CN209914467U - Double-clamping-piece type end effector of automatic transplanter - Google Patents
Double-clamping-piece type end effector of automatic transplanter Download PDFInfo
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- CN209914467U CN209914467U CN201920678278.2U CN201920678278U CN209914467U CN 209914467 U CN209914467 U CN 209914467U CN 201920678278 U CN201920678278 U CN 201920678278U CN 209914467 U CN209914467 U CN 209914467U
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- end effector
- automatic
- seedling
- double
- plug
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Abstract
The utility model discloses an automatic double-clamping piece formula end effector of transplanter, by electric putter (1), frame (2), connecting rod (3), cylinder (4), clamping piece fixed block (5), clamping piece (6) are constituteed, a full-automatic transplanter that is adapted to plug transplanting is provided and is got seedling end effector, and furthest's simplification mechanism reduces the destruction to plug and plug seedling, get the automatic seedling mechanism of getting of efficient dry land plug seedling of seedling, it is automatic to realize plug seedling transplanting, it is monotonous to solve the peasant, the operating problem who takes a lot of work and time, finally realize the mechanical automation of dry land transplanting.
Description
Technical Field
The utility model relates to a be applied to automatic seedling mechanism of getting of nonirrigated farmland cave dish seedling belongs to the agricultural machine field.
Background
Common field open field transplanter models mainly include: a pincer-clamp type transplanter, a chain-clamp type transplanter, a flexible disc type transplanter, a suspended cup type transplanter, a seedling guide tube type transplanter, a conveyor belt type transplanter and an air root-regulating nutrition pot seedling transplanting machine. The machine types are all applied to pot seedling transplanting, manual seedling taking and seedling throwing are needed for seedling transplanting, and the degree of mechanization is low. At present, the technology of the automatic transplanting machine for the foreign greenhouse is mature, but the automatic transplanting machine for the foreign greenhouse has a complex structure, high price and large volume, and has poor adaptability to the facility agriculture production mode at the present stage of China. Most of domestic researches on plug seedling transplanting machines are in research and test stages, most of researches are semi-automatic pot seedling transplanting machines, manual transplanters and semi-automatic transplanters need manpower to fetch and put seedlings, the labor intensity is high, the auxiliary labor is large, the operation efficiency is low, and the large-scale production requirements are difficult to meet.
Disclosure of Invention
The utility model discloses a purpose then is not enough to current prior art, provides a full-automatic transplanter that is adapted to plug and transplants gets seedling end effector, this end effector furthest's simplification the structure, and alms bowl seedling damage rate is low, get seedling efficient, can carry on robotic arm to realize that plug and transplant automation, solve the monotonous frequent, the time-consuming operating problem of peasant.
The technical scheme adopted by the invention is as follows:
the utility model provides an automatic double-clip formula end effector of transplanter, it includes electric putter (1), frame (2), connecting rod (3), cylinder (4), clamping piece fixed block (5), clamping piece (6) are constituteed, and electric putter (1), connecting rod (3), cylinder (4) constitute a rocker slider formula mechanism, and electric putter (1) is the driving part.
The two connecting rods (3) are symmetrically distributed on two sides of the central line of the electric push rod and form a movable composite hinge with the tail end of the electric push rod (1).
The two cylinders (4) are symmetrically distributed on two sides of the central line of the electric push rod (1), the upper ends of the cylinders (4) form movable hinges with the connecting rod (3), and the lower ends of the cylinders (4) are in threaded connection with the clamping piece fixing blocks (5).
The clamping piece (6) is fixed in the clamping piece fixing block (5) through threaded connection.
The utility model has the advantages that: the mechanism is driven by an electric push rod which adopts a servo motor, has high detection sensitivity and high precision, can adopt a corresponding controller and a proper control method to dynamically clamp the pot seedlings, greatly reduces the matrix damage of the pot seedlings, and in addition, adopts double cylinders to drive double clamping pieces to be inserted into holes of the hole tray, can ensure the damage-free hole tray by combining the control method, and improves the adaptability to the hole trays with different specifications.
Drawings
Fig. 1 is an isometric view of the mechanism.
Fig. 2 is a front view of the mechanism.
Figure 3 is an isometric view of the power push rod of the mechanism.
Fig. 4 is an isometric view of a cylinder.
Fig. 5 is a three-dimensional isometric view of a clip securing block.
The specific implementation mode is as follows:
example 1: when the mechanism works, firstly, the double cylinders are inserted into the hole of the hole disc at a certain inclination angle, then the electric push rod drives the rocker-slider mechanism to realize that the double clamping pieces clamp the pot seedling matrix, and the pot seedling is taken out and put into the planting device under the drive of the mechanical arm to realize planting.
Example 2: the end effector combines a controller and a driver, and adopts a proper control method, the double clamping pieces can be inserted into the hole of the plug at a certain speed, and the plug can be dynamically clamped and taken out from the substrate according to a certain rule.
Claims (4)
1. The utility model provides an automatic double-clip formula end effector of transplanter, it includes electric putter (1), frame (2), connecting rod (3), cylinder (4), clamping piece fixed block (5), clamping piece (6) are constituteed, and electric putter (1), connecting rod (3), cylinder (4) constitute a rocker slider formula mechanism, and electric putter (1) is the driving part.
2. The double-jaw type end effector of the automatic transplanter according to claim 1, wherein the two connecting rods (3) are symmetrically distributed on two sides of the center line of the electric push rod (1), and form a movable composite hinge with the end of the electric push rod (1).
3. The double-jaw type end effector of the automatic transplanter according to claim 1, wherein the two cylinders (4) are symmetrically distributed on two sides of the center line of the electric push rod (1), the upper ends of the cylinders (4) and the connecting rod (3) form a movable hinge, and the lower ends of the cylinders (4) are in threaded connection with the jaw fixing block (5).
4. The double-jaw end effector of an automatic transplanter according to claim 1, wherein the jaws (6) are fixed in the jaw fixing block (5) by screw connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920678278.2U CN209914467U (en) | 2019-05-13 | 2019-05-13 | Double-clamping-piece type end effector of automatic transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920678278.2U CN209914467U (en) | 2019-05-13 | 2019-05-13 | Double-clamping-piece type end effector of automatic transplanter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209914467U true CN209914467U (en) | 2020-01-10 |
Family
ID=69090921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920678278.2U Expired - Fee Related CN209914467U (en) | 2019-05-13 | 2019-05-13 | Double-clamping-piece type end effector of automatic transplanter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209914467U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
-
2019
- 2019-05-13 CN CN201920678278.2U patent/CN209914467U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
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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 |
Granted publication date: 20200110 Termination date: 20200513 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |