WO2022007253A1 - 一种盆径可调式钵盆分离输送装置 - Google Patents

一种盆径可调式钵盆分离输送装置 Download PDF

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Publication number
WO2022007253A1
WO2022007253A1 PCT/CN2020/124006 CN2020124006W WO2022007253A1 WO 2022007253 A1 WO2022007253 A1 WO 2022007253A1 CN 2020124006 W CN2020124006 W CN 2020124006W WO 2022007253 A1 WO2022007253 A1 WO 2022007253A1
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WIPO (PCT)
Prior art keywords
rod
pot
bowl
clamping
driven rod
Prior art date
Application number
PCT/CN2020/124006
Other languages
English (en)
French (fr)
Inventor
田素博
张绍忱
计东
白晓虎
赵萍
宁晓峰
王君玲
Original Assignee
沈阳农业大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN202021329493.0U external-priority patent/CN212768287U/zh
Priority claimed from CN202010654207.6A external-priority patent/CN111731797A/zh
Application filed by 沈阳农业大学 filed Critical 沈阳农业大学
Publication of WO2022007253A1 publication Critical patent/WO2022007253A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/06—De-stacking from the bottom of the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/10—De-stacking nested articles

Definitions

  • the present invention relates to the technical field of agricultural machinery, in particular, to a pot-diameter-adjustable bowl separation and conveying device.
  • potted flowers have significant advantages in facilitating centralized management and improving economic benefits, so pot pot seedlings are widely used in agricultural planting such as flowers.
  • it is an important step to transplant the plants cultivated in the plugs into pots for subsequent growth and cultivation.
  • the efficiency and quality of transplanting have an important impact on flower production.
  • the transplanting operation of potted flowers in my country is still mainly manual, and the supporting equipment for potted flower transplanting is not perfect.
  • the separated flowerpots need to be placed on the conveying device, and then soil loading and pit drilling operations are performed, and finally the transplanted flowerpots are transported to the designated location in the greenhouse.
  • most of them are fixed models.
  • Most of the flower pots used in the transplanting machine are hard plastic pots, which are easy to grasp.
  • the conveyor belt and Only the mobile seedbed can transport the pots to the designated position, and only one pot diameter can be separated and transported on one transplanter.
  • a device capable of accurately separating and transporting soft bowls with different pot diameters is provided based on the successful research and development of a potted flower transplanter and solving the problem of accurate transplanting.
  • a pot-diameter-adjustable pot-separation conveying device comprising: a frame, a clamping mechanism for realizing the clamping of pots in a radial direction, and for adjusting the clamping part of the clamping mechanism to adapt to different pots
  • the adjusting mechanism for the diameter of the pot is an adsorption mechanism used to adsorb the outermost pots of the pots that are already in the clamped state.
  • the drive mechanism that provides power for the adjustment mechanism and the PLC control device used to control all the power devices of the whole machine;
  • the above-mentioned clamping mechanism is fixed on the frame by an auxiliary bracket and is located above the starting position of the conveying mechanism;
  • the above-mentioned adjusting mechanism and the above-mentioned driving mechanism are both fixed on the auxiliary support, and are adjacent to the clamping mechanism;
  • the action stroke of the above-mentioned adsorption mechanism is the up and down telescopic stroke, that is, the up and down reciprocation under the clamping mechanism to the upper end area of the starting position of the conveying mechanism;
  • the adjustment mechanism includes: slide rail, slider, lead screw nut and positive and negative lead screw;
  • Two sliding rails are fixed and installed on the rack in parallel, and two sliding blocks are slidably assembled on the upper side of each sliding rail, and two sets of oppositely arranged sliding blocks are formed between the two sliding rails.
  • a lead screw nut is fixedly installed through a first L-shaped connecting piece, that is, two lead screw nuts arranged symmetrically are formed. Screw connection, the output end of the above-mentioned driving mechanism is connected with one end of the positive and negative screw screw as its rotational power;
  • the clamping mechanism includes: two clamping plates, a clamping rod and a semi-cylindrical bowl holder, and a clamping plate is fixedly installed between the two sliders on the same slide rail and the first L-shaped connecting piece , that is, two clamping plates are installed on the sliders of the two slide rails to form two symmetrically arranged clamping plates;
  • the above-mentioned clamping plate is provided with a plurality of pairs of inclined grooves with opposite inclined planes, the inner side of each pair of inclined grooves is fixedly installed with a semi-cylindrical bowl holder, and a pair of inclined grooves of the clamping plate and the corresponding position of the opposite side clamping plate are installed.
  • a pair of inclined grooves constitute a group of inclined grooves, and each group of inclined grooves can form a parallelogram if the central axis of all inclined grooves is satisfied, so as to ensure that the openings of the semi-cylindrical bowl cages in the opposite positions of the two clamping plates are opposite to each other. That is, the relative positions of the semi-cylindrical bowl cages are close to each other so that they can form a quasi-cylindrical shape;
  • Clamping rods include: square rods, sliding rods, round tubes and round rods;
  • the above-mentioned round rod can extend into the central hole of the round pipe to form a telescopic rod structure
  • Both ends of the square rod are vertically welded with sliding rods, and the sliding rods are slidably assembled in the inclined grooves on the clamping plate.
  • the rod structure constitutes a rectangular structure in which two parallel sides can be retracted, that is, one end of the side of each square rod is vertically provided with a round tube, and the other end of the same side is vertically provided with another round rod, that is, relative to a pair of square rods. Round tubes and rods on the same side are mated and connected.
  • the conveying mechanism includes: a transmission mechanism, an adjustable bowl fixing mechanism, a limit mechanism and a tensioning mechanism;
  • the delivery end of the transmission mechanism is evenly provided with a plurality of adjustable bowl fixing mechanisms, the inner side of the frame is horizontally provided with a support plate, and the support plate is located on the lower side of the adjustable bowl fixing mechanism;
  • the adjustable bowl fixing mechanism includes: a first link plate connector, a second link plate connector, a first lateral driven rod, a second lateral driven rod, a third lateral driven rod and a semi-cylindrical fixed bracket;
  • a first chain plate connecting piece and a second chain plate connecting piece are respectively fixedly installed on the opposite sides of the conveying end of the transmission mechanism.
  • a driven rod and two third longitudinal driven rods, the middle parts of the two third longitudinal driven rods are hinged on the inner end faces of the first link plate connecting piece and the second link plate connecting piece respectively, and the second longitudinal driven rod
  • the middle part is hinged on the side of the first chain plate connecting piece away from the third longitudinal driven rod
  • the bottom ends of the two third longitudinal driven rods are hinged on both sides of the second transverse driven rod
  • the first transverse driven rod The rod and the second lateral driven rod are arranged in parallel, the bottom ends of the first longitudinal driven rod and the second longitudinal driven rod are hinged on both sides of the third lateral driven rod, and the second lateral driven rod is connected to the third lateral driven rod.
  • the follower rods are arranged in line, the third lateral follower rod and the first lateral follower rod are rotatably equipped with rollers on one side close to the first longitudinal follower rod, the first lateral follower rod and the second lateral follower rod
  • a plurality of semi-cylindrical fixed brackets are uniformly fixed and installed on the same side of the device in sequence, and the adjacent semi-cylindrical fixed bracket openings on the upper side and the lower side are arranged opposite to each other.
  • the first longitudinal driven rod, the second longitudinal driven rod and the third longitudinal driven rod The lengths of the driven rods are the same, and the hinge points of the second longitudinal driven rod and the third longitudinal driven rod are the same, that is, the second longitudinal driven rod, the first longitudinal driven rod, the third transverse driven rod and the third longitudinal driven rod are in the same position.
  • a transverse driven rod constitutes a parallelogram frame structure, and a side of the frame close to the roller is provided with the second longitudinal driven rod, the first longitudinal driven rod, the third transverse driven rod and the first longitudinal driven rod by contacting with the surface of the roller.
  • the parallelogram frame structure formed by the lateral driven rod is a limiting mechanism for limiting the position by deformation, thereby realizing the relative position limit between the first lateral driven rod and the second lateral driven rod, and finally realizing the control of each adjacent group of The diameter of the conveying position of the cylindrical bowl formed by the semi-cylindrical fixed bracket; the transmission mechanism is provided with a tensioning mechanism.
  • the limiting mechanism includes: a second L-shaped connecting piece, a third L-shaped connecting piece, a first active rod, a second active rod and a baffle plate, and a plurality of second and L-shaped connectors, two third L-shaped connectors are fixedly installed on both sides of a plurality of second L-shaped connectors, and two first active rods arranged in parallel are hinged on one side of the second L-shaped connectors.
  • a second active lever is hinged on the upper and lower sides of the first active lever, and a baffle is welded on the side of the second active lever close to the roller, and the second active lever on the upper side is hinged with the first active lever through a pin shaft, away from the baffle
  • the pin shaft on one side of the plate penetrates the arc-shaped groove on the third L-shaped connecting piece, and the thread provided on the extension end of the pin shaft is screwed with a nut, and the lengths of the second longitudinal driven rod and the two first driving rods are equal. , and the hinge point positions of the second longitudinal driven rod and the two first active rods are the same.
  • the adsorption mechanism includes: a telescopic cylinder, a suction cup fixing plate and a suction cup, and a telescopic cylinder is fixedly installed in the outer middle of the two clamping plates, and the telescopic cylinder is communicated with the external air compressor through an air pipe, and the output end of the telescopic cylinder is horizontal.
  • the suction cup fixing plate is fixedly installed, and the acute angle of the two symmetrically arranged suction cup fixing plates tilted from the inside to the outside is in the range of 8° to 10°.
  • the suction cup fixing plate is evenly fixed and installed with a plurality of suction cups, and the suction cups are connected to the vacuum generator in turn through the trachea.
  • the air compressor is connected with the air compressor.
  • Linear bearings are fixedly installed on both sides of the suction cup fixing plate.
