CN212993018U - Motor-driven plug seedling taking device - Google Patents
Motor-driven plug seedling taking device Download PDFInfo
- Publication number
- CN212993018U CN212993018U CN202021900081.8U CN202021900081U CN212993018U CN 212993018 U CN212993018 U CN 212993018U CN 202021900081 U CN202021900081 U CN 202021900081U CN 212993018 U CN212993018 U CN 212993018U
- Authority
- CN
- China
- Prior art keywords
- seedling
- connecting rod
- motor
- lead screw
- nut seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 229910000639 Spring steel Inorganic materials 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 claims 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 239000012636 effector Substances 0.000 abstract description 8
- 230000006378 damage Effects 0.000 abstract description 6
- 239000011159 matrix material Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000002699 waste material Substances 0.000 abstract description 2
- 239000000758 substrate Substances 0.000 description 4
- 230000004083 survival effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
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- Transplanting Machines (AREA)
Abstract
The utility model relates to a motor drive's plug seedling device of getting seedlings can the accurate control angle of opening and shutting and add the holding power, is applicable to the end effector of getting seedling mechanism of various transplanter, include: the seedling planting machine comprises a driving motor, a screw rod, a machine frame, a front mounting plate, a rear mounting plate, a screw rod nut seat, a connecting rod, a rocker and a seedling claw. The utility model has a motor to provide driving force, drives a screw nut seat to move up and down through a screw, and then drives a connecting rod to control the opening and closing of seedling claws so as to realize the opening and closing of the seedling claws; the utility model discloses furthest's simplified mechanism reduces the manufacturing degree of difficulty and guarantees to get seedling efficiency, through accurate control motor speed, and then control goes into cave angle and adds the holding power to realize alms bowl seedling fixture to the flexible centre gripping of alms bowl seedling matrix, reduce alms bowl seedling matrix damage, ensure the real-time of control simultaneously. Solves the problems of time and labor waste of manual work and realizes high-speed and low-loss seedling taking.
Description
Technical Field
The invention belongs to the field of agricultural mechanization research, and particularly relates to a plug seedling taking device driven by a motor, which solves the problems of complex structure, high seedling injury rate and higher cost of an end effector of an existing automatic transplanter.
Background
The seedling transplantation has important significance in agricultural production, and the survival rate of seedlings and the yield of crops can be obviously improved. At the present stage, the semi-automatic transplanter in China still adopts a mode of manually taking seedlings, the cost is high, the efficiency is low, large-scale seedling raising and transplanting are difficult to realize, and the full-automatic transplanter can take the seedlings by depending on an end effector, can replace manual work to finish seedling taking and throwing, and improves the efficiency. The working object of the end effector is seedlings planted in a plug tray with a certain specification, the existing end effector mainly comprises pneumatic drive and motor drive according to a driving mode, the pneumatic drive is low in cost and easy to damage the seedlings, most of the existing motor drives are complex in structure, and therefore the end effector which is simple in structure and high in control precision is very important to develop.
Disclosure of Invention
In view of the above, the present invention provides a motor-driven end effector, which has a simplified mechanism to the utmost extent, reduces the difficulty in processing and manufacturing, ensures seedling picking efficiency, can be adapted to seedling trays and pot seedlings of various specifications, solves the problem of time and labor waste of manual work, and realizes high-speed and low-loss seedling picking. Mechanical arms are carried to realize the automation of plug seedling transplanting and solve the operation problems of monotonous and frequent operation, labor and time consumption of farmers.
The invention discloses a plug seedling taking device driven by a motor, which comprises: the seedling-raising machine comprises a motor (1), a lead screw (2), a rack (3), a front mounting plate, a rear mounting plate (4), a lead screw nut seat (5), a connecting rod (6), a connecting rod (7), a rocker (8) and a seedling claw (9). The device is characterized in that the motor (1) provides driving force for the device, the motor (1) is fixed above the rack (3) and is connected with the lead screw (2) through a coupler, and the power is transmitted to the lead screw (2).
The plug seedling taking device driven by the motor is characterized in that a screw nut seat (5) is arranged on a screw (2) and moves up and down through the rotation of the screw (2). The connecting rods (6) are symmetrically distributed on two sides of the central line of the screw rod (2), are connected with the screw rod nut seat (5) and move under the driving of the screw rod nut seat (5).
A seedling device is got to motor drive's cave dish seedling, its characterized in that rocker (8) symmetric distribution is connected on back mounting panel (4) in lead screw (2) central line both sides, connecting rod (7) link to each other with connecting rod (6), rocker (8) to move according to the design orbit under connecting rod (6) drive.
The plug seedling taking device driven by the motor is characterized in that the seedling claws (9) are symmetrically distributed on two sides of the central line of the screw rod (2) and are arranged on the connecting rod (7) to finish the seedling taking action.
The plug seedling taking device driven by the motor is characterized in that the front mounting plate and the rear mounting plate (4) are symmetrically mounted in the front and the rear of the rack (3).
