CN212544565U - Seedling taking device based on end effector and variable-pitch steering mechanism - Google Patents

Abstract

The utility model discloses a seedling taking device based on an end effector and a variable-pitch steering mechanism, which mainly comprises the end effector and the variable-pitch steering mechanism, wherein the end effector comprises a motor, a crank connecting rod, an I-shaped slider with a roller, an upper connecting plate, a lower connecting plate with a chute, a mini cylinder, a cylinder push rod, a limit chute, a limit connecting plate, a shell with a sliding lug and a finger shovel; the variable-pitch steering mechanism comprises an upward pulling cylinder, a variable-pitch cylinder, a shell, a cylinder connecting piece, a fixed connecting piece, an L-shaped connecting piece and a guide rail. The motor is arranged on the upper end face of the upper connecting plate; the center of the crank connecting rod is fixed with a motor shaft; the upper end of the I-shaped sliding block with the roller is hinged with one end of the crank connecting rod, and the middle part of the I-shaped sliding block with the roller is matched and connected with the chute of the lower connecting plate with the chute; the lower connecting plate with the sliding chute is connected with the upper connector in an up-down symmetrical mode through double-end studs; one end of the mini cylinder is hinged with the lower end of the I-shaped sliding block with the roller; the cylinder push rod is inserted in the central shaft of the mini cylinder; the limiting sliding chute is connected with one end of the air cylinder; the limiting connecting plate is connected with the limiting sliding chute and the rack; one end of the finger shovel is sleeved on the cylinder push rod; one side of the pull-up cylinder is connected with the inner side of the cylinder connecting piece; the shell is connected with a pull-up cylinder piston; the variable pitch cylinder is arranged on one side of the shell and is connected with the shell; the fixed connecting piece is arranged on the axis of one side of the shell and is connected with the shell; the L-shaped connecting piece is connected with the variable-pitch cylinder gas rod and the lower connecting plate with the sliding chute; the guide rail is connected with two ends of the shell; the end effector is connected with a guide rail of the variable-pitch steering mechanism through a lug hole with a lug shell; the seedling taking device can meet the transplanting work of greenhouse plug seedlings, reduces the labor intensity and greatly improves the transplanting efficiency.

Description

Seedling taking device based on end effector and variable-pitch steering mechanism

Technical Field

The utility model relates to a be suitable for getting seedling device that plug seedling transplanted in greenhouse, particularly relate to a get seedling device based on end effector and displacement steering.

Background

The facility agriculture of China is developed steadily, seedling raising technology of greenhouse plug seedlings is adopted for fruit tree seedlings, plug seedling is a novel vegetable seedling raising technology for quickly raising high-quality strong seedlings, in the seedling raising process, plug seedlings are required to be transplanted, a plug or a flowerpot with a larger specification is replaced to meet the growth environment required by the plug seedlings, manual transplanting requires a large amount of labor force, a large amount of physical power is consumed, the labor cost is high, and the transplanting efficiency is still difficult to guarantee, so that a machine is urgently needed to be designed to replace manual transplanting of plug seedlings, and the requirement of efficient seedling raising in the facility agriculture is met.

Disclosure of Invention

The utility model aims at providing a be suitable for getting seedling device that cave dish seedling transplanted in greenhouse, should get seedling device and drive the double crank connecting rod slider mechanism of rigid coupling on the motor shaft through the motor, remove the position of getting seedling arm one end make the arm front end centre gripping point open and with, finally get the seedling device and can realize the transplantation task to the cave dish seedling.

In order to achieve the purpose, the utility model adopts the following technical proposal: a seedling taking device based on an end effector and a variable-pitch steering mechanism mainly comprises the end effector and the variable-pitch steering mechanism, wherein the end effector comprises a motor, a crank connecting rod, an I-shaped sliding block with a roller, an upper connecting plate, a lower connecting plate with a chute, a mini cylinder, a cylinder push rod, a sliding lug connecting piece, a limiting chute, a limiting connecting plate and a finger shovel; the variable-pitch steering mechanism comprises an upward pulling cylinder, a variable-pitch cylinder, a shell, a cylinder connecting piece, a fixed connecting piece, an L-shaped connecting piece and a guide rail. The method is characterized in that: the motor shafts are symmetrically arranged at the center of the upper end surface of the upper connecting plate; the center of the crank connecting rod is fixed with a motor shaft; the number of the H-shaped sliding blocks with the rollers is 2, the H-shaped sliding blocks are respectively hinged with one end of the crank connecting rod, and the H-shaped sliding blocks with the rollers are matched and connected with the sliding grooves of the lower connecting plate with the sliding grooves; the lower connecting plate with the sliding groove is connected with the upper connecting plate up and down through a double-end stud; each mini cylinder is 2, and each end of each mini cylinder is hinged with the lower end of the I-shaped sliding block with the roller; the number of the limiting sliding grooves is 2, and the limiting sliding grooves are respectively connected with one end of the mini cylinder; the number of the limiting connecting plates is 2, and the limiting connecting plates are respectively connected with the two limiting sliding grooves and the rack; the number of the cylinder push rods is 2, and the cylinder push rods are respectively inserted in the central shafts of the two mini cylinders; the number of the finger shovels is 2, and each end of the finger shovels is sleeved on a cylinder push rod; the number of the pull-up cylinders is 2, and the pull-up cylinders are symmetrically arranged on two sides inside the cylinder connecting piece; the shell is connected with a pull-up cylinder piston; the number of the pitch-variable cylinders is 2, and the pitch-variable cylinders are respectively arranged on one side of the shell and connected with the shell; the fixed connecting piece is arranged on the axis of one side of the shell and is connected with the shell; the number of the L-shaped connecting pieces is 2, and the L-shaped connecting pieces are connected with the air rod of the variable-pitch air cylinder and the lower connecting plate with the sliding chute; the guide rail is connected with two ends of the shell; the end effector is connected with a guide rail of the variable-pitch steering mechanism through a sliding lug.

