CN208063768U - A kind of seedling taking manipulator takes seedling separation device and transplanter - Google Patents
A kind of seedling taking manipulator takes seedling separation device and transplanter Download PDFInfo
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- CN208063768U CN208063768U CN201820289581.9U CN201820289581U CN208063768U CN 208063768 U CN208063768 U CN 208063768U CN 201820289581 U CN201820289581 U CN 201820289581U CN 208063768 U CN208063768 U CN 208063768U
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Abstract
The utility model discloses a kind of seedling taking manipulator, takes seedling separation device and transplanter, and seedling taking manipulator is connected to one and takes on seedling separation device, including manipulator main body, further includes seedling needle assemblies and seedling needle actuator, the seedling needle assemblies include：First fixing piece, the seedling needle actuator drive first kinematic mount；First seedling needle and the second seedling needle, respectively include first end and second end, wherein the first end is connected on first fixing piece；Second fixing piece is connected in the manipulator main body, and there are two perforation, the second end to be each passed through the perforation on second fixing piece；Wherein, the seedling needle actuator drives the first seedling needle and relatively described second kinematic mount of the second seedling needle by first fixing piece, and the distance between the second end of the first seedling needle and the second seedling needle changes therewith.The utility model is simple in structure, good operating stability, takes throwing efficient.
Description
Technical field
The utility model is related to a kind of transplanters, specifically, being to be related to one kind based on the box-like entire row seedling taking of top-ligation point
Row throws the seedling taking manipulator of seedling, takes seedling separation device and transplanter.
Background technology
Vegetables culturing and transplanting seedlings can effectively improve multiple crop index, reduce missing seedling rate, avoid the natural calamity such as Drought at seedling stage, frost
Evil increases vegetables economic benefit, pushes mechanization, the large-scale development of vegetable cultivation industry.Traditional vegetable transplanting form mainly with
Based on manual work, labor intensity is big, and operating efficiency is low.Domestic vegetables mechanization transplanting method, mainly with semi-automatic transplanting
Based on machine, semi-automatic transplanter operating efficiency is generally 25-40 plants/minute, improves a lot compared to artificial transplanting efficiency.Half certainly
For dynamic transplanter due to needing manually to take, throwing seedling, labor intensity is big, inadaptable to work long hours, and still constrains vegetable transplanting
Appropriate scale of operation.Currently, the research of domestic automatic transplanter is still in the exploratory stage, seedling separation mode principal mode is taken to have automatically：
It meets seedling and pricks modus ponens：I.e. by the seedling needle on seedling taking arm end effector, directly penetrates in pot seedling soil alms bowl after being drawn off and throw
It send；Eject conveying-type：Pot seedling i.e. in hole tray is ejected by top seedling bar through hole tray bottom outlet, after conveyed by conveyer belt；Ejection folder
Modus ponens：I.e. pot seedling is first after being ejected in hole tray by top seedling bar, shifts and delivers after being gripped pot seedling by seedling folder.
Three of the above takes seedling separation mode to have certain limitation automatically.It meets seedling and pricks modus ponens：To pot seedling nursery seed early period
Bunch planting to neutral more demanding, seedling needle spatial design is required, the potted-seedling transplanting of vesicle lattice seed plate is not suitable with, meets Miao Zhaqu
Formula seedling taking is generally single head single cave seedling taking, and operating efficiency is promoted limited.Eject conveying-type：Speed, space in transmission process are not
Determine that factor is more, influences the success rate for taking seedling separation.Eject clamping type：Pot seedling is first pushed up and is pressed from both sides afterwards, is not easy to hinder root, is compared and is adapted to medium and small rule
Lattice hole tray transplantation of seedlings, for every cave seedling taking in a row, operating efficiency is higher, is required to pot seedling Quality of Seedlings, to leaf when ejecting seedling taking
Vegetables pot seedling seedling taking adaptability is not high.
Utility model content
The purpose of this utility model solves the above problems, and provides a kind of seedling taking manipulator, takes seedling separation device and transplanter, adopts
Seedling taking mode is closed with top-ligation, entire row takes out the pot seedling in seed plate, and rear point of row throws seedling, and pot seedling hurt rate is low, and operating efficiency is high,
Stability is good, and preferable seedling taking adaptability is all had to solanaceous vegetables, leaf vegetables.
