WO2019006850A1 - 一种钵苗移栽机柔性往复直线式分苗装置 - Google Patents

一种钵苗移栽机柔性往复直线式分苗装置 Download PDF

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Publication number
WO2019006850A1
WO2019006850A1 PCT/CN2017/100969 CN2017100969W WO2019006850A1 WO 2019006850 A1 WO2019006850 A1 WO 2019006850A1 CN 2017100969 W CN2017100969 W CN 2017100969W WO 2019006850 A1 WO2019006850 A1 WO 2019006850A1
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Prior art keywords
seedling
fixed
cup
frame
seedling cup
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PCT/CN2017/100969
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English (en)
French (fr)
Inventor
杨启志
石新异
依巴尔·阿罕默德
李雯
胡建平
徐莉
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Jiangsu University
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Jiangsu University
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Priority to US16/304,949 priority Critical patent/US11510358B2/en
Publication of WO2019006850A1 publication Critical patent/WO2019006850A1/zh
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
    • A01G9/029—Receptacles for seedlings
    • A01G9/0299—Handling or transporting of soil blocks or seedlings

Definitions

  • the invention belongs to the field of automatic transplanting in agriculture, and particularly relates to a flexible reciprocating linear seedling device for seedling transplanting machine.
  • transplanting machine has various types and functions. But generally it is a general-purpose transplanter. Due to the differences in the size and physical properties of various vegetable seedlings, the planting requirements such as row spacing, plant spacing, and the number of rows of the same ridge planting are not the same.
  • the general-purpose transplanting machine is applied to various types of vegetable fields in China. It has certain difficulty. From the beginning of seedling cultivation to transplanting, there are many repetitive labors in the middle of the seedlings. It is easy to cause fatigue to people in manual operation, and it is prone to leakage and other problems. Whether the transplanting of the plug can achieve automatic high speed is particularly important.
  • the seedling device is a key link in the field of automatic transplanting. If the seedling device is directly taken out from the plug tray and placed in the planter, the position of the seedling and the positional relationship of the planter should be considered in the middle, and the seedling time and planting should be taken. The motion state of the device is matched and the process is not reliable. Therefore, the seedling device is required to reasonably allocate the quickly taken seedlings, accurately receive the seedlings of the seedling picking device, and accurately throw the seedlings into the planting device.
  • the seedling device generally adopts rigid transmission, and the motion stability is not so good, and the vibration has a large vibration affecting the seedling precision.
  • the object of the present invention is to provide a flexible reciprocating linear seedling device for seedling transplanting machine, which is a kind of seedling shifting based on synchronous belt (toothed belt) transmission.
  • Planting machine flexible reciprocating linear seedling device The device adopts synchronous belt (toothed belt) flexible transmission and reciprocating linear motion.
  • the flexible synchronous belt can buffer shock absorption.
  • the vibration shock of the device is small, the movement is stable and reliable, and the seedling can be accurately matched at a specified position, and the seedlings can be divided into two rows.
  • the technical scheme of the invention is: a flexible reciprocating linear seedling device for a seedling transplanting machine, comprising a frame, a seedling cup opening and closing device, a flexible linear transmission device, a seedling cup moving device, a plurality of seedling cups and a control system;
  • a flexible linear transmission device is fixed on the frame;
  • the flexible linear transmission device includes a driven shaft, a driven synchronous wheel, a flexible timing belt (toothed belt), a first toothed slider, and a second toothed slider.
  • motor coupling, tensioning pulley, active synchronous wheel, drive shaft and tensioning axle;
  • the timing belt is installed in the groove of the frame, and the two ends of the synchronous belt are respectively combined with the active synchronous wheel and the driven synchronous wheel Connecting;
  • the active synchronous wheel sleeve is on the drive shaft, and the drive shaft passes through the bearing Mounted at one end of the frame, the motor is connected to one end of the drive shaft through a coupling;
  • the driven synchronous wheel sleeve is mounted on the driven shaft, and the driven shaft is mounted on the other end of the frame through a bearing;
  • the first toothed type slider and the second toothed type slider are engaged by the toothed type to the timing belt and connected to the seedling cup moving device;
  • a seedling cup opening and closing device is installed on the seedling cup moving device, and a seedling cup is fixed on the seedling cup moving device;
  • the control system is electrically connected to the motor and the seed cup opening and closing device respectively; the control system controls the motor to drive the flexible linear transmission device to move the seedling cup moving device to drive the seedling cup to reach the designated position to receive the seedling, and the control system is opened through the seedling cup The device controls the opening and closing of the seedling cup, and the seedlings are dropped at the designated falling point.
  • the other end of the driving shaft passes through the first circular end cover, the second small retaining ring, the second large retaining ring, the second bearing, the active synchronous wheel, the first small retaining ring, and the like, from the front to the rear.
  • the second bearing and the first bearing are respectively mounted in the card slots on the left and right sides of one end of the frame; the lower end of the second square gland has a card slot, and the second square gland is pressed on the first bearing and Fixed on the frame, the first large retaining ring is placed in the card slot, and the first small retaining ring is placed in the card slot provided at one end of the driving shaft;
  • the third end shaped gland has a card slot, the third-party gland is pressed on the second bearing and fixed on the frame, the second large ring is placed in the card slot, and the second small ring is placed Placed in the card slot provided at the other end of the drive shaft.
