CN105660196B - A kind of arc-shaped Grafting clip pushes away clamping method automatically - Google Patents

Abstract

The invention provides a method for automatically pushing a circular-arc-shaped grafting clip, which is characterized in that it comprises the following steps: (1) Manually place the circular-arc-shaped grafting clip horizontally on the slideway of the slider, and the steel wire ring of the grafting clip supports On the plane of the slideway, the lower half of the grafting chuck head falls between the two sliders; (2) the seedling setting component moves first, the double-axis cylinder one and the two-axis cylinder two contract to align the two rubber pads, and then double The three-axis cylinder and the four-axis cylinder shrink to make the notches on the two rubber pads dock to complete the seedling setting action, and then the two-axis cylinders one, two, three, and four are reset respectively, and the seedling setting machine is grasped and separated; (3) The push rod assembly is in the single-axis Pushed by the cylinder to move forward, the groove on the push rod head of the push rod assembly pushes the steel wire ring of the graft clip, and at the same time, the slopes on both sides of the push rod main body interact with the slider to push the slider to move left and right. Under the action of the corner, the lower slider transmits the active force to the guide groove block, so that the guide groove block and the slider move in the opposite direction.

Description

A method for automatically pushing and clamping arc-shaped grafting clamps

Application date of the original application: 2014-11-12, application number: 201410634833.3, application name: an automatic push clamp mechanism and push clamp method for arc-shaped graft clips

technical field

The invention relates to the field of grafting clip pushing mechanisms, in particular to an automatic pushing method for arc-shaped grafting clips.

Background technique

Most of the vegetable grafting cultivation in my country is still manual work. In the future, with the development of large-scale and industrialization of vegetable cultivation areas and the improvement of farmers' awareness of modern management and production methods, the automatic grafting technology characterized by high efficiency, high quality, speed and labor saving will also be in the field. my country and the world have been deeply developed and promoted. At present, the manual grafting of vegetables is far from being able to meet the requirements of agricultural production in my country, and the cultivation of vegetable grafting urgently needs to be mechanized and automated.

For the development of the clip feeding mechanism, the automatic clip feeding system of the grafting robot developed by the Japanese Institute of Biotechnology uses a rotary disc, on which the grafting clips are evenly placed radially (the placement of the grafting clips is: the half of the tail of the grafting clip is stuck on the rotary disc Above), when one of the grafting clips is pushed out from the push clip position to clamp the grafted seedlings, the turntable rotates an angle so that the next adjacent graft clip is just at the push clip position and waits to be pushed out to clip the next Seedlings. The structure of the automatic clip feeding system realized in this way is relatively simple, and the degree of automation is not high.

Invention content:

The technical problem to be solved by the present invention is to provide a method for automatically pushing and clamping arc-shaped grafting clips, which improves the success rate of grafting and reduces labor intensity.

The present invention adopts following technical means to realize the object of the invention:

A method for automatically pushing and clamping an arc-shaped grafting clamp, characterized in that it comprises the following steps:

(1) Manually place the arc-shaped grafting clip horizontally on the slideway of the slider, the steel wire ring of the grafting clip is supported on the plane of the slideway, and the lower half of the grafting clip head falls between the two sliders ;

(2) The seedling setting component moves first, the two-axis cylinder one and two-axis cylinder two contract to align the two rubber pads, and then the two-axis cylinder three and two-axis cylinder four contract to make the notches on the two rubber pads dock, complete the seedling setting action, and then double Axial cylinders one, two, three and four are reset respectively, and the seedling setting machine is grasped and separated;

(3) The push rod assembly moves forward under the push of the uniaxial cylinder, and the groove on the push rod head of the push rod assembly pushes the wire ring of the grafting clip, and the inclined surfaces on both sides of the push rod main body interact with the slider to Push the slider to move left and right. At this time, under the action of the corner, the slider transmits the force to the guide block, so that the direction of movement of the guide block and the slider is opposite;