  • a guide optical shaft is longitudinally slidably connected in the linear bearing, and the guide optical shaft is fixedly installed on the frame.
  • the transmission mechanism includes: a driving shaft, a driven shaft, a sprocket and a curved plate chain;
  • the front and rear ends of the lower side of the frame are respectively rotated and assembled with a driving shaft and a driven shaft, and both ends of the driving shaft and the driven shaft are fixedly equipped with sprockets.
  • the plate is located on the inner side of the two curved plate chains, the first chain plate connecting piece and the second chain plate connecting piece are respectively fixed and installed on the opposite chain link curved plates of the two curved plate chains, and the driving shaft and the bowl conveying stepper motor output shaft Fixed connection, and the bowl conveying stepper motor is electrically connected with the external power supply.
  • the tensioning mechanism includes: a tensioning frame, a limit nut, a tensioning nut and an adjusting bolt, the two ends of the driving shaft are rotated and assembled with the tensioning frame through the bearing and the bearing seat, and the tensioning frame is slidably connected to the side of the frame.
  • the limit nut is fixedly installed on the frame close to the side of the tension frame, the tension nut is arranged on the side close to the limit nut, and the limit nut and the tension nut are screwed with adjustment bolts.
  • the drive mechanism includes: a pot diameter adjustment stepper motor, a driving pulley, a driven pulley and a synchronous belt; a pot diameter adjustment stepper motor is fixedly installed on the side of the frame close to the clamping plate, and the pot diameter is adjusted.
  • the stepper motor is electrically connected to the external power supply, the output shaft of the stepper motor for adjusting the pot diameter is fixedly installed with a driving pulley, the same side of the two positive and negative screw screws are fixedly installed with a driven pulley, two driving pulleys and two Each driven pulley is sleeved with two synchronous belts, and the two synchronous belts are arranged parallel to each other.
  • the number of inclined grooves on the clamping plate, clamping rods, semi-cylindrical bowl holders, suction cups and semi-cylindrical fixing brackets are all ten pairs.
  • the inner side of the inclined groove on the clamping plate is slidably assembled with the sliding rod through the flange sliding bearing.
  • a moving mechanism that is fixed on the lower end of the rack and can drive the rack to run
  • the moving mechanism includes: a fixed pulley and a movable pulley, two fixed pulleys are fixedly installed on the side of the lower surface of the rack close to the driven shaft, and Two movable pulleys are fixedly installed on the side close to the driving shaft.
  • the present invention provides a pot-diameter-adjustable pot-pot separation and conveying device, which has the following beneficial effects:
  • the bowl diameter adjustable bowl separation conveying device through the design of two clamping plates and clamping rods, can limit the whole stack of bowls in width and length, and provide clamping force for the whole stack of bowls ,
  • the semi-cylindrical bowl cage provides support for the whole stack of bowls, combined with the adsorption force of the adsorption mechanism, so that the position of the stack of soft bowls can be efficiently separated, and the soft bowls of different bowl diameters can be effectively solved.
  • the basin cannot be separated on the same type of machine, and the efficiency is low;
  • the bowl diameter adjustable bowl separation conveying device adopts the locking effect between the third L-shaped connector on the limit mechanism and the nut on the pin shaft through the design of the adjustable bowl fixing mechanism and the limit mechanism. To limit the size of different types of pot holders, and then efficiently change the spacing of the semi-cylindrical fixed holders with opposite openings, which greatly improves the work efficiency, and can effectively solve the unstable delivery of pots with different diameters, which is very difficult to use. Handy question.
  • FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of an adjustment mechanism according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a clamping rod according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an adsorption mechanism according to an embodiment of the present invention.
  • FIG. 6 is a partial schematic diagram of a conveying mechanism according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an adjustable pot basin fixing mechanism according to an embodiment of the present invention.
  • FIG. 8 is a partial schematic diagram of a limiting mechanism according to an embodiment of the present invention.
  • FIG. 9 is a partial schematic diagram of a tensioning mechanism according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a module of a PLC control device.
  • orientation words such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” etc.
  • positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words “inside and outside” refer to the inside and outside relative to the contour of each component itself.
  • spatially relative terms such as “on”, “over”, “on the surface”, “above”, etc., may be used herein to describe what is shown in the figures.
  • spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “above” or “over” other devices or features would then be oriented “below” or “over” the other devices or features under its device or structure".
  • the exemplary term “above” can encompass both an orientation of "above” and “below.”
  • the device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.
  • the present invention provides a pot-diameter-adjustable pot-separating and conveying device, comprising: a frame 1, a clamping mechanism 3 for clamping the pots in the radial direction, The adjusting mechanism 2 used to adjust the clamping part of the clamping mechanism 3 to adapt to different bowl diameters, and the adsorption mechanism 4 used to adsorb the outermost bowl of the bowl already in the clamping state is provided in the adsorption mechanism. 4.
  • the conveying mechanism 5 used to accept and transport the suction mechanism 4 to adsorb and remove the bowl
  • the driving mechanism 6 that provides power for the adjustment mechanism 2
  • the PLC control device 8 used to control all the power devices of the whole machine
  • the clamping mechanism 3 is fixed on the frame 1 through an auxiliary bracket, and is located above the starting position of the conveying mechanism 5.
  • the adjusting mechanism 2 and the above-mentioned driving mechanism 6 are both fixed on this auxiliary bracket, and are adjacent to the clamping mechanism 3, and the adsorption mechanism 4 functions
  • the stroke is an up-and-down telescopic stroke, that is, it reciprocates up and down from below the clamping mechanism 3 to the upper end area of the initial position of the conveying mechanism 5 .
  • the frame 1 is welded by six transverse square tubes and four longitudinal square tubes to improve the strength of the frame 1, which can be an adjustment mechanism 2, a clamping mechanism 3, an adsorption mechanism 4, a conveying mechanism 5,
  • the drive mechanism 6 and the PLC control device 8 provide a stable support force;
  • the PLC control system of the pot diameter-adjustable bowl separation conveying device is the PLC control device 8, which includes a PLC, an input control module, a pot diameter precise adjustment control module, a
  • the basin control module and the basin conveying control module are electrically connected in sequence.
  • the PLC control device 8 uses Mitsubishi FX1N-40MT PLC as the main control unit, which is simple in programming, high in reliability, strong in anti-interference ability and good in environmental adaptability.
  • the input control module is reset by the machine start-stop reset and control switch and
  • the bowl positioning sensor is composed of the bowl diameter precise adjustment control module, which is composed of the bowl diameter adjustment stepper motor 61 and the matching stepper motor driver.
  • the control module consists of a bowl conveying stepper motor and a matching stepper motor driver.
  • the adjustment mechanism 2 includes a slide rail 21 , a sliding block 22 , a lead screw nut 23 and a positive and negative screw 24 .
  • the two slide rails 21 are fixedly installed on the frame 1 in parallel, and each slide rail 21
  • Two sliding blocks 22 are assembled on the side sliding, and two sets of sliding blocks 22 arranged opposite to each other are formed between the two sliding rails 21 .
  • the lead screw nut 23 forms two symmetrically arranged lead screw nuts 23.
  • the two lead screw nuts 23 at this position are respectively screwed with the positive and negative teeth of the above-mentioned positive and negative lead screws 24.
  • the output end is connected to one end of the positive and negative screw 24 as its rotational power.
  • the clamping mechanism 3 includes two clamping plates 31 , a clamping rod 32 and a semi-cylindrical bowl holder 33 .
  • a clamping plate 31 is fixedly installed between the first L-shaped connecting pieces, that is, the clamping plates 31 are installed on the sliders 22 of the two slide rails 21 to form two symmetrically arranged clamping plates 31.
  • the clamping plates 31 There are a plurality of pairs of inclined grooves with opposite inclined planes. The inner side of each pair of inclined grooves is fixedly installed with a semi-cylindrical bowl holder 33.
  • a group of inclined grooves is formed for the inclined grooves, and each group of inclined grooves satisfies that the central axis of all the inclined grooves can be enclosed into a parallelogram, ensuring that the semi-cylindrical bowl cages 33 on the two clamping plates 31 in opposite positions are respectively opened. Opposite, that is, the semi-cylindrical pot holders 33 in opposite positions are close to each other so that they can fit together to form a quasi-cylindrical shape.
  • the clamping rod 32 includes: a square rod 321, a sliding rod 322, a round tube 323 and a round rod 324.
  • the rod 324 can extend into the central hole of the round tube 323 to form a telescopic rod structure.
  • Both ends of the square rod 321 are vertically welded with sliding rods 322, and the sliding rods 322 are slidably assembled in the chute on the clamping plate 31.
  • the square rods 321 are arranged in pairs, and two telescopic rod structures are vertically fixed between the end positions of the two square rods 321 arranged opposite to each other, forming a rectangular structure in which two parallel sides can be telescopic, that is, the side surfaces of each square rod 321
  • a round tube 323 is vertically arranged at one end of the pair, and a round bar 324 is arranged vertically at the other end of the same side, that is, the opposite pair of bars 321 on the same side of the round tube 323 and the round bar 324 are matched and connected.
  • the pots used by the transplanter mainly include five types: 9 ⁇ 9, 10 ⁇ 10, 12 ⁇ 10, 13 ⁇ 12 and 15 ⁇ 13. It is used in pairs, the adjacent round tubes 323 and the round rods 324 are in clearance fit, the two clamping rods 32 enclose a rectangular structure, and the four sliding rods 322 on the rectangular structure are installed on the clamping plate through flange sliding bearings 325.
  • the clamping plate 31 drives the sliding rod 322 on the clamping rod 32 to slide in the inclined groove, so that the width of the rectangular structure changes, the change range is 68mm ⁇ 100mm, and the inclination angle of each inclined groove is the same , so the width changes linearly, which can be applied to bowls with different diameters.