  • the bearings at both ends of the driven shaft are respectively installed in the card slots on the left and right sides of the other end of the rack;
  • the lower ends of the first square gland and the fourth square gland respectively have a card slot and are respectively pressed on the bearings at both ends of the driven shaft; the first square gland and the fourth square gland are fixed at On the rack.
  • the first square gland, the second square gland, the third-party gland and the fourth square gland are respectively fixed to the frame by screws.
  • one end of the tensioning axle and the upper end of the first Z-shaped connecting member are connected by a first double stud, and the lower end of the first Z-shaped connecting member is fixed to one side of the frame by screws;
  • the other end of the tensioning axle is connected to the upper end of the second Z-shaped connector by a second stud, and the lower end of the second Z-shaped connector is fixed to the other side of the frame by screws;
  • the seed cup moving device comprises a seedling cup connecting frame, a linear slider and a linear guide;
  • the seedling cup connecting frame has a U-shaped end with one opening facing the horizontal side and a vertical flat plate at the other end, and the U-shaped end of the Miao cup connecting frame is fixed by bolts to the synchronous toothed type.
  • the linear slider slides on the linear guide rail through the inner groove, and the linear guide rail is fixed to the frame by bolting, and the middle portion of the vertical flat end of the seedling cup connecting frame is fixed on the linear slider by screws.
  • the seedling cup comprises a seedling cup body, a connecting rod, a first hinge, a second hinge and a spring;
  • the body of the seedling cup is fixed to the seedling cup connecting frame by bolts;
  • the lower end of the first hinge is fixedly connected to the upper end of the leaflet of the opening side of the seedling cup body, and the lower end of the second hinge is fixedly connected with the upper end of the leaflet of the other side of the opening of the seedling cup body; the first hinge And the second hinge is respectively connected to the body of the seedling cup;
  • the two ends of the connecting rod are respectively fixed to one ends of the first hinge and the second hinge by bolts, so as to ensure that the opening of the lower end of the body of the seedling cup can be opened when the seedling cup moves; the two sides of the spring are respectively fixed at the first joint The other end of the page and the second hinge ensures that the opening of the body of the seedling cup when the seedling cup is stationary is closed.
  • the seedling cup opening and closing device comprises a cylinder connecting member, a cylinder and a brake wire;
  • the cylinder is fixed on the cylinder connecting member, and the cylinder connecting member is fixed at one end of the U-shaped connection of the seed cup connecting frame;
  • One end of the brake wire is fixed on the second hinge by its own wire winding characteristic, and the other end of the brake wire is fixed on the protruding shaft of the cylinder by its own wire winding characteristic, and the movement of the cylinder pulls and relaxes the brake wire to realize the seedling.
  • the opening and closing of the cup is fixed on the second hinge by its own wire winding characteristic, and the other end of the brake wire is fixed on the protruding shaft of the cylinder by its own wire winding characteristic, and the movement of the cylinder pulls and relaxes the brake wire to realize the seedling.
  • the seedling device of the invention has simple structure, controllable program, high precision, the seedling cup is vertically downward, the falling seedling posture is good, and the flexible transmission is adopted, thereby greatly reducing vibration and noise.
  • the flexible linear transmission device of the present invention combines a power source motor, a synchronous wheel, a timing belt and a toothed slider through a frame, and has a compact and simple structure, and the seed cup connecting frame and the flexible straight line in the seedling cup moving device
  • the toothed sliders in the transmission that have been meshed with the synchronous toothed type are bolted together, and the synchronous belt is flexibly moved to reduce noise and absorb vibration.
  • the seed cup opening and closing device of the present invention comprises a cylinder connecting member, a cylinder and a brake wire, and one end of the brake wire is connected to the cylinder extension shaft, and one end is attached to the hinge of the seedling cup.
  • the cylinder acts to pull and relax the brake line, and the brake line directly drives the hinge of the seedling cup to move up and down to realize the opening and closing action of the seedling cup, and the structure is simple and the reaction is rapid.
  • the combination of the seedling cup and the seedling cup moving device and the seedling cup opening and closing device of the invention realizes that the seedling cup is fixed at a fixed point, and the posture of the falling seedling is good, and the purpose of timing and spotting can be realized.
  • FIG. 1 is a schematic structural view of a seedling transplanting device according to the present invention.
  • FIG. 2 is a schematic structural view of a linear actuator according to the present invention.
  • FIG. 3 is a schematic view showing the structure of the linear transmission device according to the present invention.
  • FIG. 4 is a schematic structural view of a seedling cup moving device according to the present invention.
  • Figure 5 is a left side view of the seedling cup of the present invention.
  • Figure 6 is a right side view of the seedling cup of the present invention.
  • Figure 7 is a schematic view showing the structure of the seedling cup opening and closing device according to the present invention.
  • the flexible reciprocating linear seedling device of the seedling transplanting machine comprises a rack 1, a seedling cup opening and closing The device 2, the flexible linear transmission device 3, the seedling cup moving device 4, a plurality of seedling cups 5 and a control system.