Furthermore, thin shafts at two ends of the limiting connecting plate are inserted into the limiting sliding grooves, and the connection plays a role in hinging and also plays a role in restraining and fixing, so that the seedling taking mechanical arm can clamp fingers at the front end of the mechanical arm to be separated or folded under the connection.

The utility model has the advantages that: the seedling taking device can complete the task of clamping plug seedlings through the end effector, can also achieve the transplanting task of different target containers through the turning variable-pitch mechanism, fully utilizes the forward and reverse rotation of the motor and the crank-link mechanism to achieve the folding and the separation of clamping fingers at the tail ends of the mechanical arms, and is matched with the variable-pitch cylinders which are arranged in axial symmetry to achieve the function of changing the pitch and the direction, and finally achieves the function of transplanting the plug seedlings under the action of the device, so that the labor intensity of manual transplanting is reduced, and the requirement of facility agriculture seedling raising is met.

Drawings

The present invention will be further explained with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of an end effector.

Fig. 3 is a schematic view of a pitch change and direction change mechanism.

Fig. 4 is a frame.

Fig. 5 is an i-shaped slider with rollers.

Fig. 6 is a limiting chute.

Fig. 7 is a limit connecting plate.

In the figure: 1. a housing; 2. a cylinder connecting piece; 3. a pull-up cylinder; 4. a variable pitch cylinder; 5. an end effector; 6. fixing the connecting piece; 7. an L-shaped connector; 8. a guide rail; 9. a cylinder push rod; 10. a mini cylinder; 11. a limiting chute; 12. a crank connecting rod; 13. an upper connecting plate; 14. a runner attachment; 15. a motor; 16. sliding the lug; 17. a stud; 18. an I-shaped sliding block with rollers; 19. a limiting connecting plate; 20. a finger shovel; 21. take spout lower plate.

Detailed Description

With reference to fig. 1, 2, 3, 4, 5, 6 and 7, the present invention will be further explained: a seedling taking device based on an end effector and a variable-pitch steering mechanism mainly comprises the end effector and the variable-pitch steering mechanism, wherein the end effector comprises a motor 15, a crank connecting rod 12, an I-shaped sliding block 18 with a roller, an upper connecting plate 13, a lower connecting plate 22 with a chute, a mini cylinder 10, a cylinder push rod 9, a sliding lug connecting piece 14, a limiting chute 11, a limiting connecting plate 19 and a finger shovel 20; the variable-pitch steering mechanism comprises an upward pulling cylinder 3, a variable-pitch cylinder 4, a shell 1, a cylinder connecting piece 2, a fixed connecting piece 6, an L-shaped connecting piece 7 and a guide rail 8. The method is characterized in that: the motors 15 are arranged at the centers of the upper end surfaces of the upper connecting plates 13 in an axial symmetry manner; the center of the crank connecting rod 12 is fixed with a motor shaft; the number of the H-shaped sliding blocks 18 with the rollers is 2, the H-shaped sliding blocks are respectively hinged with one end of the crank connecting rod 12, and the H-shaped sliding blocks 18 with the rollers are matched and connected with the sliding grooves of the lower connecting plate 22 with the sliding grooves; the lower connecting plate 21 with the sliding groove is connected with the upper connecting plate through a double-end stud; the number of the mini cylinders 10 is 2, and each end of each mini cylinder is hinged with the lower end of an I-shaped sliding block 18 with a roller; the number of the limiting sliding grooves 11 is 2, and the limiting sliding grooves are respectively connected with one end of the mini cylinder 10; the number of the limiting connecting plates 19 is 2, and the limiting connecting plates are respectively connected with the two limiting sliding grooves 11 and the rack; the number of the cylinder push rods 9 is 2, and the cylinder push rods are respectively inserted in the central shafts of the two mini cylinders 10; the number of the finger shovels 20 is 2, and each end of the finger shovels is sleeved on a cylinder push rod; the number of the pull-up cylinders 3 is 2, and the pull-up cylinders are arranged on two sides in the cylinder connecting piece 2 in an axisymmetric manner; the shell 1 is connected with a piston of a pull-up cylinder 3; the number of the pitch-variable cylinders 4 is 2, and the pitch-variable cylinders are respectively arranged on one side of the machine shell 1 and connected with the machine shell 1; the fixed connecting piece 6 is arranged on the axis of one side of the machine shell 1 and is connected with the machine shell 1; the number of the L-shaped connecting pieces 7 is 2, and the L-shaped connecting pieces are connected with the air rods of the variable pitch cylinders 4 and the lower connecting plate 21 with the sliding grooves; the guide rail 8 is connected with two ends of the machine shell 1; the end effector 5 is connected with a guide rail of a variable-pitch steering mechanism through a sliding lug 16.