(4) The grafting clip continues to move forward, and its steel wire ring enters the through groove of the guide groove block until it reaches the front end, that is, the grafting position, that is, the position where the seedling setting machine grasps the seedling setting action. At this time, the grafting clip is already in the open state and the grafting clip The center of the opening coincides with the center of the working position where the seedling setting machine grabs the rubber pad;

(5) The uniaxial cylinder drives the slide block assembly to shrink, and the slide block and the guide groove block are reset under the action of the return spring one and the return spring two, and the grafting clip clamps the grafted seedlings, and a push clip action is completed so far.

Compared with the prior art, the advantages and positive effects of the present invention are: the seedling setting mechanism of the present invention can realize the righting and positioning function of the seedlings to be grafted before the seedlings are supported by the grafting clip. The cooperative work of the push rod assembly, the slide block, the guide groove block and the seedling setting assembly can realize the automatic clamping operation, and the return spring one and the return spring two realize the reset work of the slide block and the guide groove block. The invention has the advantages of simple structure and low cost, can realize the automatic pushing operation of arc-shaped grafting clips for grafting solanaceous vegetables, improves the success rate of grafting, and reduces labor intensity, thereby adapting to the development of industrialized grafting and seedling cultivation in my country.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention;

Fig. 2 is a schematic diagram of the frame structure of an embodiment of the present invention;

3 is a schematic diagram of a base assembly of an embodiment of the present invention;

Fig. 4 is a schematic structural view of a push rod seat according to an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a push rod assembly according to an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a uniaxial cylinder assembly according to an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a slider according to an embodiment of the present invention;

Fig. 8 is a schematic structural diagram of a guide groove block according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of a corner structure of an embodiment of the present invention;

Fig. 10 is the structural representation of the fixed seedling assembly of the embodiment of the present invention;

Fig. 11 is a schematic structural diagram of the cooperation between the slider, the guide block and the corner of the embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a grafting clip corresponding to an embodiment of the present invention.

In the figure, 1. Base, 2. Slider, 3. Corner, 4. Guide groove block, 5. Channel, 6. Push rod seat, 7. Through slot 1, 8. Push rod main body, 9. Push rod head, 10. Groove, 11. Push rod attachment, 12. Slideway, 13. Trapezoidal block 1, 14. Dovetail groove 1, 15. Through groove 2, 16. Trapezoidal block 2, 17. Dovetail groove 2, 18. Fixing bolt , 19, bearing, 20, seedling setting assembly, 21, double shaft cylinder one, 22, double shaft cylinder two, 23, double shaft cylinder three, 24, double shaft cylinder four, 25, angle frame, 26, seedling setting mechanical claw, 27 , rubber pad, 28, notch, 29, single-axis cylinder, 30, cylinder bracket, 31, frame, 32, return spring one, 33, baffle plate, 34, return spring two, 35, wire ring, 36, grafting Chuck head, 37, grafting folder afterbody.

Detailed ways:

Below in conjunction with embodiment, further illustrate the present invention.

Referring to accompanying drawings 1-12, the present invention includes a base 1, on which a push rod assembly is arranged, one end of the push rod assembly is provided with a push rod mechanism that drives the push rod assembly to move, the other end of the push rod assembly One end is provided with two sliders 2 that can slide longitudinally along the base, one side of each slider 2 is in contact with one end of the corner assembly that transmits the action force, and the other end of each corner assembly is in contact with the corner assembly that can slide along the The guide groove block 4 that slides longitudinally of the base 1 contacts, and one end of the guide groove block 4 is provided with a seedling setting assembly 20, and the outside of the two slide blocks 2 is provided with a reset mechanism one, and between the two described guide groove blocks 4 A reset mechanism 2 is provided, and a channel 5 is provided between the two slide blocks 2 and between the two guide groove blocks 4 to cooperate with the entry and exit of the push rod assembly.

