planted, mechanical finger inwardly receives 15-18 ° of angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820169264.3U CN207869680U (en) | 2018-01-31 | 2018-01-31 | A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820169264.3U CN207869680U (en) | 2018-01-31 | 2018-01-31 | A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207869680U true CN207869680U (en) | 2018-09-18 |
Family
ID=63509423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820169264.3U Expired - Fee Related CN207869680U (en) | 2018-01-31 | 2018-01-31 | A kind of agricultural greenhouse greenhouse leaf vegetables seedling is transplanted seedlings machine automatically |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476558A (en) * | 2019-08-26 | 2019-11-22 | 南京理工大学 | Transplanting hole tray seedling machine based on weathering steel framework |
| CN110521361A (en) * | 2019-09-20 | 2019-12-03 | 扬州市职业大学(扬州市广播电视大学) | A kind of Plug seedling automatic transplanting device |
| CN111133866A (en) * | 2020-01-06 | 2020-05-12 | 河南大学 | Automatic vegetable planting robot suitable for vegetable field paved with mulching film |
| CN112425382A (en) * | 2020-10-11 | 2021-03-02 | 华中农业大学 | Transplanting equipment and transplanting method for potato tissue culture seedlings |
| CN112825659A (en) * | 2021-02-03 | 2021-05-25 | 桂林航天工业学院 | Small-size momordica grosvenori transplanting device |
| CN113287393A (en) * | 2021-04-28 | 2021-08-24 | 湖南生物机电职业技术学院 | Intelligent constant-quantity precision seeding device for rice seedling tray seedling raising |
| CN113396675A (en) * | 2021-05-26 | 2021-09-17 | 任进礼 | Integrated equipment for whole-course operation of greenhouse vegetable planting and vine vegetable planting method |
| CN114532023A (en) * | 2022-03-07 | 2022-05-27 | 温州大学 | Leaf vegetable seedling and transplanting method and transplanter thereof |
| CN116868706A (en) * | 2023-06-21 | 2023-10-13 | 宁夏农林科学院动物科学研究所(宁夏草畜工程技术研究中心) | Salt-tolerant alfalfa hybrid seed field seedling thinning equipment |
| CN118525695A (en) * | 2024-07-26 | 2024-08-23 | 河南省飞诺特机械设备有限公司 | Automatic facility agriculture planting system |
-
2018
- 2018-01-31 CN CN201820169264.3U patent/CN207869680U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476558A (en) * | 2019-08-26 | 2019-11-22 | 南京理工大学 | Transplanting hole tray seedling machine based on weathering steel framework |
| CN110521361A (en) * | 2019-09-20 | 2019-12-03 | 扬州市职业大学(扬州市广播电视大学) | A kind of Plug seedling automatic transplanting device |
| CN111133866A (en) * | 2020-01-06 | 2020-05-12 | 河南大学 | Automatic vegetable planting robot suitable for vegetable field paved with mulching film |
| CN112425382A (en) * | 2020-10-11 | 2021-03-02 | 华中农业大学 | Transplanting equipment and transplanting method for potato tissue culture seedlings |
| CN112425382B (en) * | 2020-10-11 | 2022-04-05 | 华中农业大学 | Transplanting equipment and transplanting method for potato tissue culture seedlings |
| CN112825659A (en) * | 2021-02-03 | 2021-05-25 | 桂林航天工业学院 | Small-size momordica grosvenori transplanting device |
| CN113287393A (en) * | 2021-04-28 | 2021-08-24 | 湖南生物机电职业技术学院 | Intelligent constant-quantity precision seeding device for rice seedling tray seedling raising |
| CN113396675A (en) * | 2021-05-26 | 2021-09-17 | 任进礼 | Integrated equipment for whole-course operation of greenhouse vegetable planting and vine vegetable planting method |
| CN114532023A (en) * | 2022-03-07 | 2022-05-27 | 温州大学 | Leaf vegetable seedling and transplanting method and transplanter thereof |
| CN116868706A (en) * | 2023-06-21 | 2023-10-13 | 宁夏农林科学院动物科学研究所(宁夏草畜工程技术研究中心) | Salt-tolerant alfalfa hybrid seed field seedling thinning equipment |
| CN116868706B (en) * | 2023-06-21 | 2024-01-05 | 宁夏农林科学院动物科学研究所(宁夏草畜工程技术研究中心) | Salt-tolerant alfalfa hybrid seed field seedling thinning equipment |
| CN118525695A (en) * | 2024-07-26 | 2024-08-23 | 河南省飞诺特机械设备有限公司 | Automatic facility agriculture planting system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20180918 Termination date: 20210131 |