  • a flexible linear transmission device 3 and a seedling cup moving device 4 are fixed on the frame 1.
  • the flexible linear transmission device 3 is fixed with a seed cup moving device 4, and the seed cup moving device 4 is fixed with a seed cup opening and closing.
  • the seedling cup moving device 4 is fixed with a seedling cup 5, and the flexible linear transmission device 3 drives the seedling cup 5 to reach a designated position to receive the seedlings grasped by the seedling claws.
  • the control system is electrically connected to the motor 13 of the flexible linear transmission device 3 and the cylinder 43 of the seedling cup opening and closing device 2, respectively; the control system controls the motor 13 to drive the flexible linear transmission device 3 to move the seedling cup moving device 4 to drive the seedling cup 5 Receiving the seedlings at the designated position, the control system controls the opening and closing of the seedling cups 5 through the seedling cup opening and closing device 2, and drops the seedlings at the designated falling point.
  • the flexible linear transmission device 3 includes a first square gland 6, a driven shaft 7, a driven synchronous wheel 8, a timing belt 9, a first toothed slider 10, and a second. Toothed slider 11, first Z-shaped connector 12, motor 13, coupling 14, first stud 15, first square gland 16, first small retaining ring 17, tensioning wheel 18, active Synchronous wheel 19, drive shaft 20, third-party gland 21, first round end cap 22, second Z-connector 23, second double head Stud 24, tensioning axle 25, second circular end cap 26, fourth square gland 27, spring washer 28, first bearing bearing 29, first large retaining ring 30, third circular end cap 31, The second small retaining ring 32, the second bearing 33, and the second large retaining ring 34.
  • the motor 13 is connected to one end of the driving shaft 20 through a coupling 14 , and the other end of the driving shaft 20 passes through the first circular end cover 22 , the second small blocking ring 32 , and the second large gear in sequence from the front to the rear.
  • the triangular gland 21 is fixed to the frame 1.
  • the driven shaft 7 is sleeved on the driven synchronous wheel 8, and is fixed to the frame 1 by a first square gland 6 and a fourth square gland 27.
  • the first toothed slider 10 and the second toothed slider 11 are in contact with the timing belt 9 by a toothed engagement and are fixed to the seed cup holder 35 by bolting.
  • the tensioning wheel shaft 25 is sleeved on the tensioning wheel 18, connected to the upper end of the first Z-shaped connecting member 12 through the first stud bolt 15, and connected to the upper end of the second Z-shaped connecting member 23 through the second stud stud 24.
  • the lower end of the first Z-shaped connector 12 and the lower end of the second Z-shaped connector 23 are respectively fixed on both sides of the frame 1 by screws, and the first stud 15 is located at the first Z-connection.
  • the upper portion of the member 12 and the second stud 24 are respectively placed on the upper portion of the second Z-shaped connecting member 23 with spring washers 28 and respectively tightened by nuts, and the tensioning pulleys 18 are synchronized by the nut forward and reverse rotation control.
  • the second bearing 33 and the first bearing 29 are respectively mounted in the card slots on the left and right sides of one end of the frame 1; the second square gland 16 has a card slot at the lower end, and the second square gland 16 is pressed
  • the first bearing 29 is fixed on the frame 1, the first large retaining ring 30 is placed in the card slot, and the first small retaining ring 17 is placed in the card slot provided at one end of the driving shaft 20;
  • One side of the bearing 29 is blocked by the first large retaining ring 30, and the other side is blocked by the first small retaining ring 17 and is fixed to the frame 1 by the second square gland 16.
  • the third end of the third pressure retaining cover 21 has a card slot, the third-shaped pressure cover 21 is pressed on the second bearing 33 and fixed on the frame 1, and the second large retaining ring 34 is placed in the card slot.
  • the second small retaining ring 32 is placed in the slot provided at the other end of the driving shaft 20; the second bearing 33 side is blocked by the second large retaining ring 34, and the other side is blocked by the second small retaining ring 32, and further
  • the first square gland 6, the second square gland 16, the third-party gland 21 and the fourth square gland 27 are fixed to the frame by screws by the third-shaped gland 21 1 on.
  • the seedling cup moving device 4 includes a seedling cup connecting frame 35, a linear slider 36, and a linear guide 37.
  • the seedling cup connecting frame 35 has a U-shaped end with one opening facing the horizontal side and a vertical flat plate at the other end, and the U-shaped end of the seedling cup connecting frame 35 is fixed by bolts and the timing belt.
  • 9-tooth-shaped first toothed slider 10 and second toothed slider 11 the linear slider 36 is slid on the linear guide by an inner groove, and the linear guide 37 is fixed to the frame 1 by bolting Above, the middle of the vertical flat end of the seedling cup connector 35 is fixed by screws It is fixed on the linear slider 36.
  • the seedling cup body 38 of the seedling cup 5 is fixed to the seedling cup connecting frame 35 by bolts.
  • the number of the seedling cups is four.
  • the seedling cup 5 includes a seedling cup body 38, a connecting rod 39, a first hinge 40, a second hinge 41, and a spring 42.
