WO2022194280A1 - 一种穴盘苗自动移栽可调取苗末端执行器 - Google Patents

一种穴盘苗自动移栽可调取苗末端执行器 Download PDF

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Publication number
WO2022194280A1
WO2022194280A1 PCT/CN2022/081701 CN2022081701W WO2022194280A1 WO 2022194280 A1 WO2022194280 A1 WO 2022194280A1 CN 2022081701 W CN2022081701 W CN 2022081701W WO 2022194280 A1 WO2022194280 A1 WO 2022194280A1
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WIPO (PCT)
Prior art keywords
seedlings
rod
plug
gripping
mechanical arm
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PCT/CN2022/081701
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English (en)
French (fr)
Inventor
韩绿化
墨梦晗
马浩锐
毛罕平
胡建平
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江苏大学
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Application filed by 江苏大学 filed Critical 江苏大学
Priority to US18/012,982 priority Critical patent/US11938619B2/en
Publication of WO2022194280A1 publication Critical patent/WO2022194280A1/zh

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    • 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
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A01G9/083—Devices for setting plants in pots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/006—Other parts or details or planting machines
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links

Definitions

  • the key to realizing the automatic transplanting of plug seedlings is to develop a gripping mechanism that adapts to the agronomic characteristics of seedlings.
  • seedling picking mechanisms and end effectors have been developed for various operation modes such as clamp type and top hole type. These researches have made important contributions to the application of automatic plug seedling transplanters in my country.
  • the end effector for picking seedlings is the key device of the automatic gripping mechanism, which is related to whether the seedlings can be taken according to the requirements and released in a suitable posture.
  • plug trays used in production in my country, including 72 holes, Hole, 128 holes and other specifications of the plug tray, which requires the end effector to be small in structure, the clamping operation can adapt to the characteristics of the plug tray seedlings, and is flexible and adjustable to meet the needs of automatic seedling transplanting of various sizes of plug trays.
  • the invention can actively open and close to grasp and release the plug seedlings, and can accommodate the plug seedling plants in a larger space to avoid damage to the seedlings, and can also adjust the opening degree and angle of the clamping, and can adapt to various specifications of plug trays Seedlings are automatically transplanted to take seedlings.
  • an end effector for automatic transplanting of plug seedlings and adjustable seedlings comprising a gripping finger, a support frame and a mechanical arm; the gripping fingers are installed symmetrically along the direction of the center line; the support frame One end is connected with the upper end of the gripping finger, the other end is connected with the swing rod of the mechanical arm, and the end of the support frame connected with the gripping finger is provided with a waist-shaped hole, which can adjust the distance between the two gripping fingers;
  • the mechanical arm includes a connecting rod, a pendulum rod, a bracket, a screw top rod, a sliding block and a linear motion unit; the sliding block and the movable element of the linear motion unit are connected along the direction of the center line; the two sides of the sliding block are respectively provided with connecting rods.
  • One end of the connecting rod is hinged with the slider, the other end of the connecting rod is hinged with one end of the swing rod, and the other end of the swing rod is hinged with the bracket respectively; It runs through the bracket and limits the retractable space of the connecting rod; the linear motion unit drives the sliding block to move upward, the connecting rod drives the pendulum rod to retract the two gripping fingers inward, and the linear motion unit drives the sliding block Moving down, the connecting rod drives the pendulum rod to open the two gripping fingers outwards.
  • the support frame includes a cover plate, a support seat, a locking bolt, a locking nut and an L-shaped connecting plate; the cover plate and the support seat are respectively arranged on both sides of the upper end of the gripping finger, and are locked by locking.
  • the bolt connection will clamp the gripping fingers; one end of the L-shaped connecting plate is provided with a waist-shaped hole, and the other end surface is connected with the swing rod of the mechanical arm; the connecting head of the support seat is passed through the waist-shaped hole and passes through The tightening of the lock nut is connected with the L-shaped connecting plate.
  • one end of the connecting rod is hinged with the slider through the pin shaft C
  • the other end of the connecting rod is hinged with one end of the swing rod through the pin shaft A
  • the other end of the swing rod is hinged with the bracket through the pin shaft B respectively.
  • the gripping finger is a gripping needle mechanism inserted into the pot seedlings or a gripper claw gripping the stem of the pot seedlings.