To achieve the goals above, the seedling taking manipulator of the utility model is connected to one and takes on seedling separation device, including machinery
Hand main body, further includes seedling needle assemblies and seedling needle actuator, and the seedling needle assemblies include：
First fixing piece, the seedling needle actuator drive first kinematic mount；
First seedling needle and the second seedling needle, respectively include first end and second end, wherein the first end is connected to institute
It states on the first fixing piece；And
Second fixing piece is connected in the manipulator main body, has two to perforate on second fixing piece, and described second
End is each passed through the perforation；
Wherein, the seedling needle actuator drives the first seedling needle and the second seedling needle opposite by first fixing piece
The distance between the second end of second kinematic mount, the first seedling needle and the second seedling needle changes therewith.
In one embodiment of above-mentioned seedling taking manipulator, the seedling needle assemblies further include guide rod, and the guide rod is connected to institute
It states between the first fixing piece and the second fixing piece.
Further include bent plate in one embodiment of above-mentioned seedling taking manipulator, the bent plate is connected to first fixing piece
Between seedling needle actuator, the guide rod is connected between the second fixing piece and bent plate.
In one embodiment of above-mentioned seedling taking manipulator, the distance between two described perforation are less than the first seedling needle and the
The distance between the first end of two seedling needles.
The utility model takes seedling separation device, including takes seedling separation main body, further includes：
First seedling picking mechanism, including head rod are connected with multiple the first above-mentioned seedling takings on the head rod
Manipulator；And
Second seedling picking mechanism, including the second connecting rod are connected with multiple the second above-mentioned seedling takings in second connecting rod
Manipulator.
Further include seedling taking connecting rod and connecting rod actuator, first connection in the above-mentioned embodiment for taking seedling separation device
Bar is fixedly connected on the seedling taking connecting rod, and second connecting rod is slidably connected on the seedling taking connecting rod, and the connecting rod drives
Moving part drives the second connecting rod movement.
In the above-mentioned embodiment for taking seedling separation device, the head rod and the second connecting rod have seedling taking position
Set, in the seedling taking position, the connecting rod actuator drive second connecting rod move to the second seedling taking manipulator and
First seedling taking manipulator is side by side.
Further include the first locating part, first locating part is set to institute in the above-mentioned embodiment for taking seedling separation device
State seedling taking position and the corresponding head rod setting.
In the above-mentioned embodiment for taking seedling separation device, buffer limit spring is socketed on the seedling taking connecting rod, it is described slow
Limit spring is rushed between the head rod and the second connecting rod.
In the above-mentioned embodiment for taking seedling separation device, the head rod and the second connecting rod have seedling separation position
It sets, in the seedling separation position, by the buffer limit spring, second connecting rod moves to the second seedling taking manipulator
With the first seedling taking manipulator in two rows.
Further include the second locating part, second locating part is set to institute in the above-mentioned embodiment for taking seedling separation device
State seedling separation position and the corresponding second connecting rod setting.
Further include hoisting mechanism in the above-mentioned embodiment for taking seedling separation device, the manipulator main body is carried by described
It rises mechanism and is connected to described take in seedling separation main body.
The transplanter of the utility model, including rack and be connected in the rack seed plate conveying device, top
Seedling device takes seedling separation device, wherein described that seedling separation device is taken to take seedling separation device for above-mentioned.
In one embodiment of above-mentioned transplanter, the seed plate conveying device includes seed plate, and the seed plate is in water with ground
Flat setting.
In one embodiment of above-mentioned transplanter, the top seedling device is set to the lower section of the seed plate, the top seedling dress
It sets when ejecting the pot seedling in the seed plate upward, the first seedling taking manipulator and the second seedling taking manipulator bundle take the alms bowl
Seedling.
The beneficial functional of the utility model is that the utility model is simple in structure, good operating stability, takes throwing efficient.
The utility model is described in detail below in conjunction with the drawings and specific embodiments, but not as to the utility model
Restriction.
