WO2021237986A1 - 嫁接苗气动抓取夹爪系统 - Google Patents
嫁接苗气动抓取夹爪系统 Download PDFInfo
- Publication number
- WO2021237986A1 WO2021237986A1 PCT/CN2020/116177 CN2020116177W WO2021237986A1 WO 2021237986 A1 WO2021237986 A1 WO 2021237986A1 CN 2020116177 W CN2020116177 W CN 2020116177W WO 2021237986 A1 WO2021237986 A1 WO 2021237986A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cylinder
- grafted
- air
- grafted seedling
- mounting plate
- Prior art date
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 239000006261 foam material Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Images
Classifications
-
- 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
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/38—Holding; Ligating
Definitions
- This application relates to the technical field of automated breeding equipment, for example, to a pneumatic grasping gripper system for grafted seedlings.
- the grafting operation is mostly manual and the labor intensity is high.
- the demand for automated grafting equipment is increasing.
- many grafting machines on the market are more difficult to control is the clamping control of the seedlings, some are directly controlled by a cylinder, and some are directly clamped by a spring. Neither of the above two control methods can solve the problem of constant clamping force, and the problem of pinching or falling off of grafted seedlings often occurs.
- This application provides a pneumatic grasping gripper system for grafted seedlings.
- An embodiment provides a pneumatic grasping jaw system for grafted seedlings, which includes a guide rail and a corresponding sliding block.
- a mounting plate is connected to the sliding block.
- the mounting plate is driven by an air cylinder to move along the guide rail.
- the mounting plate A grafted seedling air claw is provided, and the input end of the grafted seedling air claw is connected with a corresponding air source and an air source control pipeline for controlling the grasping of the grafted seedling.
- the mounting plate is connected to the cylinder rod of the cylinder through a connecting plate.
- the cylinder includes a movable cylinder and a fixed cylinder, the cylinder rods of the movable cylinder and the fixed cylinder are connected to the connecting plate, and the cylinder body of the movable cylinder is fixedly connected to the mounting plate through the cylinder fixing plate.
- the cylinder body of the fixed cylinder is fixed on the corresponding fixed frame.
- the gripping surface of the gripper of the grafted seedling air claw is provided with a buffer pad to prevent the grafted seedling from being damaged or falling off during gripping.
- the cushioning pad adopts a layer of eva foam material.
- the gas source control pipeline includes a precision pressure regulating valve, a solenoid valve, and a one-way throttle valve.
- the input port of the precision pressure regulating valve is connected to the gas source through a corresponding pipeline, and the output of the precision pressure regulating valve is The port is sequentially connected to the solenoid valve, the one-way throttle valve and the input end of the grafting air claw through the corresponding pipeline, and a pressure release valve is provided on the pipeline between the precision pressure regulating valve and the solenoid valve to discharge excess
- the controlled gas enables a relatively small and stable clamping force on the air claw of the grafted seedling.
- the structure of the application is simple to control, convenient to adjust, stable in pressure, low in cost, and easy to popularize and use in automated grafting equipment.
- Figure 1 is a schematic diagram of the structure of the application
- FIG. 2 is a diagram of the gas source control pipeline of this application.
- FIG. 3 is a schematic diagram of the gas source control pipeline of this application.
- a pneumatic grasping and clamping jaw system for grafted seedlings includes a guide rail 6 and a corresponding sliding block 7.
- the sliding block 7 is connected with a mounting plate 8 which is driven by an air cylinder along the guide rail 6.
- the mounting plate 8 Moving in the direction, the mounting plate 8 is provided with a grafted seedling air claw 3, and the input end of the grafted seedling air claw 3 is connected with a corresponding air source and air source control pipeline 5 for controlling the grasping of the grafted seedling 4.
- the mounting plate 8 is connected to the cylinder rod of the cylinder through a connecting plate 9.
- one end of the connecting plate 9 is also connected to and drives a drag chain plate 12, and the drag chain plate 12 is slidably provided with a guide plate,
- the drag chain board 12 is used to protect the corresponding air pipes and wires.
- the cylinder includes a movable cylinder 1 and a fixed cylinder 2.
- the cylinder rods of the movable cylinder 1 and the fixed cylinder 2 are connected to the connecting plate 9, and the cylinder body of the movable cylinder 1 is fixed to the mounting plate 8 through the cylinder fixing plate 10. Up, that is, the movable cylinder 1 can be moved integrally with the mounting plate 8, and the cylinder body of the fixed cylinder 2 is fixed on the corresponding fixed frame, that is, the fixed cylinder 2 is fixed in one position.
- the gripping surface of the gripper body of the grafted seedling air claw 3 is provided with a buffer pad 11 to prevent the grafted seedling 4 from being damaged or falling off during gripping.
- the air source control pipeline 5 includes a precision pressure regulating valve 51, a solenoid valve 52, and a one-way throttle valve 53, and the input port of the precision pressure regulating valve 51 is connected through corresponding pipelines.
- the output port of the precision pressure regulating valve 51 is sequentially connected to the solenoid valve 52, the one-way throttle valve 53 and the input end of the grafted seedling gripper 3 through the corresponding pipeline, and the precision pressure regulating valve 51 and the solenoid valve
- the cylinder output force formula: F P*A
- F represents the output force
- P represents the strength of the air pressure
- A represents the force area of the cylinder.
- an air source processing element 55 and a return plate 56 are sequentially arranged between the air source and the input port of the precision pressure regulating valve 51.
- the air source processing element 55 and the return plate 56 are related technologies.
- 56 can use a 100M-14F electronic control valve base.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Cultivation Of Plants (AREA)
Abstract
Description
Claims (6)
- 一种嫁接苗气动抓取夹爪系统,包括导轨(6)及对应的滑块(7),所述滑块(7)上连接有安装板(8),所述安装板(8)由气缸驱动沿导轨(6)方向移动,所述安装板(8)上设有嫁接苗气爪(3),所述嫁接苗气爪(3)的输入端连通相应的气源及气源控制管路(5),用于控制抓取嫁接苗(4)。
- 根据权利要求1所述的嫁接苗气动抓取夹爪系统,其中,所述安装板(8)通过连接板(9)连接至气缸的缸杆上。
- 根据权利要求2所述的嫁接苗气动抓取夹爪系统,其中,所述气缸包括移动气缸(1)和固定气缸(2),所述移动气缸(1)和固定气缸(2)的缸杆与连接板(9)相连接,所述移动气缸(1)的缸体通过气缸固定板(10)固接在安装板(8)上,所述固定气缸(2)的缸体固定在相应的固定机架上。
- 根据权利要求3所述的嫁接苗气动抓取夹爪系统,其中,所述嫁接苗气爪(3)的爪体夹持面上设有缓冲垫(11),用于防止夹取时嫁接苗(4)损伤或脱落。
- 根据权利要求4所述的嫁接苗气动抓取夹爪系统,其中,所述缓冲垫(11)采用一层eva泡棉材料。
- 根据权利要求3所述的嫁接苗气动抓取夹爪系统,其中,所述气源控制管路(5)包括精密调压阀(51)、电磁阀(52)和单向节流阀(53),所述精密调压阀(51)的输入口通过相应管路连通至气源,精密调压阀(51)的输出口通过相应管路依次连通电磁阀(52)、单向节流阀(53)和嫁接苗气爪(3)的输入端,并且在所述精密调压阀(51)与电磁阀(52)之间的管路上设有压力释放阀(54),用于排出多余的控制气体,使嫁接苗气爪(3)上得到一个相对较小而又稳定的夹紧力。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010472636.1 | 2020-05-29 | ||
CN202010472636.1A CN111615942A (zh) | 2020-05-29 | 2020-05-29 | 一种嫁接苗气动抓取夹爪系统 |
Publications (1)
Publication Number | Publication Date |
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WO2021237986A1 true WO2021237986A1 (zh) | 2021-12-02 |
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PCT/CN2020/116177 WO2021237986A1 (zh) | 2020-05-29 | 2020-09-18 | 嫁接苗气动抓取夹爪系统 |
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CN (1) | CN111615942A (zh) |
WO (1) | WO2021237986A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN111615942A (zh) * | 2020-05-29 | 2020-09-04 | 苏州朵唯智能科技有限公司 | 一种嫁接苗气动抓取夹爪系统 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07135852A (ja) * | 1993-11-22 | 1995-05-30 | Yanmar Agricult Equip Co Ltd | 接ぎ木苗製造装置 |
CN103329737A (zh) * | 2013-06-29 | 2013-10-02 | 西北农林科技大学 | 一种子叶方向可调的气吸式供苗末端执行器 |
CN105009947A (zh) * | 2015-07-06 | 2015-11-04 | 浙江理工大学 | 嫁接苗柔性夹持装置 |
CN105109998A (zh) * | 2015-08-13 | 2015-12-02 | 华南农业大学 | 一种秧苗柔性夹持机 |
CN106900356A (zh) * | 2017-03-27 | 2017-06-30 | 辽宁科技大学 | 嫁接苗柔性定位夹持机构 |
EP3219197A1 (en) * | 2014-11-12 | 2017-09-20 | Joan Repiso Torello | Machine for producing seedlings or grafts of woody plants |
CN109716946A (zh) * | 2019-03-14 | 2019-05-07 | 山东安信种苗股份有限公司 | 一种嫁接接穗移载斜切装置 |
CN109716947A (zh) * | 2019-03-14 | 2019-05-07 | 山东安信种苗股份有限公司 | 一种瓜类顶插接智能嫁接机器人 |
CN111615942A (zh) * | 2020-05-29 | 2020-09-04 | 苏州朵唯智能科技有限公司 | 一种嫁接苗气动抓取夹爪系统 |
-
2020
- 2020-05-29 CN CN202010472636.1A patent/CN111615942A/zh active Pending
- 2020-09-18 WO PCT/CN2020/116177 patent/WO2021237986A1/zh active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07135852A (ja) * | 1993-11-22 | 1995-05-30 | Yanmar Agricult Equip Co Ltd | 接ぎ木苗製造装置 |
CN103329737A (zh) * | 2013-06-29 | 2013-10-02 | 西北农林科技大学 | 一种子叶方向可调的气吸式供苗末端执行器 |
EP3219197A1 (en) * | 2014-11-12 | 2017-09-20 | Joan Repiso Torello | Machine for producing seedlings or grafts of woody plants |
CN105009947A (zh) * | 2015-07-06 | 2015-11-04 | 浙江理工大学 | 嫁接苗柔性夹持装置 |
CN105109998A (zh) * | 2015-08-13 | 2015-12-02 | 华南农业大学 | 一种秧苗柔性夹持机 |
CN106900356A (zh) * | 2017-03-27 | 2017-06-30 | 辽宁科技大学 | 嫁接苗柔性定位夹持机构 |
CN109716946A (zh) * | 2019-03-14 | 2019-05-07 | 山东安信种苗股份有限公司 | 一种嫁接接穗移载斜切装置 |
CN109716947A (zh) * | 2019-03-14 | 2019-05-07 | 山东安信种苗股份有限公司 | 一种瓜类顶插接智能嫁接机器人 |
CN111615942A (zh) * | 2020-05-29 | 2020-09-04 | 苏州朵唯智能科技有限公司 | 一种嫁接苗气动抓取夹爪系统 |
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CN111615942A (zh) | 2020-09-04 |
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