  • the first hinge 40 and the second page 41 are rotatably connected to the seedling cup body 38 to fix the two sides, and the two ends of the connecting rod 39 are respectively fixed to the first hinge 40 and the second hinge 41 by bolts, thereby ensuring The Miao Cup can be opened during exercise.
  • the two sides of the spring 42 are fixed to the first hinge 40 and the second hinge 41, respectively, to ensure a closed state when the seedling cup 5 is stationary.
  • the seedling cup opening and closing device 2 includes a cylinder connecting member 44, a cylinder 43, and a brake wire 45.
  • the cylinder 43 is fixed to the cylinder connecting member 44 by screws.
  • the cylinder connecting member 44 is fixed to the seedling cup connecting frame 35 by bolts, and one end of the brake wire 45 is fixed to the second hinge 41 by its own wire winding characteristic.
  • the other end of the brake wire 45 is fixed on the extension shaft of the cylinder 43 by its own wire winding characteristic, and the movement of the cylinder 43 and the release of the brake wire 45 directly realize the opening and closing of the seedling cup.
  • the motor 13 By inputting power to the motor 13, the motor 13 rotates the active synchronous wheel 19, and the active synchronous wheel 19 drives the timing belt 9 to move.
  • the timing belt 9 drives the first toothed slider 10 and the second toothed slider 11 to move left and right, the first tooth.
  • the type slider 10 and the second toothed slider 11 drive the seedling cup connecting frame 35 to move left and right, and finally the seedling cup connecting frame 35 drives the seedling cup 5 to move left and right.
  • the seedlings were placed in the four seedling cups 5 shown in the figure.
  • the motor 13 stops rotating, and the cylinder 43 pushes the seedling cup opening and closing device 2 to open the first seedling cup 5 and the third seedling cup 5, and starts to fall.
  • the motor 13 continues to rotate, and the second seedling cup 5 and the fourth seedling cup 5 are driven to stop rotating when the specified seedling point is reached, and the cylinder 43 pulls the brake wire 45 to push the seedling cup 5 to open the seedling.
  • the cylinder 43 relaxes the brake line 45 to close the seedling cup 5; the motor 13 reversely drives the seedling cup 5 to return the seedlings. In this way, the purpose of distributing seedlings in the seedling cups in the seedling device is achieved.