Description of the drawings
Fig. 1 is the structural schematic diagram of the transplanter of the utility model；
Fig. 2 is the structural schematic diagram of the seedling taking manipulator of the utility model；
Fig. 3 a are the seedling needle part-structure schematic diagram of the seedling taking manipulator of the utility model (before seedling taking)；
Fig. 3 b are the seedling needle part-structure schematic diagram of the seedling taking manipulator of the utility model (in seedling taking)；
Fig. 4 is the stereochemical structure view for taking seedling separation device of the utility model；
Fig. 5 is the vertical view for taking seedling separation device of the utility model；
Fig. 6 is the vertical view for taking seedling separation device of the utility model；
Fig. 7 is that the utility model entire row seedling taking point row throws seedling schematic diagram.
Wherein, reference numeral
1：Rack
2：Seed plate conveying device
21：Seed plate
22：Seed plate carrier chain
3：Push up seedling device
4：Control unit
5：Power unit
6：Take seedling separation device
100：First seedling picking mechanism
110：Head rod
200：Seedling taking manipulator, the first seedling taking manipulator
210：Manipulator main body
220：Seedling needle assemblies
230：Seedling needle actuator
221：First fixing piece
222：Second fixing piece
223：First seedling needle
224：Second seedling needle
223a,224a：First end
223b,224b：Second end
225：Guide rod
226：Bent plate
300：Second seedling picking mechanism
310：Second connecting rod
400：Second seedling taking manipulator
61：Take seedling separation main body
62：Seedling taking connecting rod
63：Connecting rod actuator
64：First locating part
65：Buffer limit spring
66：Second locating part
67：Hoisting mechanism
671：Lifting cylinder
672：Sliding rail
681：Guide rail
682：Drive link
7：Lead seedling unit
Specific implementation mode
Technical solutions of the utility model are described in detail in the following with reference to the drawings and specific embodiments, with further
Understand the purpose of this utility model, scheme and effect, but is not intended as the limit of the appended claims for the utility model protection domain
System.
As shown in Figure 1, the transplanter of the utility model includes rack 1, seed plate conveying device 2, top seedling device 3, control list
Member 4, power unit 5 lead seedling unit 7 and take seedling separation device 6, and seed plate conveying device 2, control unit 4, is moved top seedling device 3
Power unit 5 leads seedling unit 7 and seedling separation device 6 is taken to be connected in rack 1.
As shown in Figures 4 to 6, it includes the first seedling picking mechanism 100 and the second seedling picking mechanism 300 to take seedling separation device 6.First
Seedling picking mechanism 100 includes head rod 110 and the first seedling taking manipulator 200, and the first seedling taking manipulator 200 is preferably more
A, multiple first seedling taking manipulators 200 are connected on head rod 110.Similarly, the second seedling picking mechanism 300 includes
Second connecting rod 310 and the second seedling taking manipulator 400, the second seedling taking manipulator 400 is preferably multiple, multiple second seedling takings
Manipulator 400 is connected in the second connecting rod 310.
More specifically, wherein multigroup first seedling taking manipulator 200, the second seedling taking manipulator 400 are consolidated by two manipulators respectively
Determine bent plate (upper bent plate, lower bent plate) to fix, upper bent plate is used to support the fixation seedling taking needle in a row of seedling taking manipulator, under corresponding
Bent plate is for controlling single group seedling needle spacing.For driving the driving cylinder of seedling needle to be connected with upper bent plate, realize that bundle takes by flexible
Pot seedling and release pot seedling.It is connect with connection frame by bilateral slideway with upper-part group, it is flexible by another driving cylinder push-rod
Movement above and below realizing.
The utility model takes a kind of seedling separation structure design box-like based on top-ligation of device 6.Wherein, the first seedling taking
Manipulator 200 and the second seedling taking manipulator 400 are identical structure, illustrate this reality below in conjunction with Fig. 2 and Fig. 3 a, Fig. 3 b
With novel seedling taking manipulator.
Seedling taking manipulator 200 includes manipulator main body 210, seedling needle assemblies 220 and seedling needle actuator 230.Wherein, seedling needle group
Part 220 includes the first fixing piece 221, the second fixing piece 222, the first seedling needle 223 and the second seedling needle 224.First fixing piece 221
It is connected with seedling needle actuator 230, seedling needle actuator 230 drives the first fixing piece 221 to move when working.In the present embodiment, seedling
Needle actuator 230 is using the form for driving cylinder.First seedling needle 223 and the second seedling needle 224 are made of special material
Elastic seedling needle, choosing has good rigidity and toughness, and has certain case hardness and wear-resisting material, and material is for example
65Mn modifier treatment, stainless steel etc. can be selected.