  • the cover plate and the support base are respectively provided with a slot hole of the same shape as the upper end of the finger to be clamped to clamp the upper end of the finger to be clamped.
  • the size of the locking end face of the locking nut is larger than the size of the waist-shaped hole on the L-shaped connecting plate.
  • the mechanical arm is an eccentric slide that can be retracted and retracted along the center line, with the bracket as the fixed frame, the slider as the original moving part, and the connecting rod and the swing rod as the driven parts.
  • the block swing lever mechanism is used to limit the retractable limit position of the connecting rod through the jacking action of the screw ejector rod.
  • the linear motion unit is a linear motion cylinder, a hydraulic cylinder, a linear motor or an electric push rod.
  • the mechanical arm of the present invention is an eccentric sliding block pendulum mechanism that can be folded inward and outward, and can drive the pinching needle mechanism to perform the actions of prying and grasping and quickly releasing the plug seedlings, so as to achieve active opening and closing to grasp
  • the expected effect of taking and releasing the plug seedlings and can accommodate the plug seedling plants in a larger space scale, so as to avoid the occurrence of damage to the seedlings.
  • FIG. 1 is a schematic diagram of the overall installation structure of an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the connection between a support frame and a gripping finger according to an embodiment of the present invention.
  • FIG. 4 is an exploded view of a gripper finger installation according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the overall mechanism of an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the working state of the releasing seedling pot according to an embodiment of the present invention.
  • Figures 1, 2 and 3 show a preferred embodiment of the end effector for automatic transplanting of the plug seedlings that can be taken out.
  • the two gripping fingers 1 installed symmetrically in the direction of the center line also include a support frame 2 that is adjustable and connected to each of the gripping fingers 1 along the same centerline direction, and a robotic arm that is fixedly connected to each of the support frames 2 .
  • FIG. 4 is an exploded view of the adjustable installation of the gripping finger 1.
  • the support frame 2 includes a cover plate 201, a support base 202, a locking bolt 203, a locking nut 204 and an L-shaped connecting plate 205.
  • the cover plate 201 and the support base 202 are clamped by the locking bolts 203 to the upper end of the gripping finger 1 in an interference fit manner.
  • One end of the L-shaped connecting plate 205 is provided with an adjustable waist-shaped hole, as shown in FIG. 5 .
  • Figure 6 shows a schematic diagram of the overall mechanism.
  • the mechanical arm is a retractable mechanism that can be folded inward and outward along the same center line, including a connecting rod 3, a pin A4, a swing rod 5, a pin B6, a bracket 7, a screw top Rod 8, pin C9, slider 10 and linear motion unit 11, one end of the connecting rod 3 is hinged with the slider 10 through the pin C9, and the other end of the connecting rod 3 is hinged with one end of the swing rod 5 through the pin A4 , the other end of the swing rod 5 is hinged with the bracket 7 through the pin B6 respectively.
  • the cover plate 201 and the support base 202 are provided with a slot hole having the same shape as the tail end of the gripping finger 1 to hold the tail end of the gripping finger 1 .
  • the size of the locking end face of the locking nut 204 is larger than the size of the adjustable waist-shaped hole on the L-shaped connecting plate 205 .
  • the L-shaped connecting plate 205 is fixedly connected with the swing rod 5 of the mechanical arm by welding.
  • the connecting rod 3, the swing rod 5, the slider 10, and the bracket 7 are constructed through the hinged action of the pin A4, the pin B6, and the pin C9, with the bracket 7 as a fixed frame, and the slider 10 is an eccentric slider rocker mechanism that can be folded and retracted inward and outward along the same center line with the connecting rod 3 and the swing rod 5 as the driven parts, and uses the top of the screw top rod 8.
  • the supporting action limits the retractable limit position of the connecting rod 3 .
  • the gripper finger 1 is fixed on the swing rod 5 of the mechanical arm through the connection of the support frame 2, and can be opened and closed in a large scale under the drive of the slider 10 to perform prying, grabbing and quick release.
  • the linear motion unit 11 is a linear motion cylinder, a hydraulic cylinder, a linear motor or an electric push rod.
  • each of the gripping fingers 1 is inserted into the pot body of the plug tray 12, and the linear motion unit 11 pulls the slider 10 upward, as shown in FIG. 7 .