  • the control system in this embodiment includes a programming computer, a touch screen, a PLC controller, and a servo motor drive system.
  • the programming computer is used for writing and downloading program instructions;
  • the touch screen controller is used for online monitoring of the release and operation status of the seedling device control command;
  • the PLC controller controls the forward and reverse rotation of the motor 13 and the expansion and contraction of the extended axis of the cylinder 43;
  • the servo motor drive The system receives PLC controller control commands for driving the relevant partial mechanical loads.

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Transplanting Machines (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Abstract

一种钵苗移栽机柔性往复直线式分苗装置，包括机架（1）、苗杯开合装置（2）、柔性直线传动装置（3）、苗杯移动装置（4）、若干个苗杯（5）和控制系统；机架上固定有柔性直线传动装置，柔性直线传动装置上固定有苗杯移动装置，苗杯移动装置上固定有苗杯开合装置，苗杯移动装置上固定有苗杯，控制系统分别与柔性直线传动装置的电机（13）和苗杯开合装置的气缸（43）电连接；控制系统控制电机驱动柔性直线传动装置移动苗杯移动装置带动苗杯到达指定位置接收钵苗，控制系统通过苗杯开合装置控制苗杯的开合，将钵苗落在指定落苗点。该分苗装置结构简单、程序可控、可靠性高，通过柔性传动，运动平稳，减少噪音和振动；电机驱动苗杯左右往复直线移动，气缸推动苗杯开合，苗杯竖直向下，落苗姿态较好。

Description

一种钵苗移栽机柔性往复直线式分苗装置 技术领域
本发明属于农业中自动化移栽领域，具体涉及一种钵苗移栽机柔性往复直线式分苗装置。
背景技术
目前机械化移栽已经得到了较大的发展，移栽机种类繁多，功能多样。但是一般都是通用型移栽机。由于各种蔬菜秧苗的尺寸及物理特性存在一定的差异，对栽植要求如行距、株距、同一垄栽植行数也不尽相同，将通用型移栽机大规模应用于我国各种类型的蔬菜田具有一定难度。穴盘苗从最开始的育苗到移栽，中间有许多重复性的劳动，手工连续作业容易对人产生疲劳，容易出现漏苗和其他问题。穴盘的移栽能否实现自动高速显得尤为关键。
分苗装置是自动化移栽领域的一个关键性的环节，取苗装置如果直接将苗从穴盘中取出放到栽植器，中间需要考虑取苗位置和栽植器的位置关系，取苗时间和栽植器的运动状态配合关系，过程不可靠。因此需要分苗装置合理分配快速取来的苗，准确接收取苗装置的苗，准确丢苗到栽植装置里。分苗装置一般采用刚性传动，运动平稳性不太好，有较大振动影响分苗精度。
发明内容
本发明的目的是针对上述问题提供一种本发明提供了一种钵苗移栽机柔性往复直线式分苗装置，该分苗装置是一种基于同步带(齿形带)传动的钵苗移栽机柔性往复直线式分苗装置。该装置采用同步带(齿形带)柔性传动且往复直线运动，柔性的同步带可缓冲吸振，装置振动冲击小、运动平稳可靠，能够实现在指定位置准确配苗，实现将苗分两行从苗杯下口落苗的分苗动作。
本发明的技术方案是：一种钵苗移栽机柔性往复直线式分苗装置，包括机架、苗杯开合装置、柔性直线传动装置、苗杯移动装置、若干个苗杯和控制系统；
所述机架上固定有柔性直线传动装置；所述柔性直线传动装置包括从动轴、从动同步轮、柔性同步带(齿形带)、第一齿型滑块、第二齿型滑块、电机、联轴器、张紧轮、主动同步轮、主动轴和张紧轮轴；所述同步带安装在机架的凹槽内，同步带的两端分别与主动同步轮和从动同步轮连接；所述主动同步轮套在主动轴上，所述主动轴通过轴承 安装在机架的一端，所述电机通过联轴器与主动轴的一端相连；所述从动同步轮套在从动轴上，所述从动轴通过轴承安装在机架的另一端；所述第一齿型滑块和第二齿型滑块由齿型啮合贴紧同步带、并与苗杯移动装置连接；所述张紧轮套在张紧轮轴上、且紧贴在同步带的上面，张紧轮轴的两端分别与机架的两侧连接；
所述苗杯移动装置上安装苗杯开合装置，所述苗杯移动装置上固定有苗杯；
所述控制系统分别与电机和苗杯开合装置电连接；所述控制系统控制电机驱动柔性直线传动装置移动苗杯移动装置带动苗杯到达指定位置接收钵苗，所述控制系统通过苗杯开合装置控制苗杯的开合，将钵苗落在指定落苗点。
上述方案中，所述主动轴的另一端从前往后依次穿过第一圆形端盖、第二小挡环、第二大挡环、第二轴承、主动同步轮、第一小挡环、第一轴承、第一大挡环和第三圆形端盖；