The invention has the following effects: the mechanism adopts a servo motor, has high measuring sensitivity and high precision, accurately controls the motor through a corresponding controller and a control strategy, and then accurately controls the hole-entering angle and the clamping force so as to realize the flexible clamping of the pot seedling clamping mechanism on the pot seedling substrate, reduce the damage of the pot seedling substrate, and simultaneously ensure the real-time performance of control and the adaptability to different seedling trays and pot seedlings. In addition, 65Mn with certain elasticity is adopted as the seedling claw material, so that matrix damage can be reduced, and the transplanting survival rate can be improved.
Drawings
FIG. 1 is an isometric view of the mechanism;
FIG. 2 is a front view of the mechanism;
FIG. 3 is an isometric view of a lead screw nut mount;
FIG. 4 is an isometric view of a link;
FIG. 5 is an isometric view of a seedling claw.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a motor (1), a screw (2), a frame (3), a front and rear mounting plate (4), a screw nut seat (5), a connecting rod (6), a connecting rod (7), a rocker (8) and a seedling claw (9). The novel electric bicycle is characterized in that a front mounting plate and a rear mounting plate (4) are mounted in the front and the rear of a rack (3), a motor (1) is fixed above the rack (3) and connected with a lead screw (2) through a coupler, power of a certain rule is transmitted to the lead screw (2) under the control of a controller, the lead screw (2) is fixed on the rack (3), a lead screw nut seat (5) is mounted on the lead screw (2), and moves up and down through the rotation of the lead screw (2), a connecting rod (6) is connected with the lead screw nut seat (5) and moves under the driving of the lead screw nut seat (5). The rocker (8) is connected on the rear mounting plate (4), and the connecting rod (7) is connected with the connecting rod (6) and the rocker (8) and moves according to a designed track under the drive of the connecting rod (6). The seedling claw (9) is arranged on the connecting rod (7) to finish the seedling taking action.
The end effector is combined with a controller and a driver, and a proper control method is adopted, so that the hole entering angle and the clamping force are controlled by accurately controlling the motor, the pot seedling clamping mechanism flexibly clamps the pot seedling substrate, the damage to the pot seedling substrate is reduced, and the real-time performance of control is ensured.
Claims (4)
1. The utility model provides a motor drive's plug seedling device of getting, including motor (1), lead screw (2), frame (3), front and back mounting panel (4), lead screw nut seat (5), connecting rod (6), connecting rod (7), rocker (8), seedling claw (9), its characterized in that motor (1) is installed directly over frame (3), the front and back of frame (3) is installed in front and back mounting panel (4), install on lead screw (2) lead screw nut seat (5), connecting rod (6) are connected with lead screw nut seat (5), rocker (8) are connected on back mounting panel (4), connecting rod (7) and connecting rod (6), rocker (8) link to each other, seedling claw (9) are installed on connecting rod (7).
2. The motor-driven plug seedling picking device according to claim 1, wherein the connecting rod, the connecting rod and the rocking bar are symmetrically distributed on two sides of the screw rod, wherein the connecting rod (6) is driven by the screw rod nut seat (5) to move, and the connecting rod (7) and the rocking bar (8) are driven by the connecting rod (6) to move according to a designed track.
3. The plug seedling picking device driven by the motor as claimed in claim 1, wherein the motor is connected with the lead screw through a coupling to drive the lead screw to rotate, and further drive the nut seat of the lead screw to move up and down to complete the designated opening and closing action.
4. The plug seedling taking device driven by the motor as claimed in claim 1, wherein the front and rear fixed mounting plates, the rack and the screw nut seat are made of 45# steel, the connecting rod and the rocker are made of 6061 hard aluminum, and the seedling claw is made of spring steel 65 Mn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021900081.8U CN212993018U (en) | 2020-09-03 | 2020-09-03 | Motor-driven plug seedling taking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021900081.8U CN212993018U (en) | 2020-09-03 | 2020-09-03 | Motor-driven plug seedling taking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212993018U true CN212993018U (en) | 2021-04-20 |
Family
ID=75474859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021900081.8U Expired - Fee Related CN212993018U (en) | 2020-09-03 | 2020-09-03 | Motor-driven plug seedling taking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212993018U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111955116A (en) * | 2020-09-03 | 2020-11-20 | 石河子大学 | Motor-driven plug seedling taking device |
| CN115053677A (en) * | 2022-07-27 | 2022-09-16 | 浙江大学 | Rope control plug seedling transplanter end effector |
-
2020
- 2020-09-03 CN CN202021900081.8U patent/CN212993018U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111955116A (en) * | 2020-09-03 | 2020-11-20 | 石河子大学 | Motor-driven plug seedling taking device |
| CN115053677A (en) * | 2022-07-27 | 2022-09-16 | 浙江大学 | Rope control plug seedling transplanter end effector |
| CN115053677B (en) * | 2022-07-27 | 2024-02-13 | 浙江大学 | End effector of rope control plug seedling 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210420 |