  • the eccentric slider pendulum mechanism that is folded and folded inward along the same center line is driven, so that the gripping finger 1 performs the action of prying and grabbing the seedlings 12 in the plug; finally, the seedlings are taken in the existing automatic transplanter
  • the mechanism drives the seedling removal end effector to grab the seedlings 12 from the holes of the plug tray.
  • the linear motion unit 11 pushes the slider 10 downward when the seedling-fetching end effector is driven by the existing automatic transplanter's seedling-taking mechanism to reach directly above the planter.
  • the gripper finger 1 releases the seedling tray 12 to perform the action of quickly releasing the seedling tray 12 through the transmission of the eccentric slider rocker mechanism that is folded and released outward along the same center line.
  • the mechanical arm of the present invention is an eccentric sliding block pendulum mechanism that can be folded and retracted inward and outward, and can drive the pinching needle mechanism to perform the actions of prying and grasping and quickly releasing the seedlings, so as to achieve active opening and closing to grasp and release the seedlings. It can release the expected effect of the plug seedlings, and can accommodate the plug seedling plants in a larger space to avoid damage to the seedlings.
  • the invention adopts the adjustable waist-shaped hole and the screw top rod 8 of the locking and clamping device to realize the adjustable clamping opening and angle of the clamping needle mechanism, and can meet the requirements of automatic transplanting and fetching of seedlings in various specifications of plug trays.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Transplanting Machines (AREA)

Abstract

一种穴盘苗自动移栽可调取苗末端执行器，包括沿中心线方向对称安装的两根夹取手指（1）、沿同一中心线方向与每根夹取手指（1）可调连接的支撑架（2）、与每个支撑架（2）固定连接的机械臂。通过构造具有限位作用的能向内向外折叠收放的机械臂来执行撬动抓取和快速释放穴盘苗的动作，采用可调连接的支撑架（2）实现夹取开度和角度活动可调。本执行器能主动开合来抓取和释放穴盘苗，并能较大空间尺度容纳穴盘苗植株，避免伤苗情况发生，还能调整夹取开度和角度，可适应多种规格穴盘苗自动移栽取苗要求。

Description

一种穴盘苗自动移栽可调取苗末端执行器 技术领域
本发明属于农业机械领域，尤其涉及一种穴盘苗自动移栽可调取苗末端执行器。
背景技术
目前，多数蔬菜作物都采用穴盘育苗移栽方式进行种植。实现穴盘苗全自动移栽的关键是研发适应育苗农艺特点的夹取机构，目前已经开发出钳夹式和顶穴式等多种作业方式的取苗机构及末端执行器。这些研究工作为我国应用穴盘苗自动移栽机做出了重要贡献。取苗末端执行器是自动化夹取机构的关键装置，关系到能否按照要求取到苗，并以合适的姿态将苗释放，我国生产上使用的穴盘又多种多样，包括72孔、105孔、128孔等规格穴盘，这就要求取投末端执行器既要结构小巧，夹取操作能适应穴盘苗特性，又灵活可调，满足多种规格穴盘自动取苗移栽需要。
但现有取投末端执行器的取放苗装置结构不可调，且机械手指靠收紧弹簧作用实现对穴盘苗钵体的抓取，没有主动抓取功效。一些现有末端执行器能在外部其他装置的帮助下完成取苗动作，通过控制电磁阀控制气缸的缩回和推出，实现夹紧苗并拔出穴盘的取苗动作和松开苗并推落苗的投苗动作，但在取、投苗时，都需要通过控制气缸的进气量来调节投放速度，这要与取苗机构严格匹配动作速度，否则难以完成预期夹紧苗并拔出穴盘的取苗动作和松开苗并推落苗的投苗动作。其它一些类似手爪的取苗末端执行器，虽然结构简单，但手指已固定成形，仅仅利用夹取针在机械手指内伸缩实现取苗，灵活性差，也很难避免伤苗情况的发生。为此，需要进一步研究满足我国穴盘育苗移栽要求的取苗末端执行器，既要适应能力强，又保证结构尺寸灵活可调。
发明内容
针对上述技术问题，本发明提供一种穴盘苗自动移栽可调取苗末端执行器，该装置与现有的自动移栽机取苗机构配套使用，通过构造具有限位作用的能向内向外折叠收放的偏心滑块摆杆机构来带动夹取针机构执行撬动抓取和快速释放穴盘苗的动作，采用可调腰型孔和锁紧卡位装置实现夹取针机构的夹取开度和角度活动可调，为适应多种规格穴盘苗自动移栽提供了条件。本发明能主动开合来抓取和释放穴盘苗，并能较大空间尺度容纳穴盘苗植株，避免伤苗情况发生，还能调整夹取开度和角度，可适应多种规格穴盘苗自动移栽取苗要求。
本发明的技术方案是：一种穴盘苗自动移栽可调取苗末端执行器，包括夹取手指、支撑架和机械臂；所述夹取手指沿中心线方向对称安装；所述支撑架的一端与夹取手指的上端连 接，另一端与机械臂的摆杆连接，且支撑架与夹取手指连接的一端设有腰型孔，能够调节两根夹取手指之间的距离；所述机械臂包括连杆、摆杆、支架、螺旋顶杆、滑块和直线运动单元；所述滑块与直线运动单元的活动元件沿所述中心线方向连接；滑块的两侧分别设有连杆，连杆的一端与滑块铰接，连杆的另一端与摆杆的一端铰接，所述摆杆的另一端分别与支架铰接；所述螺旋顶杆以螺旋副方式沿所述中心线方向贯穿在所述支架上，并限位所述连杆的收合活动空间；直线运动单元带动滑块向上移动，连杆带动摆杆使得两根夹取手指向内收起，直线运动单元带动滑块向下移动，连杆带动摆杆使得两根夹取手指向外打开。
上述方案中，所述支撑架包括盖板、支撑座、锁紧螺栓、锁紧螺母和L型连接板；所述盖板与支撑座分别设在夹取手指上端的两侧，且通过锁紧螺栓连接将夹取手指卡住；所述L型连接板一端面设有腰型孔，另一端面与机械臂的摆杆连接；所述支撑座的连接头穿在腰型孔中，并通过锁紧螺母的拧紧与L型连接板连接。
上述方案中，所述连杆的一端通过销轴C与滑块铰接，连杆的另一端通过销轴A与摆杆的一端铰接，所述摆杆的另一端分别通过销轴B与支架铰接。
上述方案中，所述夹取手指是插入钵苗的夹取针机构或夹持钵苗茎杆的夹爪。
上述方案中，所述盖板与支撑座分别设置与所述夹取手指的上端相同形状的卡槽孔来卡住所述夹取手指的上端。
上述方案中，所述锁紧螺母的锁紧端面尺寸大于所述L型连接板上的腰型孔尺寸。
进一步的，所述L型连接板与所述机械臂的摆杆固定连接。
上述方案中，所述机械臂是以支架为固定机架、以所述滑块为原动件、以所述连杆和摆杆为从动件的能够沿所述中心线收放的偏心滑块摆杆机构，并通过所述螺旋顶杆的顶托作用限制所述连杆的收合极限位置。
上述方案中，所述夹取手指通过支撑架与机械臂的摆杆连接，能在所述滑块的带动下开合来执行抓取和释放穴盘苗的动作。
上述方案中，所述直线运动单元是直线运动的气缸、液压缸、直线电机或电动推杆。
与现有技术相比，本发明的有益效果是：
1.本发明所述机械臂为能向内向外折叠收放的偏心滑块摆杆机构，能带动夹取针机构执行撬动抓取和快速释放穴盘苗的动作，达到主动开合来抓取和释放穴盘苗的预期效果，并能较大空间尺度容纳穴盘苗植株，避免伤苗情况发生。
2.本发明采用可调腰型孔和锁紧卡位装置实现夹取针机构的夹取开度和角度活动可调，能适应多种规格穴盘苗自动移栽取苗要求。
附图说明
图1是本发明一实施方式的整体安装结构示意图。
图2是本发明一实施方式的支撑架与夹取手指连接示意图。
图3是本发明一实施方式的支撑架与机械臂连接示意图。
图4是本发明一实施方式的夹取手指安装分解图。
图5是本发明一实施方式的L型连接板结构示意图。
图6是本发明一实施方式的整体机构简图。
图7是本发明一实施方式的抓取苗钵工作状态示意图。
图8是本发明一实施方式的释放苗钵工作状态示意图。
图中：1、夹取手指；2、支撑架；201、盖板；202、支撑座；203、锁紧螺栓；204、锁紧螺母；205、L型连接板；3、连杆；4、销轴A；5、摆杆；6、销轴B；7、支架；8、螺旋顶杆；9、销轴C；10、滑块；11、直线运动单元。
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、2和3所示为所述穴盘苗自动移栽可调取苗末端执行器的一种较佳的实施方式，所述穴盘苗自动移栽可调取苗末端执行器包括沿中心线方向对称安装的两根夹取手指1，还包括沿同一中心线方向与所述每根夹取手指1可调连接的支撑架2、与所述每个支撑架2固定连接的机械臂。
图4所示为所述夹取手指1的可调安装分解图，所述支撑架2包括盖板201、支撑座202、锁紧螺栓203、锁紧螺母204和L型连接板205，所述盖板201与支撑座202通过锁紧螺栓203以过盈配合方式卡住所述夹取手指1的上端，所述L型连接板205一端面设有可调腰型孔，如图5所示，另一端面连接在所述机械臂上；所述支撑座202的连接头以间歇配合方式贯穿在所述L型连接板205上的可调腰型孔中，并通过所述锁紧螺母204的锁紧作用与所述L型连接板205连接。
图6所示为整体机构简图，所述机械臂为可沿同一中心线向内外折叠的收放机构，包括连杆3、销轴A4、摆杆5、销轴B6、支架7、螺旋顶杆8、销轴C9、滑块10和直线运动单元11，所述连杆3的一端通过销轴C9与滑块10铰接，连杆3的另一端通过销轴A4与摆杆5的一端铰接，所述摆杆5的另一端分别通过销轴B6与支架7铰接。所述螺旋顶杆8以螺旋副方式沿中心线方向贯穿在所述支架7上，并限位所述连杆3的收合活动空间；所述滑块10与所述直线运动单元11的活动元件沿同一中心线方向固定连接。直线运动单元11带动滑块 10向上移动，连杆3带动摆杆5使得两根夹取手指1向内收起，直线运动单元11带动滑块10向下移动，连杆3带动摆杆5使得两根夹取手指1向外打开。
根据本实施例，优选的，所述夹取手指1是插入钵苗的夹取针机构或夹持钵苗茎杆的夹爪。
所述盖板201与支撑座202通过设置与所述夹取手指1的尾端相同形状的卡槽孔来卡住所述夹取手指1的尾端。
所述锁紧螺母204的锁紧端面尺寸大于所述L型连接板205上的可调腰型孔尺寸。所述L型连接板205通过焊接方式与所述机械臂的摆杆5固定连接。
所述连杆3、摆杆5、滑块10、支架7通过所述销轴A4、销轴B6、销轴C9的铰接作用构造出以所述支架7为固定机架、以所述滑块10为原动件、以所述连杆3与摆杆5为从动件的能沿同一中心线向内向外折叠收放的偏心滑块摆杆机构，并利用所述螺旋顶杆8的顶托作用限制所述连杆3的收合极限位置。
所述夹取手指1通过所述支撑架2的连接作用固定在所述机械臂的摆杆5上，能在所述滑块10的带动下大尺度开合来执行撬动抓取和快速释放穴盘苗12的动作。
根据本实施例，优选的，所述直线运动单元11是直线运动的气缸、液压缸、直线电机或电动推杆。
具体执行自动移栽取苗作业时，首先根据穴盘孔穴的尺寸，如图4中尺寸a、尺寸b、角度θ，调整每根夹取手指1在所述支撑架2的连接方位，从而调整夹取手指1之间的距离；再根据穴盘苗夹取变形量要求，如图4中尺寸D变形到尺寸d，调整所述螺旋顶杆8对所述连杆3的限位收合作用，使所述夹取手指1的夹取开度和角度以及夹取变形量都能满足对准孔穴来夹取穴盘苗12的要求；然后在现有自动移栽机取苗机构带动下该取苗末端执行器到达穴盘苗12正上方，所述每根夹取手指1插入所述穴盘苗12钵体内部，所述直线运动单元11向上提拉所述滑块10，如图7所示，于是通过沿同一中心线向内折叠收合的偏心滑块摆杆机构传动，使夹取手指1执行撬动抓取穴盘苗12的动作；最后在现有自动移栽机取苗机构带动下该取苗末端执行器从穴盘孔穴里抓取出穴盘苗12。
具体执行自动移栽投苗作业时，在现有自动移栽机取苗机构带动下该取苗末端执行器到达栽植器正上方时，所述直线运动单元11向下推动所述滑块10，如图8所示，于是通过沿同一中心线向外折叠放开的偏心滑块摆杆机构传动，使夹取手指1松开盘苗12去执行快速释放穴盘苗12的动作。
本发明所述机械臂为能向内向外折叠收放的偏心滑块摆杆机构，能带动夹取针机构执行撬动抓取和快速释放穴盘苗的动作，达到主动开合来抓取和释放穴盘苗的预期效果，并能较 大空间尺度容纳穴盘苗植株，避免伤苗情况发生。本发明采用可调腰型孔和锁紧卡位装置螺旋顶杆8实现夹取针机构的夹取开度和角度活动可调，能适应多种规格穴盘苗自动移栽取苗要求。
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. 一种穴盘苗自动移栽可调取苗末端执行器，其特征在于，包括两根夹取手指(1)、支撑架(2)和机械臂；
    所述夹取手指(1)沿中心线方向对称安装；所述支撑架(2)的一端与夹取手指(1)的上端连接，另一端与机械臂的摆杆(5)连接，且支撑架(2)与夹取手指(1)连接的一端设有腰型孔，能够调节两根夹取手指(1)之间的距离；
    所述支撑架(2)包括盖板(201)、支撑座(202)、锁紧螺栓(203)、锁紧螺母(204)和L型连接板(205)；
    所述盖板(201)与支撑座(202)分别设在夹取手指(1)上端的两侧，且通过锁紧螺栓(203)连接将夹取手指(1)卡住；所述L型连接板(205)一端面设有腰型孔，另一端面与机械臂的摆杆(5)连接；所述支撑座(202)的连接头穿在腰型孔中，并通过锁紧螺母(204)的拧紧与L型连接板(205)连接；
    所述机械臂包括连杆(3)、摆杆(5)、支架(7)、螺旋顶杆(8)、滑块(10)和直线运动单元(11)；所述滑块(10)与直线运动单元(11)的活动元件沿所述中心线方向连接；滑块(10)的两侧分别设有连杆(3)，连杆(3)的一端与滑块(10)铰接，连杆(3)的另一端与摆杆(5)的一端铰接，所述摆杆(5)的另一端分别与支架(7)铰接；所述螺旋顶杆(8)以螺旋副方式沿平行于所述中心线方向贯穿在所述支架(7)上，并限位所述连杆(3)的收合活动空间；直线运动单元(11)带动滑块(10)向上移动，连杆(3)带动摆杆(5)使得两根夹取手指(1)向内收起，直线运动单元(11)带动滑块(10)向下移动，连杆(3)带动摆杆(5)使得两根夹取手指(1)向外打开；
    所述机械臂是以支架(7)为固定机架、以所述滑块(10)为原动件、以所述连杆(3)和摆杆(5)为从动件的能够沿所述中心线收放的偏心滑块摆杆机构，并通过所述螺旋顶杆(8)的顶托作用限制所述连杆(3)的收合极限位置。
  2. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述连杆(3)的一端通过销轴C(9)与滑块(10)铰接，连杆(3)的另一端通过销轴A(4)与摆杆(5)的一端铰接，所述摆杆(5)的另一端分别通过销轴B(6)与支架(7)铰接。
  3. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述夹取手指(1)是插入钵苗的夹取针机构或夹持钵苗茎杆的夹爪。
  4. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述盖板(201)与支撑座(202)分别设置与所述夹取手指(1)的上端相同形状的卡槽孔来卡住所述夹取手指(1)的上端。
  5. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述锁紧 螺母(204)的锁紧端面尺寸大于所述L型连接板(205)上的腰型孔尺寸。
  6. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述L型连接板(205)与所述机械臂的摆杆(5)固定连接。
  7. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述夹取手指(1)通过支撑架(2)与机械臂的摆杆(5)连接，能在所述滑块(10)的带动下开合来执行抓取和释放穴盘苗(12)的动作。
  8. 根据权利要求1所述的穴盘苗自动移栽可调取苗末端执行器，其特征在于，所述直线运动单元(11)是直线运动的气缸、液压缸、直线电机或电动推杆。
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