所述第二轴承和第一轴承分别安装在机架一端的左右两侧的卡槽内；所述第二方形压盖下端有卡槽，所述第二方形压盖压在第一轴承上且固定在机架上，所述第一大挡环放置于卡槽内，第一小挡环放置于主动轴一端设有的卡槽内；
所述第三方形压盖下端有卡槽，所述第三方形压盖压在第二轴承上且固定在机架上，所述第二大挡环放置于卡槽内，第二小挡环放置于主动轴另一端设有的卡槽内。
上述方案中，所述从动轴两端的轴承分别安装在机架另一端左右两侧的卡槽内；
所述第一方形压盖和第四方形压盖的下端分别开有卡槽、且分别压在从动轴两端的轴承上；所述第一方形压盖和第四方形压盖固定在机架上。
上述方案中，所述第一方形压盖、第二方形压盖、第三方形压盖和第四方形压盖分别通过螺钉固定在机架上。
上述方案中，所述张紧轮轴的一端与第一Z型连接件上端通过第一双头螺柱连接，第一Z型连接件的下端通过螺钉固定在机架的一侧；
所述张紧轮轴的另一端与第二Z型连接件上端通过第二双头螺柱连接，第二Z型连接件的下端通过螺钉固定在机架的另一侧；
所述第一双头螺柱位于第一Z型连接件的上部，以及第二双头螺柱位于第二Z型连接件的上部分别套有弹簧垫片、且分别通过螺母拧紧。上述方案中，所述苗杯移动装置包括苗杯连接架、直线滑块和直线导轨；
所述苗杯连接架的形状为一端是一个开口朝向水平一侧的U型，另一端为竖直的平板，所述苗杯连接架U型一端通过螺栓固定在与同步带齿型啮合的第一齿型滑块和第二 齿型滑块上；
所述直线滑块通过内槽在直线导轨上滑动，所述直线导轨通过螺栓连接固定在机架上，所述苗杯连接架的竖直平板端的中部通过螺钉固定在直线滑块上。
上述方案中，所述苗杯包括苗杯主体、连接杆、第一合页、第二合页和弹簧；
所述苗杯主体通过螺栓固定于苗杯连接架上；
所述述第一合页的下端与苗杯主体的开口一侧活页的上端固定连接，第二合页的下端与苗杯主体的开口另一侧活页的上端固定连接；所述第一合页和第二合页分别与苗杯主体转动连接；
所述连接杆的两端通过螺栓分别固定在第一合页和第二合页的一端，确保苗杯运动时苗杯主体下端的开口能张开；所述弹簧的两边分别固定在第一合页和第二合页的另一端，确保苗杯静止时的苗杯主体开口闭合。
上述方案中，所述苗杯开合装置包括气缸连接件、气缸和刹车线；
所述气缸固定在气缸连接件上，所述气缸连接件固定在苗杯连接架U型的一端；
所述刹车线的一端通过自身线缠绕特性固定于第二合页上，所述刹车线的另一端通过自身线缠绕特性固定在气缸的伸出轴上，气缸的运动拉动和放松刹车线实现苗杯的开合。
与现有技术相比，本发明的有益效果是：
1.本发明分苗装置结构简单、程序可控，精度高，苗杯竖直向下，落苗姿态好，采用柔性传动，大大减少振动和噪声。
2.本发明所述柔性直线传动装置通过机架将动力源电机、同步轮、同步带、齿型滑块组合一起，结构紧凑简单，所述苗杯移动装置中的苗杯连接架与柔性直线传动装置中已与同步带齿型啮合的齿型滑块通过螺栓固定在一起，同步带柔性运动，减噪吸振。
3.本发明所述苗杯开合装置包括气缸连接件、气缸、刹车线，刹车线一端连在气缸伸出轴上，一端系在苗杯的合页上。气缸作用拉动和放松刹车线，刹车线直接带动苗杯合页向上和向下运动，实现苗杯的开合动作，结构简单，反应迅速。
4.本发明所述苗杯与苗杯移动装置、苗杯开合装置组合成的组件实现了苗杯定时定点落苗，落苗姿态姿态较好，能实现定时定点落苗的目的。
附图说明
图1为本发明所述的移栽机分苗装置的结构示意图。
图2为本发明所述的直线传动装置的结构示意图。
图3为本发明所述的直线传动装置的结构补充示意图。
图4为本发明所述的苗杯移动装置的结构示意图。
图5为本发明所述的苗杯的左视图。
图6为本发明所述的苗杯的右视图。
图7为本发明所述的苗杯开合装置的结构示意图。
图中，1-机架、2-苗杯开合装置、3-柔性直线传动装置、4-苗杯移动装置、5-苗杯、6-第一方形压盖、7-从动轴、8-从动同步轮、9-同步带、10-第一齿型滑块、11-第二齿型滑块、12-第一Z型连接件、13-电机、14-联轴器、15-第一双头螺柱、16-第二方形压盖、17-第一小挡环、18-张紧轮、19-主动同步轮、20-主动轴、21-第三方形压盖、22-第一圆形端盖、23-第二Z型连接件、24-第二双头螺柱、25-张紧轮轴、26-第二圆形端盖、27-第四方形压盖、28-弹簧垫片、29-第一轴承、30-第一大挡环、31-第三圆形端盖、32-第二小挡环、33-第二轴承、34-第二大挡环、35-苗杯连接架、36-直线滑块、37-直线导轨、38-苗杯主体、39-连接杆、40-第一合页、41-第二合页、42-弹簧、43-气缸、44-气缸连接件、45-刹车线。
具体实施方式
下面结合附图和具体实施方式对本发明作进一步详细说明，但本发明的保护范围并不限于此。
图1所示为本发明所述钵苗移栽机柔性往复直线式分苗装置的一种实施方式，所述钵苗移栽机柔性往复直线式分苗装置包括机架1、苗杯开合装置2、柔性直线传动装置3、苗杯移动装置4、若干个苗杯5和控制系统。所述机架1上固定有柔性直线传动装置3、苗杯移动装置4，所述柔性直线传动装置3上固定有苗杯移动装置4，所述苗杯移动装置4上固定有苗杯开合装置2，所述苗杯移动装置4上固定有苗杯5，所述柔性直线传动装置3驱动苗杯5到达指定位置接受投苗爪抓取的钵苗。所述控制系统分别与柔性直线传动装置3的电机13和苗杯开合装置2的气缸43电连接；所述控制系统控制电机13驱动柔性直线传动装置3移动苗杯移动装置4带动苗杯5到达指定位置接收钵苗，所述控制系统通过苗杯开合装置2控制苗杯5的开合，将钵苗落在指定落苗点。
如图2、图3所示，所述柔性直线传动装置3包括第一方形压盖6、从动轴7、从动同步轮8、同步带9、第一齿型滑块10、第二齿型滑块11、第一Z型连接件12、电机13、联轴器14、第一双头螺柱15、第二方形压盖16、第一小挡环17、张紧轮18、主动同步轮19、主动轴20、第三方形压盖21、第一圆形端盖22、第二Z型连接件23、第二双头 螺柱24、张紧轮轴25、第二圆形端盖26、第四方形压盖27、弹簧垫片28、第一轴承轴承29、第一大挡环30、第三圆形端盖31、第二小挡环32、第二轴承33、第二大挡环34。
所述电机13通过联轴器14与主动轴20的一端相连，所述主动轴20的另一端从前往后依次穿过第一圆形端盖22、第二小挡环32、第二大挡环34、第二轴承33、主动同步轮19、第一小挡环17、第一轴承29、第一大挡环30和第三圆形端盖31，并通过第二方形压盖16和第三方形压盖21固定在机架1上。
所述从动轴7套上从动同步轮8，通过第一方形压盖6和第四方形压盖27固定在机架1上。所述第一齿型滑块10和第二齿型滑块11由齿型啮合贴紧同步带9并通过螺栓连接固定在苗杯连接架35上。
所述张紧轮轴25套上张紧轮18，通过第一双头螺柱15与第一Z型连接件12上端连接，通过第二双头螺柱24与第二Z型连接件23上端相连，所述第一Z型连接件12的下端和第二Z型连接件23的下端分别通过螺钉固定在机架1的两侧上，所述第一双头螺柱15位于第一Z型连接件12的上部，以及第二双头螺柱24位于第二Z型连接件23的上部分别套有弹簧垫片28、且分别通过螺母拧紧，所述张紧轮18通过螺母正反旋控制同步带9的张紧。
所述第二轴承33和第一轴承29分别安装在机架1一端的左右两侧的卡槽内；所述第二方形压盖16下端有卡槽，所述第二方形压盖16压在第一轴承29上且固定在机架1上，所述第一大挡环30放置于卡槽内，第一小挡环17放置于主动轴20一端设有的卡槽内；所述第一轴承29一侧被第一大挡环30挡住，另一侧被第一小挡环17挡住进而被第二方形压盖16固定于机架1上。
所述第三方形压盖21下端有卡槽，所述第三方形压盖21压在第二轴承33上且固定在机架1上，所述第二大挡环34放置于卡槽内，第二小挡环32放置于主动轴20另一端设有的卡槽内；所述第二轴承33一侧被第二大挡环34挡住，另一侧被第二小挡环32挡住，进而被第三方形压盖21固定于机架1上，所述第一方形压盖6、第二方形压盖16、第三方形压盖21和第四方形压盖27通过螺钉固定在机架1上。
如图4所示，所述苗杯移动装置4包括苗杯连接架35、直线滑块36、直线导轨37。所述苗杯连接架35的形状为一端是一个开口朝向水平一侧的U型，另一端为竖直的平板，所述苗杯连接架35的的、U型一端通过螺栓固定在与同步带9齿型啮合的第一齿型滑块10和第二齿型滑块11上，所述直线滑块36通过内槽在直线导轨上滑动，所述直线导轨37通过螺栓连接固定在机架1上，所述苗杯连接架35的竖直平板端的中部通过螺钉固 定在直线滑块36上。
如图5和图6所示，所述苗杯5的苗杯主体38通过螺栓固定于苗杯连接架35上，本实施例中所述苗杯的个数为4个。所述苗杯5包括苗杯主体38、连接杆39、第一合页40、第二合页41和弹簧42。所述第一合页40和合第二页41与苗杯主体38转动连接固定住两边，所述连接杆39的两端通过螺栓分别固定在第一合页40和第二合页41上，确保苗杯运动时能张开。所述弹簧42的两边分别固定在第一合页40和第二合页41上，确保苗杯5静止时的闭合状态。
如图7所示，所述苗杯开合装置2包括气缸连接件44、气缸43和刹车线45。所述气缸43通过螺钉固定在气缸连接件44上，所述气缸连接件44通过螺栓固定在苗杯连接架35上，所述刹车线45的一端通过自身线缠绕特性固定于第二合页41上，所述刹车线45的另一端通过自身线缠绕特性固定在气缸43的伸出轴上，气缸43的运动拉动和放松刹车线45直接实现苗杯的开合。
本发明的工作原理：
通过给电机13输入动力，电机13转动主动同步轮19，主动同步轮19带动同步带9移动，同步带9带动第一齿型滑块10、第二齿型滑块11左右移动，第一齿型滑块10、第二齿型滑块11带动苗杯连接架35左右移动，最后苗杯连接架35带动苗杯5左右移动。如图1所示，将苗装进图中所示的4个苗杯5中。当苗杯5带着苗运动到指定落苗点时，电机13停止转动，气缸43推动苗杯开合装置2使第一个苗杯5与第三个苗杯5下口打开，开始落苗；电机13继续转动，驱动第二个苗杯5和第四个苗杯5达到指定落苗点时停止转动，气缸43拉动刹车线45推动苗杯5打开落苗。当4个苗杯落苗结束后，气缸43放松刹车线45使苗杯5关闭；电机13反转驱动苗杯5回程重新装苗。这样便实现了分苗装置中分配苗杯中苗的目的。
本实施例中控制系统包括编程计算机、触摸屏、PLC控制器和伺服电机驱动系统。编程计算机用于程序指令的编写下载；触摸屏控制器用于分苗装置控制指令的下达和运行状态的在线监视；PLC控制器控制电机13的正反转和气缸43伸出轴的伸缩；伺服电机驱动系统接收PLC控制器控制指令，用于实现对相关部分机械负载的驱动。
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种钵苗移栽机柔性往复直线式分苗装置，其特征在于，包括机架(1)、苗杯开合装置(2)、柔性直线传动装置(3)、苗杯移动装置(4)、若干个苗杯(5)和控制系统；
    所述机架(1)上固定有柔性直线传动装置(3)；所述柔性直线传动装置(3)包括从动轴(7)、从动同步轮(8)、同步带(9)、第一齿型滑块(10)、第二齿型滑块(11)、电机(13)、联轴器(14)、张紧轮(18)、主动同步轮(19)、主动轴(20)和张紧轮轴(25)；所述同步带(9)安装在机架(1)的凹槽内，同步带(9)的两端分别与主动同步轮(19)和从动同步轮(8)连接；所述主动同步轮(19)套在主动轴(20)上，所述主动轴(20)通过轴承安装在机架(1)的一端，所述电机(13)通过联轴器(14)与主动轴(20)的一端相连；所述从动同步轮(8)套在从动轴(7)上，所述从动轴(7)通过轴承安装在机架(1)的另一端；所述第一齿型滑块(10)和第二齿型滑块(11)由齿型啮合贴紧同步带(9)、并与苗杯移动装置(4)连接；所述张紧轮(18)套在张紧轮轴(25)上、且紧贴在同步带(9)的上面，张紧轮轴(25)的两端分别与机架(1)的两侧连接；