  • the clamping rod 32 mainly limits the bowl from the length; the two clamping plates 31 are driven by the positive and negative screw 24 The distance between the two plates varies from 60mm to 92mm, and the function is to limit the bowl from the width; when the bowl separation device is working, the two half-cylindrical bowls with opposite openings remain
  • the frame 33 can prevent the whole stack of flower pots from tilting, and can also ensure that the whole stack of bowls can fall down smoothly; the inner sides of the two clamping plates 31 can be milled into an 8°-10° inclined plane, so as to prevent the whole stack of bowls from falling.
  • the right-angled sides of the two clamping plates 31 exert too much clamping force on the bowl; the upper surface of one clamping plate 31 can be fixedly provided with a ruler, and the extension end of the ruler overlaps the other clamping plate 31 , so that the change of the distance between the two clamping plates 31 can be visually observed through the scale on the ruler; Rack 33 better holds the bowl.
  • the conveying mechanism 5 includes a transmission mechanism 51 , an adjustable bowl fixing mechanism 53 , a limit mechanism 54 and a tensioning mechanism 55 , and a plurality of adjustable bowl fixing mechanisms are evenly arranged at the conveying end of the transmission mechanism 51 .
  • Mechanism 53 the inner side of the frame 1 is horizontally provided with a support plate 52, and the support plate 52 is located on the lower side of the adjustable bowl fixing mechanism 53.
  • the adjustable bowl fixing mechanism 53 includes a first link plate connector 5301, a second link The plate connector 5302, the first lateral driven rod 5303, the second lateral driven rod 5307, the third lateral driven rod 5308 and the semi-cylindrical fixed bracket 5310, the transmission mechanism 51 is fixedly installed on the opposite sides of the transmission end with the first lateral driven rod 5307.
  • the link plate connecting member 5301 and the second link plate connecting member 5302, the first transverse driven rod 5303 is hinged with a first longitudinal driven rod 5304, a second longitudinal driven rod 5305 and two third longitudinal driven rods arranged in parallel in turn.
  • Rod 5306, the middle parts of the two third longitudinal driven rods 5306 are hinged on the inner end faces of the first link plate connecting member 5301 and the second link plate connecting member 5302 respectively, and the middle part of the second longitudinal driven rod 5305 is hinged on the first link plate connecting member 5301 and the second link plate connecting member 5302
  • the side of the link plate connector 5301 away from the third longitudinal driven rod 5306, the bottom ends of the two third longitudinal driven rods 5306 are hinged on both sides of the second lateral driven rod 5307, and the first lateral driven rod 5303 and the second lateral driven rod 5307 are arranged in parallel, the bottom ends of the first longitudinal driven rod 5304 and the second longitudinal driven rod 5305 are hinged on both sides of the third lateral driven rod 5308, and the second lateral driven rod 5307 and the third lateral driven rod 5308 are arranged in line.
  • the third lateral driven rod 5308 and the first lateral driven rod 5303 are both rotated and assembled with rollers 5309 on one side close to the first longitudinal driven rod 5304.
  • a plurality of semi-cylindrical fixing brackets 5310 are uniformly fixed and installed on the same side of the driven rod 5303 and the second transverse driven rod 5307 in sequence, and the openings of the adjacent semi-cylindrical fixing brackets 5310 on the upper side and the lower side are arranged oppositely.
  • the lengths of the driven rod 5304, the second longitudinal driven rod 5305 and the third longitudinal driven rod 5306 are equal, and the hinge points of the second longitudinal driven rod 5305 and the third longitudinal driven rod 5306 are at the same position, and the frame 1 is close to
  • a limiting mechanism 54 is provided on one side of the roller 5309 , and a tensioning mechanism 55 is provided on the transmission mechanism 51 .
  • the support plate 52 is located on the lower side of the adjustable bowl fixing mechanism 53 and is made of smooth stainless steel, so that the support plate 52 can support the normal operation of the bowl on the conveying mechanism 5;
  • the position between the two rows of adjustable pot fixing mechanisms 53 is convenient for the normal operation of the pot dropping mechanism on the transplanter; the adjacent semi-cylindrical fixing brackets 5310 on the first lateral driven rod 5303 and the second lateral driven rod 5307
  • the openings are arranged opposite to each other, and the cross section of the semi-cylindrical fixing bracket 5310 is semicircular, which can form a pot holder and keep the bowl running stably on the support plate 52 .
  • the limiting mechanism 54 includes a second L-shaped connecting piece 541 , a third L-shaped connecting piece 542 , a first active rod 544 , a second active rod 545 and a baffle 546 , and the frame 1 is close to the roller 5309
  • a plurality of second L-shaped connectors 541 are evenly fixed on one side, and two third L-shaped connectors 542 are fixedly installed on both sides of the plurality of second L-shaped connectors 541.
  • first active rods 544 arranged in parallel are hinged on the sides
  • second active rods 545 are hinged on the upper and lower sides of the two first active rods 544
  • a baffle plate 546 is welded on the side of the second active rod 545 close to the roller.
  • the second active rod 545 on the upper side is hinged with the first active rod 544 through the pin shaft 543, the pin shaft 543 on the side away from the baffle 546 penetrates the arc groove on the third L-shaped connecting piece 542, and the pin shaft 543 protrudes
  • the thread opened on the end is screwed with a nut, the lengths of the second longitudinal driven rod 5305 and the two first driving rods 544 are equal, and the hinge point positions of the second longitudinal driven rod 5305 and the two first driving rods 544 are the same .
  • the outer curved surface of the roller 5309 is in a tangential state with the baffle plate 546. Since the lengths of the second longitudinal driven rod 5305 and the two first driving rods 544 are equal, the second longitudinal driven rod 5305 and the two The position of the hinge point of the first active rod 544 is the same, and the hinge point between the second longitudinal driven rod 5305 and the two first active rods 544 can be at the same level, so that the two first active rods 544 and the second longitudinal direction are controlled.
  • the rollers 5309 at the same height can be closely attached to the baffle plate 546 to ensure that the position of the adjustable bowl fixing mechanism 53 at the tight edge of the upper curved plate chain 514 of the conveying mechanism 5 is stable;
  • the third The arc groove on the L-shaped connector 542 is provided with a scale value corresponding to the inclination angle of the first driving rod 544 , so that it is convenient for people to precisely change the inclination angle of the first driving rod 544 when pushing the pin shaft 543 .
  • the adsorption mechanism includes a telescopic cylinder 41 , a suction cup fixing plate 42 and a suction cup 43 , and a telescopic cylinder 41 is fixedly installed in the outer middle of the two clamping plates 31 , and the telescopic cylinder 41 is connected to the outside air compressor through an air pipe
  • the output end of the telescopic cylinder 41 is laterally fixedly installed with a suction cup fixing plate 42.
  • the two symmetrically arranged suction cup fixing plates 42 have an acute angle range of 8° to 10° that the inner sides of the suction cup fixing plates 42 are inclined to the outside.
  • Linear bearings 44 are fixedly installed on both sides of the suction cup fixing plate 42, and the linear bearings 44 are longitudinally slidably connected with a guide shaft 45, and The optical guide shaft 45 is fixedly installed on the frame 1 .
  • the optimum range of the acute angle of the outwardly inclined inner sides of the two symmetrically arranged suction cup fixing plates 42 is 8° to 10°, so that when the suction cups 43 are in contact with the five types of bowls, the top of the suction cups 43 will not be wrinkled.
  • the suction cup 43 selects the double-layer corrugated silicone rubber suction cup model PBFS25, the suction force of the suction cup 43 of this model is far greater than the pulling force required for the separation of the bowl and bowl, the material comparison Soft, friction-resistant, tear-resistant, suitable for absorbing easily deformed objects, suitable for uneven, curved or inclined surfaces, and can meet work requirements;
  • the suction cup fixing plate 42 can be guided on the optical axis 45 through the linear bearings 44 on both sides of the suction cup fixing plate 42 Sliding, the guiding optical axis 45 plays a guiding role for the up and down movement of the suction cup fixing plate 42, and the movement of the suction cup fixing plate 42 is more stable and reliable.
  • the transmission mechanism 51 includes a driving shaft 511, a driven shaft 512, a sprocket 513 and a curved plate chain 514.
  • the front and rear ends of the lower side of the frame 1 are respectively rotated and assembled with the driving shaft 511 and the driven shaft 512.
  • both ends of the driving shaft 511 and the driven shaft 512 are fixedly equipped with sprockets 513, the front and rear sprockets 513 on the same side are meshed and connected with the curved plate chain 514, the support plate 55 is located inside the two curved plate chains 514, the first chain
  • the plate connecting piece 5301 and the second link plate connecting piece 5302 are respectively fixedly installed on the opposite link bending plates of the two curved plate chains 514, the driving shaft 511 is fixedly connected with the output shaft of the bowl conveying stepping motor, and the bowl conveying step is
  • the inlet motor is electrically connected to an external power supply.
  • the bearing between the driven shaft 512 and the frame 1 is an outer spherical ball bearing with an inner diameter of 20mm with a suspended seat jack screw.
  • This type of bearing has the same load capacity as the deep groove ball bearing, and has the same self-aligning performance.
  • bearing code is UCFB204, JB/T 8513-1996
  • the driving shaft 511 and the driven shaft 512 are made of hollow tubes with an outer diameter of 34 mm and a wall thickness of 2 mm.
  • the shaft head is welded to the end; the driving shaft 511 and the motor output shaft are connected by chain drive, which is convenient to fix the position of the motor, and the running speed of the stepper motor can be adjusted by the motor driver and PLC.
  • the tensioning mechanism 55 includes a tensioning frame 551 , a limit nut 552 , a tensioning nut 553 and an adjusting bolt 554 .
  • the tension frame 551 is slidably connected to the bolts on the side of the frame 1, the limit nut 552 is fixedly installed on the frame 1 on the side close to the tension frame 551, the tension nut 553 is arranged on the side close to the limit nut 552, and An adjustment bolt 554 is screwed into the limit nut 552 and the tension nut 553 .