First seedling needle 223 and the second seedling needle 224 respectively include first end 223a, 224a and second end 223b, 224b,
In, first end 223a, 224a of the first seedling needle 223 and the second seedling needle 224 is connected on the first fixing piece 221.Second is solid
Determine part 222 to be connected in manipulator main body 210, i.e. the second fixing piece 222 is fixed relative to manipulator main body 210.
Have two to perforate on second fixing piece 222, second end 223b, 224b of the first seedling needle 223 and the second seedling needle 224 is each passed through this
Perforation.
When work, one end motion of piston rod of seedling needle actuator 230 drives the first fixing piece 221 being connected thereto to transport
It is dynamic.First fixing piece 221 movement drive the first seedling needle 223 and the second seedling needle 224 movement, to make the first seedling needle 223 and
Second seedling needle, 224 relatively-stationary second fixing piece 222 moves.
The utility model is worn using the first seedling needle 223,224 head fixing end spacing of the second seedling needle and the second fixing piece 222
Pitch of holes is poor, and during realizing that seedling needle is overhanging, the first seedling needle 223,224 end spacing of the second seedling needle become smaller and squeezed to centre,
To prick seedling and press from both sides seedling.
Specifically, the distance between two perforation on the second fixing piece 222 are less than the first seedling needle 223, the second seedling needle 224
The distance between first end 223a, 224a.When the distance of 221 opposite second fixing piece 222 of the first fixing piece is larger, the first seedling
Spacing between needle 223 and second end 223b, 224b of the second seedling needle 224 is as shown in Figure 3a.As shown in Figure 3b, when first fixes
When part 221 reduces with respect to the distance of the second fixing piece 222, the first seedling needle 223 and the second seedling needle 224 pass through the second fixed plate
Second end 223b, the 224b extrapolation of two perforation on 222, to which the spacing between second end 223b, 224b becomes smaller and in
Between squeeze and gather, realize that pricking seedling simultaneously presss from both sides seedling, to complete seedling taking operation.
Wherein, seedling needle assemblies 220 further include guide rod 225, and guide rod 225 is connected to the first fixing piece 221 and the second fixing piece
Between 222.
In addition, seedling needle assemblies 220 further include bent plate 226 (the as above-mentioned upper bent plate of bent plate 226, the setting of the second fixing piece 222
For above-mentioned lower bent plate), bent plate 226 is connected between the first fixing piece 221 and seedling needle actuator 230, and guide rod 225 is connected to
Between two fixing pieces 222 and bent plate 225.First end 223a, 224a of first seedling needle 223 and the second seedling needle 224 passes through fixing piece
221 are connected with bent plate 226, and second end 223b, the 224b other end passes through the perforation of lower bent plate (the second fixing piece 222), bent plate
226 are connected with piston rod one end of cylinder 230 simultaneously.
There is guide rod 225 guiding role, one end to have screw thread to be connected with bent plate 225, and the other end passes through the second fixing piece
222, when seedling needle 230 stretching motion of actuator, the first seedling needle 223 and the second seedling needle 224 are under 226 induced effect of bent plate along guide rod
225 move back and forth.
For the seedling taking manipulator of the utility model compared with traditional seedling taking manipulator, the latter is generally complicated articulated structure, adjusts
It is self-contained to match inconvenience.The utility model is related to seedling taking robot manipulator structure it is relatively easy, occupy little space, combining be with multigroup
The seedling taking unit in a row of seedling taking manipulator feature, in automatic transplanter seedling taking design in a row.In addition, seedling taking manipulator is dynamic
It is characterized in that, seedling needle bundle has gripping feature while taking pot seedling process, that is, pricks, presss from both sides the form combined, be more advantageous to hole tray
Stablizing for middle pot seedling is taken out and reliable transfer.
As shown in Figures 4 to 6, the seedling separation device 6 that takes of the utility model further includes taking seedling separation main body 61, the first seedling picking mechanism
Second connecting rod 310 of 100 head rod 110 and the second seedling picking mechanism 300, which is connected to, takes seedling separation main body 61
On.