The working principle is as follows: after the plug seedlings move to the designated position of the seedling taking device, the mini cylinder 10 ejects the cylinder push rod 9, meanwhile, the finger shovel 20 on the cylinder push rod 9 is inserted along the peripheral edge of the plug opening, then the motor 15 rotates, the crank connecting rod 12 fixedly connected to the motor shaft moves, so that the I-shaped sliding block 18 with the roller in the lower connecting plate 22 groove with the sliding groove moves towards two sides, the mini cylinder 10 hinged on the I-shaped sliding block 18 starts to be tightened inwards for a certain degree, so that the finger shovel 20 clamps the pot body of the seedling pot, then the cylinder 3 is pulled upwards to drive the end effector 5 and the variable pitch steering mechanism to move upwards together, so that the finger shovel 20 lifts the seedling pot to finish the seedling taking action, then the whole seedling taking device is driven by the conveying mechanism to move to the target plug position, at the moment, the variable pitch cylinder 4 ejects the piston rod, and the L-shaped connecting piece 7 connected to the piston rod drives the end effectors 5, accomplish the displacement diversion function, motor 15 reversal at last, through the above-mentioned reverse action make 5 terminal that indicate the shovel 20 to expand certain angle to both sides of end effector, the seedling alms bowl falls into target cave basin and accomplishes the transplanting task simultaneously, afterwards, cylinder push rod 9 retracts to initial position, and piston rod is withdrawed to displacement cylinder 4, and both ends end effector 5 returns initial position, and then, transport mechanism takes the seedling device of getting back to initial position, accomplishes a circulation.

The embodiment is only an illustration of the concept and implementation of the present invention, and is not a limitation, and the technical solution without substantial transformation is still within the protection scope under the concept of the present invention.

Claims (2)

1. A seedling taking device based on an end effector and a variable-pitch steering mechanism comprises the end effector and the variable-pitch steering mechanism, wherein the end effector comprises a motor, a crank connecting rod, an I-shaped sliding block with a roller, an upper connecting plate, a lower connecting plate with a chute, a mini cylinder, a cylinder push rod, a sliding lug connecting piece, a limiting chute, a limiting connecting plate and a finger shovel; the variable pitch steering mechanism comprises an upper pull cylinder, a variable pitch cylinder, a shell, a cylinder connecting piece, a fixed connecting piece, an L-shaped connecting piece and a guide rail, and is characterized in that: the motor shafts are symmetrically arranged at the center of the upper end surface of the upper connecting plate; the center of the crank connecting rod is fixed with a motor shaft; the number of the H-shaped sliding blocks with the rollers is 2, the H-shaped sliding blocks are respectively hinged with one end of the crank connecting rod, and the middle parts of the H-shaped sliding blocks are matched and connected with the sliding grooves of the lower connecting plate with the sliding grooves; the lower connecting plate with the sliding groove is connected with the upper connecting plate up and down through a double-end stud; each mini cylinder is 2, and each end of each mini cylinder is hinged with the lower end of the I-shaped sliding block with the roller; the number of the limiting sliding grooves is 2, and the limiting sliding grooves are respectively connected with one end of the mini cylinder; the number of the limiting connecting plates is 2, and the limiting connecting plates are connected with the two limiting sliding grooves and the rack; the number of the cylinder push rods is 2, and the cylinder push rods are respectively inserted in the central shafts of the two mini cylinders; the number of the finger shovels is 2, and each end of the finger shovels is sleeved on a cylinder push rod; the number of the pull-up cylinders is 2, and the pull-up cylinders are symmetrically arranged on two sides inside the cylinder connecting piece; the shell is connected with a pull-up cylinder piston; the number of the pitch-variable cylinders is 2, and the pitch-variable cylinders are respectively arranged on one side of the shell and connected with the shell; the fixed connecting piece is arranged on the axis of one side of the shell and is connected with the shell; the number of the L-shaped connecting pieces is 2, and the L-shaped connecting pieces are connected with the variable-pitch cylinder piston and the lower connecting plate with the sliding groove; the guide rail is connected with two ends of the shell; the end effector is connected with a guide rail of the variable-pitch steering mechanism through a sliding lug.

2. The seedling taking device based on the end effector and the variable-pitch steering mechanism as claimed in claim 1, wherein: the variable-pitch cylinders arranged on two sides of the shell drive the end effectors to move on the guide rails by utilizing the L-shaped connecting pieces, so that the change of the distance between the end effectors is realized.

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