  • a plurality of bolts can be fixed and installed on the side of the frame 1 in parallel, and the bolts are inserted into two parallel square grooves on the tensioning frame 551, so that the tensioning frame 551 can slide on the frame 1 conveniently. Avoid the uneven force caused by the inconsistent movement of the coaxial sprocket, and at the same time, the tension of the bent plate chain 514 can be adjusted to make the conveying mechanism 5 run more smoothly; the bearing between the driving shaft 511 and the tensioner 551 uses 6004 type deep Groove ball bearing (GB/T 276-1994), the adjusting bolt 554 uses semi-circle head square bolt (GB/T 12-1988).
  • the driving mechanism 6 includes a pot diameter adjusting stepper motor 61 , a driving pulley 62 , a driven pulley 63 and a timing belt 64 , and the side of the frame 1 close to the clamping plate 31 is fixedly installed There is a pot diameter adjusting stepper motor 61, and the pot diameter adjusting stepper motor 61 is electrically connected to an external power supply.
  • the output shaft of the pot diameter adjusting stepper motor 61 is fixedly installed with two active pulleys 62, and two positive and negative thread screws 24.
  • the driven pulleys 63 are fixedly installed on the same side of the two driving pulleys 62 and the two driven pulleys 63 are sleeved with two synchronous belts 64, and the two synchronous belts 64 are arranged parallel to each other.
  • the synchronous belt 64 is used for transmission, and the pot diameter adjusting stepper motor 61 is used as its driving element, and the pot diameter adjusting stepper motor is used.
  • 61 can be controlled by PLC to rotate and stop; the driving pulley 62 and the driven pulley 63 are respectively connected with the output shaft of the pot diameter adjusting stepper motor 61 and the positive and negative screw 24 to fix the hub with a jack screw.
  • the inner side of the inclined groove on the clamping plate 31 is slidably assembled with the sliding rod 322 through the flange sliding bearing 325 .
  • the flange sliding bearing 325 can facilitate the sliding rod 322 to move in the inclined groove on the clamping plate 31 , and avoid friction between the sliding rod 322 and the inclined groove on the clamping plate 31 .
  • the moving mechanism 7 includes a fixed pulley 71 and a movable pulley 72 .
  • Two fixed pulleys 71 are fixedly installed on the side of the lower surface of the frame 1 close to the driven shaft 512 , and the side close to the driving shaft 511
  • Two movable pulleys 72 are fixedly installed.
  • the positions of the fixed pulley 71 and the movable pulley 72 can be replaced, and the steering action of the entire fuselage can be realized through the movable pulley 72, which is more convenient for the movement of the entire machine.
  • Step 1 When it is necessary to separate a certain type of bowl, before working, the PLC first starts the bowl diameter adjustment stepper motor 61, and the bowl diameter adjustment stepper motor 61 drives the two positive and negative thread screws 24 to rotate through the synchronous belt 64, The lead screw nut 23 on the positive and negative lead screw 24 drives the slider 22 to move on the slide rail 21, and then drives the sub-basin clamping plate 31 to move toward or away from each other, and the circular rod 324 on the clamping rod 32 is in the circular tube 323 Sliding, the sliding rod 322 can slide through the flange sliding bearing 325 in the sloping groove of the separate pot holding plate 31, so that the two holding plates 31 and the holding rod 32 can carry out the whole stack of pots in width and length.
  • the limit is to provide a clamping force for the whole stack of pots.
  • the sub-pot holding plate 31 moves, it drives the two opposite semi-cylindrical pot holders 33 to move toward or away from each other.
  • the PLC stops the operation of the stepper motor 61 for adjusting the diameter of the bowl.
  • the stacked bowls are placed in the inner sides of the ten pairs of semi-cylindrical bowl holders 33 respectively, and the stacked bowls are kept in Fall down smoothly in the vertical state; at the same time, push the pin shaft 543 to slide in the arc-shaped grooves on the two third L-shaped connecting pieces 542, and the two first active rods 544 match the inclination corresponding to the model of the bowl to be separated.
  • the curved plate chain 514 is driven to run by the sprocket 513 on the driving shaft 511 and the driven shaft 512.
  • the two third longitudinal driven rods 5306 surround the first chain