In conjunction with Fig. 2, the seedling separation device 6 that takes of the utility model further includes hoisting mechanism 67, the first seedling picking mechanism 100 and
The manipulator main body 210 of the seedling taking manipulator of second seedling picking mechanism 300 is connected to the first connection by the hoisting mechanism 67
On bar 110 and the second connecting rod 310.Under the action of lifting cylinder 671 of hoisting mechanism 67, the first seedling taking manipulator 200
It can be moved up and down along sliding rail 672 with the second seedling taking manipulator 400.
It further includes seedling taking connecting rod 62 and connecting rod actuator 63 to take seedling separation device.Wherein, head rod 110 is fixedly connected
On seedling taking connecting rod 62, the second connecting rod 310 is slidably connected on seedling taking connecting rod 62, and connecting rod actuator 63 drives the second connecting rod
310 movements.In the present embodiment, connecting rod actuator 63 is driven using the form of driving cylinder, the i.e. piston rod of connecting rod actuator 63
The second seedling taking manipulator 400 movement in second connecting rod 310, the second connecting rod 310 drive first to connect by seedling taking connecting rod 62
The first seedling taking manipulator 200 movement on extension bar 110.
Second connecting rod 310 of the head rod 110 of the first seedling picking mechanism 100 and the second seedling picking mechanism 300 has
There is seedling taking position, in the seedling taking position, connecting rod actuator 63 drives the second connecting rod 310 to move to the second seedling taking manipulator 400
Side by side with the first seedling taking manipulator 100, that is, the entire row seedling taking of the utility model is realized.
The seedling separation device 6 that takes of the utility model further includes the first locating part 64, and the first locating part 64 corresponds to the first seedling taking
The seedling taking position of mechanism 100 is arranged.
Buffer limit spring 65 is socketed on seedling taking connecting rod 62, buffer limit spring 65 is located at head rod 110 and
Between two connecting rods 310.
The seedling separation device 6 that takes of the utility model further includes the second locating part 66, and the second locating part 66 corresponds to the first seedling taking
The seedling separation position of mechanism 100 is arranged.
Specifically, the second seedling picking mechanism 300 is connected by drive link 682 with the piston rod of connecting rod actuator 63, the
It is connected by seedling taking connecting rod 62 between one seedling picking mechanism 100 and the second seedling picking mechanism 300.Wherein, 62 one end of seedling taking connecting rod and first
Seedling picking mechanism 100 is connected, and the other end passes through the linear bearing on the second seedling picking mechanism 300, seedling taking connecting rod 62 that can pass through second
Seedling picking mechanism 300 drives the second seedling picking mechanism 300 to be moved along guide rail 681.
The piston rod of connecting rod actuator 63 is shunk, as shown in fig. 6, the second seedling picking mechanism 300 is in piston rod, drive link
It is moved downward under the action of 682, buffer limit spring 65 is installed, the second seedling picking mechanism 300 is by buffering on seedling taking connecting rod 62
Limit spring 65 is compressed the first seedling picking mechanism 100 and is moved to left, and there are the first locating part 64, piston rod in 100 leftmost side of the first seedling picking mechanism
It is retracted to most in short-term, the first seedling picking mechanism 100 moves to left side extreme position, 300 corresponding sports of the second seedling picking mechanism to left side
Extreme position.At this point, double seedling taking needle (the first seedling taking manipulator 200 and the second seedling taking manipulator 400) closes up shape in interlocking
State is in same row.Seedling taking state in a row at this time carries out seedling taking operation according to the operation principle of above-mentioned seedling taking manipulator.
After taking seedling, seedling picking mechanism is first lifted up while the piston rod of connecting rod actuator 63 extends, and passes through drive link
682, which first pass through the second connecting rod 310, drives the second seedling picking mechanism 300 to move to right, and the second seedling picking mechanism 300 is detached from the buffering limit compressed
Position spring 65, and gradually detaches with the first seedling picking mechanism 100 and keeps certain seedling separation distance, at this time the first seedling picking mechanism 100
Seedling separation action is completed with the second seedling picking mechanism 300.Then, the first seedling picking mechanism 100, the second seedling picking mechanism 200 keep this away from
From, with piston rod continuing extend and moved to right along guide rail 681.In first seedling picking mechanism, 100 motion process, it is connected when with it
When first locating part 64 and the second locating part 66 are collided, the first seedling picking mechanism 100 moves after stopping, at this time the first seedling picking mechanism 100
It reaches it and throws seedling position, and the second seedling picking mechanism 300 moves after driving it to continue during cylinder push-rod continues elongation, until two seedling taking machines
When structure occupy 62 both ends least significant end of seedling taking connecting rod respectively, the second seedling picking mechanism also corresponds to it and throws seedling position.This throws seedling state for a point row,
To realize that the seedling separation of the utility model delivers pot seedling.
The bottom that seedling device 3 is located at seed plate conveying device 2 is pushed up, entire row seedling taking point row throws seedling schematic diagram as shown in Fig. 7.Seedling
Disk-transporting device 2 includes seed plate 21, and seed plate 21 is with ground in horizontally disposed.Top seedling device 3 is set to the lower section of seed plate 21, top
When seedling device 3 ejects the pot seedling in seed plate 21 upward, the first seedling taking manipulator 200 and the second seedling taking of seedling separation device 6 are taken
The bundle of manipulator 400 takes pot seedling.Wherein, after seedling picking mechanism is replaced as needed, it can adapt to specification seed plate not of the same race.
When work, the seed plate 21 of seed plate conveying device 2 is lain against on seed plate carrier chain 22, seed plate 21 is conveyed in seed plate
Top seedling position is moved on chain 22.Top seedling device 3 moves upwards, pass through 21 bottom outlet of seed plate and by the pot seedling entire row in seed plate 21 to
Upper ejection.Take seedling separation device 6 connecting rod actuator 63, the lifting cylinder 671 of hoisting mechanism 67 and the first seedling taking manipulator 200,
Entire row seedling taking is completed under the action of the seedling needle actuator 230 of second seedling taking manipulator 400.Then the first seedling picking mechanism 100, second
The pot seedling of 300 related taking-up of seedling picking mechanism is automatically separated into two rows of and retreats to seedling separation position together, carries out a point row and throws seedling, pot seedling
It is thrown to leading in seedling unit 7.
The utility model takes seedling separating method, including seedling taking step and throws seedling step, the seedling taking manipulator used into
Row takes the seedling separation, the seedling taking step to include：
The seedling needle actuator drives the first seedling needle and the second seedling needle relatively described by first fixing piece
Second fixing piece is close, and the distance between the second end of the first seedling needle and the second seedling needle becomes smaller and gathers to centre extruding,
It realizes and pricks seedling and press from both sides seedling.
Above-mentioned takes in an embodiment of seedling separating method, and the seedling taking manipulator includes two rows, when seedling taking, described in two rows
Seedling taking manipulator closes up for a row, and when throwing seedling, two rows of seedling taking manipulators are separated into two rows.
Above-mentioned takes in an embodiment of seedling separating method, and the throwing seedling step includes：
The seedling needle actuator drives the first seedling needle and the second seedling needle relatively described by first fixing piece
Second fixing piece is separate, and the distance between the second end of the first seedling needle and the second seedling needle becomes larger to unclamp the pot seedling of gripping.
Certainly, the utility model can also have other various embodiments, without departing substantially from the spirit of the present invention and its essence
In the case of, those skilled in the art work as can make various corresponding change and deformations, but these according to the utility model
Corresponding change and deformation should all belong to the protection domain of the utility model the attached claims.
Claims (15)
1. a kind of seedling taking manipulator is connected to one and takes on seedling separation device, including manipulator main body, which is characterized in that further include seedling
Needle assemblies and seedling needle actuator, the seedling needle assemblies include：
First fixing piece, the seedling needle actuator drive first kinematic mount；
First seedling needle and the second seedling needle, respectively include first end and second end, wherein the first end is connected to described
On one fixing piece；And
Second fixing piece is connected in the manipulator main body, has two perforation, the second end point on second fixing piece
It Chuan Guo not the perforation；
Wherein, the seedling needle actuator drives the first seedling needle and the second seedling needle relatively described by first fixing piece
The distance between the second end of second kinematic mount, the first seedling needle and the second seedling needle changes therewith.