    所述苗杯移动装置(4)上安装苗杯开合装置(2)，所述苗杯移动装置(4)上固定有苗杯(5)；
    所述控制系统分别与电机(13)和苗杯开合装置(2)电连接；所述控制系统控制电机(13)驱动柔性直线传动装置(3)移动苗杯移动装置(4)带动苗杯(5)到达指定位置接收钵苗，所述控制系统通过苗杯开合装置(2)控制苗杯(5)的开合，将钵苗落在指定落苗点。
  2. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述主动轴(20)的另一端从前往后依次穿过第一圆形端盖(22)、第二小挡环(32)、第二大挡环(34)、第二轴承(33)、主动同步轮(19)、第一小挡环(17)、第一轴承(29)、第一大挡环(30)和第三圆形端盖(31)；
    所述第二轴承(33)和第一轴承(29)分别安装在机架(1)一端的左右两侧的卡槽内；所述第二方形压盖(16)下端有卡槽，所述第二方形压盖(16)压在第一轴承(29)上且固定在机架(1)上，所述第一大挡环(30)放置于卡槽内，第一小挡环(17)放置于主动轴(20)一端设有的卡槽内；
    所述第三方形压盖(21)下端有卡槽，所述第三方形压盖(21)压在第二轴承(33)上且固定在机架(1)上，所述第二大挡环(34)放置于卡槽内，第二小挡环(32)放置 于主动轴(20)另一端设有的卡槽内。
  3. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述从动轴(7)两端的轴承分别安装在机架(1)另一端左右两侧的卡槽内；
    所述第一方形压盖(6)和第四方形压盖(27)的下端分别开有卡槽、且分别压在从动轴(7)两端的轴承上；所述第一方形压盖(6)和第四方形压盖(27)固定在机架(1)上。
  4. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述第一方形压盖(6)、第二方形压盖(16)、第三方形压盖(21)和第四方形压盖(27)分别通过螺钉固定在机架(1)上。
  5. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述张紧轮轴(25)的一端与第一Z型连接件(12)上端通过第一双头螺柱(15)连接，第一Z型连接件(12)的下端通过螺钉固定在机架(1)的一侧；
    所述张紧轮轴(25)的另一端与第二Z型连接件(23)上端通过第二双头螺柱(24)连接，第二Z型连接件(23)的下端通过螺钉固定在机架(1)的另一侧；
    所述第一双头螺柱(15)位于第一Z型连接件(12)的上部，以及第二双头螺柱(24)位于第二Z型连接件(23)的上部分别套有弹簧垫片(28)、且分别通过螺母拧紧。
  6. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述苗杯移动装置(4)包括苗杯连接架(35)、直线滑块(36)和直线导轨(37)；
    所述苗杯连接架(35)的形状为一端是一个开口朝向水平一侧的U型，另一端为竖直的平板，所述苗杯连接架(35)U型一端通过螺栓固定在与同步带(9)齿型啮合的第一齿型滑块(10)和第二齿型滑块(11)上；
    所述直线滑块(36)通过内槽在直线导轨(37)上滑动，所述直线导轨(37)通过螺栓连接固定在机架(1)上，所述苗杯连接架(35)的竖直平板端的中部通过螺钉固定在直线滑块(36)上。
  7. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述苗杯(5)包括苗杯主体(38)、连接杆(39)、第一合页(40)、第二合页(41)和弹簧(42)
    所述苗杯主体(38)通过螺栓固定于苗杯连接架(35)上；
    所述述第一合页(40)的下端与苗杯主体(38)的开口一侧活页的上端固定连接，第二合页(41)的下端与苗杯主体(38)的开口另一侧活页的上端固定连接；所述第一合页 (40)和第二合页(41)分别与苗杯主体(38)转动连接；
    所述连接杆(39)的两端通过螺栓分别固定在第一合页(40)和第二合页(41)的一端，确保苗杯运动时苗杯主体(38)下端的开口能张开；所述弹簧(42)的两边分别固定在第一合页(40)和第二合页(41)的另一端，确保苗杯静止时的苗杯主体(38)开口闭合。
  8. 根据权利要求1所述的钵苗移栽机柔性往复直线式分苗装置，其特征在于，所述苗杯开合装置(2)包括气缸连接件(44)、气缸(43)和刹车线(45)；
    所述气缸(43)固定在气缸连接件(44)上，所述气缸连接件(44)固定在苗杯连接架(35)U型的一端；
    所述刹车线(45)的一端固定于第二合页(41)上，刹车线(45)的另一端固定在气缸(43)的伸出轴上，气缸(43)的运动拉动和放松刹车线(45)实现苗杯(5)的开合。
PCT/CN2017/100969 2017-07-05 2017-09-08 一种钵苗移栽机柔性往复直线式分苗装置 Ceased WO2019006850A1 (zh)

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