  • the plate connecting member 5301 and the second link plate connecting member 5302 are rotated until the rollers 5309 on the upper and lower sides are in contact with the baffle plate 546, and then the openings on the first lateral driven rod 5303 and the second lateral driven rod 5307 are opposite to each other.
  • the semi-cylindrical fixing brackets 5310 are adjusted to the spacing size suitable for the model of the bowl to be separated.
  • the positions of all the semi-cylindrical fixing brackets 5310 are adjusted, and the preparation work is over;
  • Step 2 when working, start the outside air compressor and PLC, and then control the bowl conveying stepping motor on the transmission mechanism 51 to run, and the telescopic cylinder 41 drives the suction cup 43 and the bottom one in each screw bowl through the suction cup fixing plate 42.
  • the air compressor When the bowl is in contact with the bowl, the air compressor generates a vacuum adsorption force between the suction cup 43 and the bowl through the vacuum generator.
  • the suction of the suction cup 43 is stopped, and the sucked bowl falls into the bowl holder on the conveying mechanism 5 to complete a separation of the bowl;
  • Step 3 The telescopic cylinder 41 drives the suction cup 43 to return to the bowl suction position.
  • the bowl conveying stepper motor on the conveying mechanism 5 continues to run, and the bowl conveying stepper motor passes through the driving shaft 511 and the driven shaft 512.
  • the sprocket 513 drives the bent plate chain 514 to run, and then drives the separated bowl to the next station through the semi-cylindrical fixing bracket 5310 on the adjustable bowl fixing mechanism 53.
  • the bowl positioning sensor controls the bowl conveying step through PLC.
  • the feeding motor stops running, and the actions of steps 2 and 3 are repeated accordingly to achieve the effect of automatic separation and transportation of pots with different pot diameters.
  • the device occupies less space, has high work efficiency, simple structure and low cost.

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Abstract

本发明提供一种盆径可调式钵盆分离输送装置，包括机架、调节机构、夹持机构、吸附机构、输送机构、驱动机构、移动机构和PLC控制装置，所述机架上侧固定安装有调节机构和PLC控制装置，调节机构内侧设有夹持机构，夹持机构的下侧前后对称固定安装有吸附机构，所述机架内侧设有输送机构，所述调节机构的一侧设有驱动机构，所述机架下侧固定安装有移动机构。该盆径可调式钵盆分离输送装置在已经成功研发盆栽花卉移栽机并解决精准移栽问题的基础上，设计出能精准分离和输送不同盆径的软质钵盆的装置，使分离后的钵盆稳定可靠的输送到下一工位，解决了移栽机作业对象单一、钵盆输送不稳定的问题，为花卉全自动移栽机的研发和应用推广奠定基础。

Description

一种盆径可调式钵盆分离输送装置 技术领域
本发明涉及农业机械技术领域，具体而言，尤其涉及一种盆径可调式钵盆分离输送装置。
背景技术
近年，我国盆栽花卉生产规模一直保持稳步均匀增长态势，小型化、精细化和平价化产品成为市场发展趋势。盆栽花卉在方便集中管理、提高经济效益等方面有显著优势，因此钵盆育苗在花卉等农业种植中广泛应用。在钵盆育苗过程中，将穴盘里培养的植物移栽到钵盆里进行后续生长培育是重要的一步，移栽的效率和质量对花卉生产有重要影响。
目前我国盆栽花卉移栽作业仍然以人工为主，盆栽花卉移栽配套设备不够完善。盆栽花卉移栽前需要将分离好的花盆放置到输送装置上，然后进行装土、打坑作业，最后将移栽好的花盆运输到温室指定位置。在现有的大型花卉穴盘苗自动移栽机中，固定式机型居多，移栽机所用花盆多为硬质塑料钵盆，钵盆比较容易抓取，移栽后要借助输送带和移动式苗床才能将钵盆输送到指定位置，而且在一台移栽机上只能完成一种盆径的钵盆分离和输送。我国绝大多数育苗企业为中小型育苗公司或基地，作业空间小，无法安装移动式苗床，所用花盆多为软质钵盆，钵盆的抓取和输送相对困难，且型号不同的钵盆不能在同一个机器上完成移栽作业，移栽后还需人工将带苗的钵盆搬到地面指定位置，费工费时。配套设备的水平低下不仅影响这个系统自动化、机械化的发展，更严重制约了我国花卉苗木产业的发展。
发明内容
根据上述提出的技术问题，而提供一种在已经成功研发盆栽花卉移栽机并解决精准移栽问题的基础上，能精准分离和输送不同盆径的软质钵盆的装置。
本发明采用的技术手段如下：
一种盆径可调式钵盆分离输送装置，包括：机架，用于在径向方向上实现对钵盆夹持的夹持机构，用于调整夹持机构的夹持部分以适配不同钵盆直径的调节机构，用于将已经处于夹持状态的钵盆最外层钵盆吸附住的吸附机构，设置于吸附机构行程上用于承接和输送吸附机构吸附取下的钵盆的输送机构，为调节机构提供动力的驱动机构以及用于控制整机所有动力装置的PLC控制装置；
上述夹持机构通过辅助支架固定在机架上位于输送机构的起始位置上方；
上述调节机构和上述驱动机构均固定在此辅助支架上，且临近于夹持机构；
上述吸附机构作用行程为上下伸缩行程，即上下往复于夹持机构下方至输送机构起始位置上端区域；
调节机构包括：滑轨、滑块、丝杠螺母和正反牙丝杠；
两个滑轨平行固定安装在机架上，每个滑轨上侧滑动装配有两个滑块，两个滑轨之间形成两组相对设置的滑块，相对设置的两个滑块上侧均通过一个第一L型连接件固定安装有丝杠螺母，即形成对称设置的两个丝杠螺母，此位置的两个丝杠螺母分别与上述正反牙丝杠的正牙和反牙相螺接，上述驱动机构的输出端与正反牙丝杠的一端连接作为其旋转动力；
夹持机构包括：两个夹持板、夹持杆和半筒型钵盆保持架，同一个滑轨上的两个滑块均在与第一L型连接件之间固定安装有夹持板，即两个滑轨的滑块上均安装上夹持板后形成两个对称设置的夹持板；
上述夹持板上开设有多对斜面相对的斜槽，每对斜槽的内侧固定安装有半筒型钵盆保持架，夹持板的一对斜槽与相对侧夹持板相对应位置的一对斜槽构成一组斜槽，且每一组斜槽满足所有斜槽的中轴线可围成一个平行四边形，保证两个夹持板上相对位置的半筒型钵盆保持架开口相对，即相对位置的半筒型钵盆保持架相互靠近至贴合能够围成一个类圆柱形；
夹持杆包括：方杆、滑杆、圆管和圆杆；
上述圆杆能够伸入到圆管的中心孔内，形成一根伸缩杆结构；
方杆两端均垂直焊接有滑杆，且滑杆滑动装配在夹持板上斜槽的内，方杆为成对设置，相对设置的两个方杆之间端部位置垂直固定两根伸缩杆结构，构成其中两个平行边能够伸缩的矩形结构，即每一根方杆侧面的一端垂直设置有圆管，同侧的另一端垂直设置有另一根圆杆，即相对于一对方杆位于同一侧的圆管和圆杆配合连接。
进一步的，输送机构包括：传动机构、可调式钵盆固定机构、限位机构和张紧机构；
传动机构输的送端均匀设置有多个可调式钵盆固定机构，机架的内侧水平设置有支撑板，且支撑板位于可调式钵盆固定机构的下侧；
可调式钵盆固定机构包括：第一链板连接件、第二链板连接件、第一横向从动杆、第二横向从动杆、第三横向从动杆和半筒型固定托；
传动机构输的送端相对两侧分别固定安装有第一链板连接件和第二链板连接件，第一横向从动杆依次铰接有平行设置的第一纵向从动杆、第二纵向从动杆和两个第三纵向从动杆，两个第三纵向从动杆的中部分别铰接在第一链板连接件和第二链板连接件的内侧端面，且第二纵向从动杆的中部铰接在第一链板连接件上远离第三纵向从动杆的一侧，两个第三纵向从动杆的底端铰接在第二横向从动杆的两侧，且第一横向从动杆和第二横向从动杆平行设置，第一纵向从动杆和第二纵向从动杆的底端铰接在第三横向从动杆的两侧，且第二横向从动杆与第三横向从动杆共线设置，第三横向从动杆和第一横向从动杆靠近第一纵向从动杆的一侧均转动装配有滚子，第一横向从动杆和第二横向从动杆的同侧依次均匀固定安装有多个半筒型固定托，且上侧和下侧相邻的半圆筒固定托开口相对设置，第一纵向从动杆、第二纵向从动杆和第三纵向从动杆的长度相等，且第二纵向从动杆和第三纵向从动杆的铰接点位置相同，即第二纵向从动杆、第一纵向从动杆、第三横向从动杆与第一横向 从动杆构成平行四边形框架结构，机架靠近滚子一侧设置有通过与棍子表面贴合对第二纵向从动杆、第一纵向从动杆、第三横向从动杆与第一横向从动杆构成的平行四边形框架结构形变进行限位的限位机构，进而实现第一横向从动杆和第二横向从动杆之间的相对位置限位，最终实现控制每相邻一组半筒型固定托构成的类圆柱的钵盆的输送位的直径大小；传动机构上设置有张紧机构。
进一步的，限位机构包括：第二L型连接件、第三L型连接件、第一主动杆、第二主动杆和挡板，机架靠近滚子一侧均匀固定安装有多个第二L型连接件，两个第三L型连接件固定安装在多个第二L型连接件的两侧，第二L型连接件的一侧铰接有两个平行设置的第一主动杆，两个第一主动杆上下两侧均铰接有第二主动杆，且第二主动杆靠近滚子一侧焊接有挡板，上侧第二主动杆通过销轴与第一主动杆相铰接，远离挡板一侧的销轴贯穿第三L型连接件上的弧形槽，且销轴伸出端上开设的螺纹螺接有螺母，第二纵向从动杆和两个第一主动杆的长度相等，且第二纵向从动杆和两个第一主动杆的铰接点位置相同。
进一步的，吸附机构包括：伸缩气缸、吸盘固定板和吸盘，两个夹持板的外侧中部均固定安装有伸缩气缸，且伸缩气缸通过气管与外界空气压缩机相连通，伸缩气缸的输出端横向固定安装有吸盘固定板，两个对称设置的吸盘固定板内侧面向外侧倾斜的锐角角度范围为8°～10°，吸盘固定板均匀固定安装有多个吸盘，且吸盘通过气管依次与真空发生器和与空气压缩机相连通，吸盘固定板的两侧固定安装有直线轴承，直线轴承内纵向滑动连接有导向光轴，且导向光轴固定安装在机架上。
进一步的，传动机构包括：主动轴、从动轴、链轮和弯板链条；
机架的下侧前后两端分别转动装配有主动轴和从动轴，且主动轴和从动轴的两端均固定装配有链轮，前后同侧的链轮啮合连接有弯板链条，支撑板位于两个弯板链条内侧，第一链板连接件和第二链板连接件分别固定安装在两个弯板链条的相对链节弯板上，主动轴与钵盆输送步进电机输出轴固定连接，且钵盆输送步进电机与外接电源电连接。
进一步的，张紧机构包括：张紧架、限位螺母、张紧螺母和调节螺栓，主动轴的两端通过轴承和轴承座转动装配有张紧架，张紧架滑动连接在机架侧面的螺栓上，限位螺母固定安装在靠近张紧架一侧的机架上，张紧螺母设置在靠近限位螺母的一侧，且限位螺母和张紧螺母内螺接有调节螺栓。
进一步的，驱动机构包括：盆径调节步进电机、主动带轮、从动带轮和同步带；机架上靠近夹持板的一侧固定安装有盆径调节步进电机，且盆径调节步进电机与外接电源电连接，盆径调节步进电机输出轴固定安装有主动带轮，两个正反牙丝杠的同侧均固定安装有从动带轮，两个主动带轮和两个从动带轮套接有两个同步带，且两个同步带相互平行设置。
进一步的，夹持板上斜槽、夹持杆、半筒型钵盆保持架、吸盘和半筒型固定托的数量均为十对。
进一步的，夹持板上斜槽的内侧通过法兰滑动轴承与滑杆滑动装配。
进一步的，还包括：固定于机架下端的能够带动机架走行的移动机构，移动机构包 括：定滑轮和动滑轮，机架下表面靠近从动轴的一侧固定安装有两个定滑轮，且靠近主动轴的一侧固定安装有两个动滑轮。
与现有技术相比，本发明提供了一种盆径可调式钵盆分离输送装置，具备以下有益效果：
1、该盆径可调式钵盆分离输送装置，通过两个夹持板和夹持杆的设计，可以在宽度和长度上对整摞钵盆进行限位，为整摞钵盆提供夹持力，半筒型钵盆保持架为整摞钵盆提供支撑力，结合吸附机构的吸附力，这样可以高效的分离叠摞的软质钵盆的位置，有效的解决了不同盆径的软质钵盆无法在同一机型的机器上分离，效率低的问题；
2、该盆径可调式钵盆分离输送装置，通过可调式钵盆固定机构和限位机构的设计，采用限位机构上第三L型连接件和销轴上的螺母之间的锁紧作用来限制不同型号盆托的大小，进而高效的改变开口相对的半筒型固定托的间距，极大的提高了工作效率，可以有效的解决了不同盆径的钵盆输送不稳定，使用非常不方便的问题。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例的整体结构示意图；
图2为本发明实施例调节机构的结构示意图；
图3为本发明实施例夹持机构的结构示意图；
图4为本发明实施例夹持杆的结构示意图；
图5为本发明实施例吸附机构的结构示意图；
图6为本发明实施例输送机构的局部示意图；
图7为本发明实施例可调式钵盆固定机构的结构示意图；
图8为本发明实施例限位机构的局部示意图；
图9为本发明实施例张紧机构的局部示意图；
图10为本发明实施例驱动机构的结构示意图；
图11为PLC控制装置的模块示意图。
图中：1、机架，2、调节机构，21、滑轨，22、滑块，23、丝杠螺母，24、正反牙丝杠，25、第一L型连接件，3、夹持机构，31、夹持板，32、夹持杆，321、方杆，322、滑杆，323、圆管，324、圆杆，325、法兰滑动轴承，33、半筒型钵盆保持架，4、吸附机构，41、伸缩气缸，42、吸盘固定板，43、吸盘，44、直线轴承，45、导向光轴，5、输送机构，51、传动机构，511、主动轴，512、从动轴，513、链轮，514、弯板链条，52、支撑板，53、可调式钵盆固定机构，5301、第一链板连接件，5302、第二链板连接件，5303、第一横向从动杆，5304、第一纵向从动杆，5305、第二纵向从动杆，5306、第三纵向从动 杆，5307、第二横向从动杆，5308、第三横向从动杆，5309、滚子，5310、半筒型固定托，54、限位机构，541、第二L型连接件，542、第三L型连接件，543、销轴，544、第一主动杆，545、第二主动杆，546、挡板，55、张紧机构，551、张紧架，552、限位螺母，553、张紧螺母，554、调节螺栓，6、驱动机构，61、盆径调节步进电机，62、主动带轮，63、从动带轮，64、同步带，7、移动机构，71、定滑轮，72、动滑轮，8、PLC控制装置。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本发明的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。同时，应当清楚，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员己知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任向具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制：方位词“内、外”是指相对于各部件本身的轮廓的内外。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的 方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其位器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
如图1至图11所示，本发明提供了一种盆径可调式钵盆分离输送装置，包括：机架1，用于在径向方向上实现对钵盆夹持的夹持机构3，用于调整夹持机构3的夹持部分以适配不同钵盆直径的调节机构2，用于将已经处于夹持状态的钵盆最外层钵盆吸附住的吸附机构4，设置于吸附机构4行程上用于承接和输送吸附机构4吸附取下的钵盆的输送机构5，为调节机构2提供动力的驱动机构6以及用于控制整机所有动力装置的PLC控制装置8，夹持机构3通过辅助支架固定在机架1上，且位于输送机构5的起始位置上方，调节机构2和上述驱动机构6均固定在此辅助支架上，且临近于夹持机构3，吸附机构4作用行程为上下伸缩行程，即上下往复于夹持机构3下方至输送机构5起始位置上端区域。
本实施例中，机架1由六个横向方管和四个纵向方管焊接而成，提高机架1的强度，可以为调节机构2、夹持机构3、吸附机构4、输送机构5、驱动机构6和PLC控制装置8提供稳定的支撑力；盆径可调式钵盆分离输送装置的PLC控制系统即PLC控制装置8，其包括PLC、输入控制模块、盆径精准调节控制模块、取分盆控制模块和钵盆输送控制模块，且依次电连接，PLC控制装置8以三菱FX1N-40MT型PLC为主控单元，利用其编程简单、可靠性高、抗干扰能力强及环境适应性好的特点，结合机器启停复位及控制开关和定位传感器控制步进电机动作，实现对盆径可调式钵盆分离输送装置控制系统的整个工作过程控制，输入控制模块由机器启停复位及控制开关和钵盆定位传感器组成，盆径精准调节控制模块由盆径调节步进电机61和配套的步进电机驱动器组成，取分盆控制模块由电磁阀组、伸缩气缸和真空发生器组成，钵盆输送控制模块由钵盆输送步进电机和配套的步进电机驱动器组成。
如图2所示，调节机构2包括滑轨21、滑块22、丝杠螺母23和正反牙丝杠24，两个滑轨21平行固定安装在机架1上，每个滑轨21上侧滑动装配有两个滑块22，两个滑轨21之间形成两组相对设置的滑块22，相对设置的两个滑块22上侧均通过一个第一L型连接件25固定安装有丝杠螺母23，即形成对称设置的两个丝杠螺母23，此位置的两个丝杠螺母23分别与上述正反牙丝杠24的正牙和反牙相螺接，上述驱动机构6的输出端与正反牙丝杠24的一端连接作为其旋转动力。
如图3和图4所示，夹持机构3包括两个夹持板31、夹持杆32和半筒型钵盆保持架33，同一个滑轨21上的两个滑块22均在与第一L型连接件之间固定安装有夹持板31， 即两个滑轨21的滑块22上均安装上夹持板31后形成两个对称设置的夹持板31，夹持板31上开设有多对斜面相对的斜槽，每对斜槽的内侧固定安装有半筒型钵盆保持架33，夹持板31的一对斜槽与相对侧夹持板31相对应位置的一对斜槽构成一组斜槽，且每一组斜槽满足所有斜槽的中轴线可围成一个平行四边形，保证两个夹持板31上相对位置的半筒型钵盆保持架33分别开口相对，即相对位置的半筒型钵盆保持架33相互靠近至贴合能够围成一个类圆柱形，夹持杆32包括：方杆321、滑杆322、圆管323和圆杆324，圆杆324能够伸入到圆管323的中心孔内，形成一根伸缩杆结构，方杆321两端均垂直焊接有滑杆322，且滑杆322滑动装配在夹持板31上斜槽的内，方杆321为成对设置，相对设置的两个方杆321之间端部位置垂直固定两根伸缩杆结构，构成其中两个平行边能够伸缩的矩形结构，即每一根方杆321侧面的一端垂直设置有圆管323，同侧的另一端垂直设置有圆杆324，即相对的一对方杆321位于同一侧的圆管323和圆杆324配合连接。
本实施例中，移栽机使用的钵盆主要有9×9、10×10、12×10、13×12和15×13五种型号，该钵盆分离送落装置中的夹持杆32是成对使用的，相邻圆管323和圆杆324间隙配合，两个夹持杆32围成一个矩形结构，矩形结构上的四个滑杆322通过法兰滑动轴承325安装在夹持板31的斜槽上，夹持板31带动夹持杆32上滑杆322在斜槽内滑动，使矩形结构的宽度发生变化，变化范围是68mm～100mm，每个斜槽的倾斜角度是相同的，所以，宽度变化呈线性变化，可以适用于不同盆径的钵盆，夹持杆32主要是从长度上对钵盆进行限位；两个夹持板31在正反牙丝杠24的带动下靠拢或远离，两板间的距离变化范围是60mm～92mm，作用是从宽度上对钵盆进行限位；该钵盆分离送落装置工作时，开口相对的两个半筒型钵盆保持架33可以避免整摞花盆发生倾斜，还能确保整摞钵盆的顺利落下；两个夹持板31的内侧面可以铣成8°～10°的斜面，这样避免整摞钵盆下落时两个夹持板31的直角边给钵盆的夹紧力过大；一个夹持板31的上表面可固定设置有直尺，且直尺的延伸端搭接到另一个夹持板31上，这样可以通过直尺上的刻度直观的观察两个夹持板31的间距变化；半筒型钵盆保持架33的横截面为半圆形，方便两个开口相对的半筒型钵盆保持架33更好的夹持钵盆。