2. seedling taking manipulator according to claim 1, which is characterized in that the seedling needle assemblies further include guide rod, described to lead
Bar is connected between first fixing piece and the second fixing piece.
3. seedling taking manipulator according to claim 2, which is characterized in that further include bent plate, the bent plate is connected to described
Between first fixing piece and seedling needle actuator, the guide rod is connected between the second fixing piece and bent plate.
4. seedling taking manipulator according to claim 1, which is characterized in that the distance between two described perforation are less than described the
The distance between the first end of one seedling needle and the second seedling needle.
5. one kind taking seedling separation device, including takes seedling separation main body, which is characterized in that further include：
First seedling picking mechanism, including head rod are connected on the head rod multiple as Claims 1-4 are any
The first seedling taking manipulator described in；And
Second seedling picking mechanism, including the second connecting rod are connected in second connecting rod multiple as Claims 1-4 are any
The second seedling taking manipulator described in.
6. according to claim 5 take seedling separation device, which is characterized in that further include seedling taking connecting rod and connecting rod actuator, institute
Head rod to be stated to be fixedly connected on the seedling taking connecting rod, second connecting rod is slidably connected on the seedling taking connecting rod,
The connecting rod actuator drives the second connecting rod movement.
7. according to claim 6 take seedling separation device, which is characterized in that the head rod and the second connecting rod tool
There is seedling taking position, in the seedling taking position, the connecting rod actuator drives second connecting rod to move to second seedling taking
Manipulator and the first seedling taking manipulator are side by side.
8. according to claim 7 take seedling separation device, which is characterized in that further include the first locating part, first limit
Part corresponds to the seedling taking position setting of first seedling picking mechanism.
9. according to claim 7 take seedling separation device, which is characterized in that be socketed with buffer limit bullet on the seedling taking connecting rod
Spring, the buffer limit spring is between the head rod and the second connecting rod.
10. according to claim 9 take seedling separation device, which is characterized in that the head rod and the second connecting rod
With seedling separation position, in the seedling separation position, by the buffer limit spring, second connecting rod moves to described second
Seedling taking manipulator and the first seedling taking manipulator are in two rows.
11. according to claim 10 take seedling separation device, which is characterized in that further include the second locating part, second limit
Position part corresponds to the seedling separation position setting of first seedling picking mechanism.
12. according to claim 5 take seedling separation device, which is characterized in that further include hoisting mechanism, the manipulator main body
It is connected to described take in seedling separation main body by the hoisting mechanism.
13. a kind of transplanter, including rack and be connected in the rack seed plate conveying device, top seedling device, take
It is divided into seedlings device, which is characterized in that described that seedling separation device is taken to take seedling separation device for claim 5 to 12 any one of them.
14. transplanter according to claim 13, which is characterized in that the seed plate conveying device includes seed plate, the seedling
Disk is with ground in horizontally disposed.
15. transplanter according to claim 14, which is characterized in that the top seedling device is set under the seed plate
Side, when the top seedling device ejects the pot seedling in the seed plate upward, the first seedling taking manipulator and the second seedling taking machine
Tool hand bundle takes the pot seedling.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820289581.9U CN208063768U (en) | 2018-03-01 | 2018-03-01 | A kind of seedling taking manipulator takes seedling separation device and transplanter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820289581.9U CN208063768U (en) | 2018-03-01 | 2018-03-01 | A kind of seedling taking manipulator takes seedling separation device and transplanter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108243689A (en) * | 2018-03-01 | 2018-07-06 | 现代农装科技股份有限公司 | A kind of seedling taking manipulator takes seedling separation device, transplanter and takes seedling separating method |
| CN111149488A (en) * | 2020-02-20 | 2020-05-15 | 江苏大学 | Tractor suspension type plug seedling automatic transplanting machine |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108243689A (en) * | 2018-03-01 | 2018-07-06 | 现代农装科技股份有限公司 | A kind of seedling taking manipulator takes seedling separation device, transplanter and takes seedling separating method |
| CN111149488A (en) * | 2020-02-20 | 2020-05-15 | 江苏大学 | Tractor suspension type plug seedling automatic transplanting machine |
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