如图6和图7所示，输送机构5包括传动机构51、可调式钵盆固定机构53、限位机构54和张紧机构55，传动机构51输送端均匀设置有多个可调式钵盆固定机构53，机架1的内侧水平设置有支撑板52，且支撑板52位于可调式钵盆固定机构53的下侧，可调式钵盆固定机构53包括第一链板连接件5301、第二链板连接件5302、第一横向从动杆5303、第二横向从动杆5307、第三横向从动杆5308和半筒型固定托5310，传动机构51输送端相对两侧分别固定安装有第一链板连接件5301和第二链板连接件5302，第一横向从动杆5303依次铰接有平行设置的第一纵向从动杆5304、第二纵向从动杆5305和两个第三纵向从动杆5306，两个第三纵向从动杆5306的中部分别铰接在第一链板连接件5301和第二链板连接件5302的内侧端面，且第二纵向从动杆5305的中部铰接在第一链板连接件5301上远离第三纵向从动杆5306的一侧，两个第三纵向从动杆5306的底端铰接在第二横向从 动杆5307的两侧，且第一横向从动杆5303和第二横向从动杆5307平行设置，第一纵向从动杆5304和第二纵向从动杆5305的底端铰接在第三横向从动杆5308的两侧，且第二横向从动杆5307与第三横向从动杆5308共线设置，第三横向从动杆5308和第一横向从动杆5303靠近第一纵向从动杆5304的一侧均转动装配有滚子5309，第一横向从动杆5303和第二横向从动杆5307的同侧依次均匀固定安装有多个半筒型固定托5310，且上侧和下侧相邻的半圆筒固定托5310开口相对设置，第一纵向从动杆5304、第二纵向从动杆5305和第三纵向从动杆5306的长度相等，且第二纵向从动杆5305和第三纵向从动杆5306的铰接点位置相同，机架1靠近滚子5309一侧设置有限位机构54，传动机构51上设置有张紧机构55。
本实施例中，支撑板52位于可调式钵盆固定机构53的下侧，为光滑的不锈钢材质，这样支撑板52可以支撑钵盆在输送机构5上的正常运行；为了配合移栽机上分盆机构、下土机构、打坑机构、移栽机构和落盆机构五部分，可调式钵盆固定机构53有十八组,这样紧边待落的那排可调式钵盆固定机构53处于松边两排可调式钵盆固定机构53的之间的位置，方便移栽机上落盆机构的正常运行；第一横向从动杆5303和第二横向从动杆5307上相邻的半圆筒固定托5310开口相对设置，且半圆筒固定托5310的横截面为半圆形，可构成盆托，保持钵盆在支撑板52上运行稳定。
如图8所示，限位机构54包括第二L型连接件541、第三L型连接件542、第一主动杆544、第二主动杆545和挡板546，机架1靠近滚子5309一侧均匀固定安装有多个第二L型连接件541，两个第三L型连接件542固定安装在多个第二L型连接件541的两侧，第二L型连接件541的一侧铰接有两个平行设置的第一主动杆544，两个第一主动杆544上下两侧均铰接有第二主动杆545，且第二主动杆545靠近滚子一侧焊接有挡板546，上侧第二主动杆545通过销轴543与第一主动杆544相铰接，远离挡板546一侧的销轴543贯穿第三L型连接件542上的弧形槽，且销轴543伸出端上开设的螺纹螺接有螺母，第二纵向从动杆5305和两个第一主动杆544的长度相等，且第二纵向从动杆5305和两个第一主动杆544的铰接点位置相同。
本实施例中，滚子5309的外侧曲面与挡板546处于相切状态，由于第二纵向从动杆5305和两个第一主动杆544的长度相等，第二纵向从动杆5305和两个第一主动杆544的铰接点位置相同，且第二纵向从动杆5305和两个第一主动杆544中间的铰接点可处于同一水平高度，这样控制两个第一主动杆544和第二纵向从动杆5305平行时，刚好同一高度的滚子5309可以与挡板546紧密贴合，保证输送机构5上弯板链条514紧边处的可调式钵盆固定机构53位置稳定不变；第三L型连接件542上弧形槽设置有第一主动杆544倾斜角度对应的刻度值，这样方便人们推动销轴543时精准改变第一主动杆544的倾斜角度。
如图5所示，吸附机构包括伸缩气缸41、吸盘固定板42和吸盘43，两个夹持板31的外侧中部均固定安装有伸缩气缸41，且伸缩气缸41通过气管与外界空气压缩机相连通， 伸缩气缸41的输出端横向固定安装有吸盘固定板42，两个对称设置的吸盘固定板42内侧面向外侧倾斜的锐角角度范围为8°～10°，吸盘固定板42均匀固定安装有多个吸盘43，且吸盘43通过气管依次与真空发生器和与空气压缩机相连通，吸盘固定板42的两侧固定安装有直线轴承44，直线轴承44内纵向滑动连接有导向光轴45，且导向光轴45固定安装在机架1上。
本实施例中，两个对称设置的吸盘固定板42内侧面向外倾斜的锐角角度最佳范围为8°～10°，这样吸盘43和该五种型号钵盆接触时吸盘43顶端不会出现褶皱现象，增大吸盘43和钵盆之间的有效接触面积；吸盘43选用型号为PBFS25的双层波纹型硅橡胶吸盘，该型号吸盘43的吸附力远大于钵盆分离所需的拉力，材质比较柔软，耐摩擦，耐撕扯，适合吸取易变形物体，适用于表面不平、弧形或倾斜的表面，能够满足工作要求；吸盘固定板42通过其两侧的直线轴承44可以在导向光轴45上滑动，导向光轴45为吸盘固定板42的上下运动起到导向作用，吸盘固定板42的运动更稳定可靠。
如图6所示，传动机构51包括主动轴511、从动轴512、链轮513和弯板链条514，机架1的下侧前后两端分别转动装配有主动轴511和从动轴512，且主动轴511和从动轴512的两端均固定装配有链轮513，前后同侧的链轮513啮合连接有弯板链条514，支撑板55位于两个弯板链条514内侧，第一链板连接件5301和第二链板连接件5302分别固定安装在两个弯板链条514的相对链节弯板上，主动轴511与钵盆输送步进电机输出轴固定连接，且钵盆输送步进电机与外接电源电连接。
本实施例中，从动轴512和机架1之间的轴承选用内径为20mm的带悬挂式座顶丝外球面球轴承，该类型轴承与深沟球轴承具有相同的载荷能力，调心性能较好，有密封装置，结构紧凑，使用方便，轴承代号为UCFB204，JB/T 8513-1996，为减轻重量，主动轴511和从动轴512均采用外径34mm，壁厚2mm的空心管两端焊接轴头的方式；主动轴511和电机输出轴通过链传动的方式连接，方便固定电机的位置，钵盆输送步进电机的运行速率可通过电机驱动器和PLC来调节。
如图9所示，张紧机构55包括张紧架551、限位螺母552、张紧螺母553和调节螺栓554，主动轴511的两端通过轴承和轴承座转动装配有张紧架551，张紧架551滑动连接在机架1侧面的螺栓上，限位螺母552固定安装在靠近张紧架551一侧的机架1上，张紧螺母553设置在靠近限位螺母552的一侧，且限位螺母552和张紧螺母553内螺接有调节螺栓554。
本实施例中，机架1侧面可平行固定安装有多个螺栓，且螺栓插接在张紧架551上两条平行的方槽内，方便张紧架551在机架1上滑动，这样可以避免同轴链轮运动不一致导致的受力不均匀，同时可以调节弯板链条514的张紧度，让输送机构5运行更平稳；主动轴511和张紧架551之间的轴承使用6004型深沟球轴承(GB/T 276-1994)，调节螺栓554使用半圆头方径螺栓(GB/T 12-1988)。
如图2和图10所示，驱动机构6包括盆径调节步进电机61、主动带轮62、从动带轮 63和同步带64，机架1上靠近夹持板31的一侧固定安装有盆径调节步进电机61，且盆径调节步进电机61与外接电源电连接，盆径调节步进电机61输出轴固定安装有两个主动带轮62，两个正反牙丝杠24的同侧均固定安装有从动带轮63，两个主动带轮62和两个从动带轮63套接有两个同步带64，且两个同步带64相互平行设置。
本实施例中，为了保证驱动机构6运动的连续稳定性，并且考虑到空间局限性，设计使用同步带64传动，并使用盆径调节步进电机61作为其驱动元件，盆径调节步进电机61可由PLC控制其转动和停止；主动带轮62和从动带轮63分别与盆径调节步进电机61输出轴和正反牙丝杠24使用顶丝进行轮毂固定。
如图1、图3、图4、图5和图6所示，夹持板31上斜槽、夹持杆32、半筒型钵盆保持架33、吸盘43和半筒型固定托5310的数量均为十对。
本实施例中，为了配合移栽机所使用的10×20的穴盘苗移栽，这样一个工作流程需要十组钵盆，相应的夹持板31上斜槽、夹持杆32、半筒型钵盆保持架33、吸盘43和半筒型固定托5310的数量均需要十对。
如图3所示，夹持板31上斜槽的内侧通过法兰滑动轴承325与滑杆322滑动装配。
本实施例中，法兰滑动轴承325可以方便滑杆322在夹持板31上斜槽内移动，避免滑杆322和夹持板31上斜槽之间发生摩擦现象。
如图1和图6所示，移动机构7包括定滑轮71和动滑轮72，机架1下表面靠近从动轴512的一侧固定安装有两个定滑轮71，且靠近主动轴511的一侧固定安装有两个动滑轮72。
本实施例中，定滑轮71和动滑轮72的位置可以替换，通过动滑轮72实现整个机身的转向动作，这样更方便整机的移动。
一种盆径可调式钵盆分离输送装置的工作过程如下：
步骤一、当需要分离某种型号的钵盆时，工作前，PLC先启动盆径调节步进电机61，盆径调节步进电机61通过同步带64驱动两个正反牙丝杠24旋转，正反牙丝杠24上的丝杠螺母23带动滑块22在滑轨21上移动，进而带动分盆夹持板31相向或背向移动，夹持杆32上圆杆324在圆管323内滑动，滑杆322可以在分盆夹持板31的斜方槽内通过法兰滑动轴承325滑动，这样两个夹持板31和夹持杆32可以在宽度和长度上对整摞钵盆进行限位，为整摞钵盆提供夹持力，分盆夹持板31运动的同时带动两个相对的半筒型钵盆保持架33相向或背向移动，当调节到与待分离钵盆型号相对应的夹持距离时，PLC停止盆径调节步进电机61运行，此时，将摞叠的钵盆分别放置到十对半筒型钵盆保持架33内侧中，保持叠摞钵盆在竖直状态下顺利下落；与此同时，推动销轴543在两个第三L型连接件542上弧形槽内滑动，两个第一主动杆544匹配到待分离钵盆型号相对应的倾斜角度，将销轴543伸出端上的螺母旋拧到第三L型连接件上，锁紧限位机构54，PLC启动输送机构5上的钵盆输送步进电机，钵盆输送步进电机通过主动轴511和从动轴512上的链轮513带动弯板链条514运行，上侧或者下侧滚子5309触碰到挡板546时，两个第三纵向 从动杆5306围绕第一链板连接件5301和第二链板连接件5302旋转，直到上下两侧的滚子5309均与挡板546接触，进而第一横向从动杆5303和第二横向从动杆5307上开口相对的两个半筒型固定托5310调节到与待分离钵盆型号相适应的间距尺寸，待弯板链条514运行一个周期时，所有半筒型固定托5310的位置调节完毕，准备工作结束；
步骤二、工作时，启动外界空气压缩机和PLC，进而控制传动机构51上的钵盆输送步进电机运行，伸缩气缸41通过吸盘固定板42带动吸盘43与每螺钵盆中最底端的一个钵盆接触，空气压缩机通过真空发生器在吸盘43和钵盆之间产生真空吸附力，吸盘43及其吸附的单个钵盆在伸缩气缸41的带动下竖直向下运动，当伸缩气缸41伸长到最大行程时，停止吸盘43吸附，被吸取的钵盆掉落到输送机构5上的盆托内，完成一次钵盆分离；
步骤三、伸缩气缸41带动吸盘43返回钵盆吸取位置，与此同时，输送机构5上的钵盆输送步进电机继续运行，钵盆输送步进电机通过主动轴511和从动轴512上的链轮513带动弯板链条514运行，进而通过可调式钵盆固定机构53上的半筒型固定托5310带动已分离的钵盆到下一工位，钵盆定位传感器通过PLC控制钵盆输送步进电机停止运行，依此重复步骤二和步骤三的动作，达到不同种盆径的钵盆全自动分离输送的效果，装置占用空间小，工作效率高，结构简单，成本低。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种盆径可调式钵盆分离输送装置，其特征在于，
    包括：
    机架(1)，用于在径向方向上实现对钵盆夹持的夹持机构(3)，用于调整夹持机构(3)的夹持部分以适配不同钵盆直径的调节机构(2)，用于将已经处于夹持状态的钵盆最外层钵盆吸附住的吸附机构(4)，设置于吸附机构(4)行程上用于承接和输送吸附机构(4)吸附取下的钵盆的输送机构(5)，为调节机构(2)提供动力的驱动机构(6)以及用于控制整机所有动力装置的PLC控制装置(8)；
    上述夹持机构(3)通过辅助支架固定在机架(1)上，且位于输送机构(5)的起始位置上方；
    上述调节机构(2)和上述驱动机构(6)均固定在此辅助支架上，且临近于夹持机构(3)；
    上述吸附机构(4)作用行程为上下伸缩行程，即上下往复于夹持机构(3)下方至输送机构(5)起始位置上端区域；
    所述调节机构(2)包括：滑轨(21)、滑块(22)、丝杠螺母(23)和正反牙丝杠(24)；
    两个滑轨(21)平行固定安装在机架(1)上，每个滑轨(21)上侧滑动装配有两个滑块(22)，两个滑轨(21)之间形成两组相对设置的滑块(22)，相对设置的两个滑块(22)上侧均通过一个第一L型连接件(25)固定安装有丝杠螺母(23)，即形成对称设置的两个丝杠螺母(23)，此位置的两个丝杠螺母(23)分别与上述正反牙丝杠(24)的正牙和反牙相螺接，上述驱动机构(6)的输出端与正反牙丝杠(24)的一端连接作为其旋转动力；
    所述夹持机构(3)包括：两个夹持板(31)、夹持杆(32)和半筒型钵盆保持架(33)，同一个滑轨(21)上的两个滑块(22)均在与第一L型连接件之间固定安装有夹持板(31)，即两个滑轨(21)的滑块(22)上均安装上夹持板(31)后形成两个对称设置的夹持板(31)；
    上述夹持板(31)上开设有多对斜面相对的斜槽，每对斜槽的内侧固定安装有半筒型钵盆保持架(33)，夹持板(31)的一对斜槽与相对侧夹持板(31)相对应位置的一对斜槽构成一组斜槽，且每一组斜槽满足所有斜槽的中轴线可围成一个平行四边形，保证两个夹持板(31)上相对位置的半筒型钵盆保持架(33)分别开口相对，即相对位置的半筒型钵盆保持架(33)相互靠近至贴合能够围成一个类圆柱形；
    所述夹持杆(32)包括：方杆(321)、滑杆(322)、圆管(323)和圆杆(324)；
    上述圆杆(324)能够伸入到圆管(323)的中心孔内，形成一根伸缩杆结构；
    所述方杆(321)两端均垂直焊接有滑杆(322)，且滑杆(322)滑动装配在所述夹持板(31)上斜槽的内，所述方杆(321)为成对设置，相对设置的两个方杆(321)之间端部位置垂直固定两根伸缩杆结构，构成其中两个平行边能够伸缩的矩形结构，即每一根 方杆(321)侧面的一端垂直设置有圆管(323)，同侧的另一端垂直设置有圆杆(324)，即相对的一对方杆(321)位于同一侧的圆管(323)和圆杆(324)配合连接。
  2. 根据权利要求1所述的一种盆径可调式钵盆分离送落装置，其特征在于：
    所述输送机构(5)包括：用于实现钵盆输送的传动机构(51)、可调式钵盆固定机构(53)、限位机构(54)和用于保持传动机构(51)运行平稳的张紧机构(55)；
    所述传动机构(51)输送端均匀设置有多个可调式钵盆固定机构(53)，所述机架(1)的内侧水平设置有支撑板(52)，且支撑板(52)位于可调式钵盆固定机构(53)的下侧；
    所述可调式钵盆固定机构(53)包括：第一链板连接件(5301)、第二链板连接件(5302)、第一横向从动杆(5303)、第二横向从动杆(5307)、第三横向从动杆(5308)和半筒型固定托(5310)；
    所述传动机构(51)输送端相对两侧分别固定安装有第一链板连接件(5301)和第二链板连接件(5302)，所述第一横向从动杆(5303)依次铰接有平行设置的第一纵向从动杆(5304)、第二纵向从动杆(5305)和两个第三纵向从动杆(5306)，两个第三纵向从动杆(5306)的中部分别铰接在第一链板连接件(5301)和第二链板连接件(5302)的内侧端面，且第二纵向从动杆(5305)的中部铰接在第一链板连接件(5301)上远离第三纵向从动杆(5306)的一侧，两个第三纵向从动杆(5306)的底端铰接在所述第二横向从动杆(5307)的两侧，且第一横向从动杆(5303)和第二横向从动杆(5307)平行设置，所述第一纵向从动杆(5304)和第二纵向从动杆(5305)的底端铰接在第三横向从动杆(5308)的两侧，且第二横向从动杆(5307)与第三横向从动杆(5308)共线设置，所述第三横向从动杆(5308)和第一横向从动杆(5303)靠近第一纵向从动杆(5304)的一侧均转动装配有滚子(5309)，所述第一横向从动杆(5303)和第二横向从动杆(5307)的同侧依次均匀固定安装有多个半筒型固定托(5310)，且上侧和下侧相邻的半圆筒固定托(5310)开口相对设置，所述第一纵向从动杆(5304)、第二纵向从动杆(5305)和第三纵向从动杆(5306)的长度相等，且第二纵向从动杆(5305)和第三纵向从动杆(5306)的铰接点位置相同，即第二纵向从动杆(5305)、第一纵向从动杆(5304)、第三横向从动杆(5308)与第一横向从动杆(5303)构成平行四边形框架结构，所述机架(1)靠近滚子(5309)一侧设置有通过与棍子(5309)表面贴合对第二纵向从动杆(5305)、第一纵向从动杆(5304)、第三横向从动杆(5308)与第一横向从动杆(5303)构成的平行四边形框架结构形变进行限位的限位机构，进而实现第一横向从动杆(5303)和第二横向从动杆(5307)之间的相对位置限位，最终实现控制每相邻一组半筒型固定托(5310)构成的类圆柱形钵盆的输送位的直径大小，所述传动机构(51)上设置有张紧机构(55)。
  3. 根据权利要求2所述的一种盆径可调式钵盆分离送落装置，其特征在于：
    所述限位机构(54)包括：第二L型连接件(541)、第三L型连接件(542)、第一主动杆(544)、第二主动杆(545)和挡板(546)，所述机架(1)靠近滚子(5309)一侧均匀固定安装有多个第二L型连接件(541)，两个所述第三L型连接件(542)固定安 装在多个第二L型连接件(541)的两侧，所述第二L型连接件(541)的一侧铰接有两个平行设置的第一主动杆(544)，两个所述第一主动杆(544)上下两侧均铰接有第二主动杆(545)，且第二主动杆(545)靠近滚子(5309)一侧焊接有挡板(546)，上侧所述第二主动杆(545)通过销轴(543)与第一主动杆(544)相铰接，远离挡板(546)一侧的销轴(543)贯穿所述第三L型连接件(542)上的弧形槽，且销轴(543)伸出端上开设的螺纹螺接有螺母，所述第二纵向从动杆(5305)和两个第一主动杆(544)的长度相等，且第二纵向从动杆(5305)和两个第一主动杆(544)的铰接点位置相同。
  4. 根据权利要求2所述的一种盆径可调式钵盆分离送落装置，其特征在于：
    所述吸附机构(4)包括：伸缩气缸(41)、吸盘固定板(42)和吸盘(43)，两个所述夹持板(31)的外侧中部均固定安装有伸缩气缸(41)，且伸缩气缸(41)通过气管与外界空气压缩机相连通，所述伸缩气缸(41)的输出端横向固定安装有吸盘固定板(42)，两个对称设置的吸盘固定板(42)内侧面向外侧倾斜的锐角角度范围为8°～10°，吸盘固定板(42)均匀固定安装有多个吸盘(43)，且吸盘(43)通过气管依次与真空发生器和与空气压缩机相连通，所述吸盘固定板(42)的两侧固定安装有直线轴承，直线轴承(44)内纵向滑动连接有导向光轴(45)，且导向光轴(45)固定安装在所述机架(1)上。
  5. 根据权利要求2所述的一种盆径可调式钵盆分离送落装置，其特征在于：
    所述传动机构(51)包括：主动轴(511)、从动轴(512)、链轮(513)和弯板链条(514)；
    所述机架(1)的下侧前后两端分别转动装配有主动轴(511)和从动轴(512)，且主动轴(511)和从动轴(512)的两端均固定装配有链轮(513)，前后同侧的所述链轮(513)啮合连接有弯板链条(514)，所述支撑板(52)位于两个弯板链条(514)内侧，所述第一链板连接件(5301)和第二链板连接件(5303)分别固定安装在两个所述弯板链条(514)的相对链节弯板上，所述主动轴(511)与钵盆输送步进电机输出轴固定连接，且钵盆输送步进电机与外接电源电连接。
  6. 根据权利要求5所述的一种盆径可调式钵盆分离送落装置，其特征在于：
    所述张紧机构(55)包括：张紧架(551)、限位螺母(552)、张紧螺母(553)和调节螺栓(554)，所述主动轴(511)的两端通过轴承和轴承座转动装配有张紧架(551)，张紧架(551)滑动连接在所述机架(1)侧面的螺栓上，所述限位螺母(552)固定安装在靠近张紧架(551)一侧的机架(1)上，所述张紧螺母(553)设置在靠近限位螺母(552)的一侧，且限位螺母(552)和张紧螺母(553)内螺接有调节螺栓(554)。
  7. 根据权利要求1或2所述的一种盆径可调式钵盆分离送落装置，其特征在于：
    所述驱动机构(6)包括：盆径调节步进电机(61)、主动带轮(62)、从动带轮(63)和同步带(64)；所述机架(1)上靠近夹持板(31)的一侧固定安装有盆径调节步进电机(61)，且盆径调节步进电机(61)与外接电源电连接，盆径调节步进电机(61)输出轴固定安装有主动带轮(62)，两个所述正反牙丝杠(24)的同侧均固定安装有从动带轮 (63)，两个所述主动带轮(62)和两个从动带轮(63)套接有两个同步带(64)，且两个同步带(64)相互平行设置。
  8. 根据权利要求4所述的一种盆径可调式钵盆分离送落装置，其特征在于：所述夹持板(31)上斜槽、夹持杆(32)、半筒型钵盆保持架(33)、吸盘(43)和半筒型固定托(5310)的数量均为十对。
  9. 根据权利要求1或2所述的一种盆径可调式钵盆分离送落装置，其特征在于：所述夹持板(31)上斜槽的内侧通过法兰滑动轴承与所述滑杆(322)滑动装配。
  10. 根据权利要求5所述的一种盆径可调式钵盆分离输送装置，其特征在于：
    还包括：固定于机架(1)下端能够带动机架(1)行走的移动机构(7)，移动机构(7)包括：定滑轮(71)和动滑轮(72)，机架(1)下表面靠近从动轴(512)的一侧固定安装有两个定滑轮(71)，且靠近主动轴(511)的一侧固定安装有两个动滑轮(72)。
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