The push rod assembly includes two push rod seats 6, and the push rod seats 6 are all fixed on the base 1, and each of the push rod seats 6 is provided with a through groove 7, and the two through grooves A push rod main body 8 is arranged between a 7, the front end of the push rod main body 8 is provided with a push rod head 9, and the push rod head 9 is provided with a groove 10, and the rear end of the push rod main body 8 is provided with a Push rod attachment 11.

The slider 2 is provided with a slideway 12 and a trapezoidal block 13, and the trapezoidal block 13 is just located in the dovetail groove 14 of the base 1 and can slide back and forth along the dovetail groove 14.

The guide slot block 4 includes a second through slot 15 and a second trapezoidal block 16 , the second trapezoidal block 16 is just located in the second dovetail slot 17 of the base and can slide back and forth along the second dovetail slot 17 .

The corner assembly includes a corner 3 , which is fixed on the base 1 by a fixing bolt 18 and can rotate along the fixing bolt 18 , and bearings 19 are respectively provided at both ends of the corner 3 .

Described seedling setting assembly comprises biaxial cylinder one 21, biaxial cylinder two 22, biaxial cylinder three 23 and biaxial cylinder four 24 that are arranged on the angle frame, and described biaxial cylinder one 21 connects biaxial cylinder four 24, so Described biaxial cylinder two 22 connects biaxial cylinder three 23, and one side of described angle frame 25 is provided with two fixed seedling mechanical claws 26, and one end of each described fixed seedling mechanical claw 26 is connected with rubber pad 27, and each described The rubber pad 27 is provided with a notch 28 .

The push rod mechanism adopts a single-axis cylinder 29 , which is fixed on the base 1 through a cylinder bracket 30 , and the push rod of the single-axis cylinder 29 is connected to the push rod attachment 11 .

A frame 31 is provided at the lower end of the base 1 .

The first reset mechanism includes a first reset spring 32 and a baffle plate 33 fixed on the base 1 , and the second reset mechanism uses a second reset spring 34 .

The grafting clip includes a steel wire ring 35 , a grafting clip head 36 and a grafting clip tail 37 .

The invention also discloses a method for automatically pushing the arc-shaped grafting clip, which includes the following steps:

(1) Manually place the arc-shaped grafting clamp horizontally on the slideway 12 of the slider 2, the steel wire ring 35 of the grafting clamp is supported on the plane of the slideway 12, and the lower half of the grafting clamp head 36 falls into the Between two sliders 2;

(2) Seedling setting assembly 20 first moves, biaxial cylinder one 21 and biaxial cylinder two 22 contract to make two rubber pads 27 align, then biaxial cylinder three 23 and biaxial cylinder four 24 contract to make the notches on the two rubber pads 27 28 docking, complete the seedling setting action, then the two-axis cylinders one, two, three, four are reset respectively, and the seedling setting mechanical claws 26 are separated;

(3) The push rod assembly moves forward under the promotion of the uniaxial cylinder 29, and the groove 10 on the push rod head 9 of the push rod assembly pushes the steel wire ring 35 of the grafting clip. The slider 2 interacts to push the slider 2 to move left and right. At this time, under the action of the corner 3, the slider 2 transmits the force to the guide block 4, so that the direction of movement of the guide block 4 is opposite to that of the slider 2, and the guide groove Block 4 clamps the tail of the grafting clip to realize the opening of the grafting clip;

(4) The grafting clip continues to move forward, and its steel wire ring 35 enters the through groove 15 of the guide groove block (the upper surface of the slideway of the slider, the upper surface of the through groove and the center of the rubber pad working position of the seedling setting machine are required to be at the same horizontal position) Inward until it reaches the front end, which is the grafting position. At this time, the grafting clip is already in an open state and the center of the grafting clip opening coincides with the center of the working position of the rubber pad grasped by the seedling setting machine;

(5) uniaxial cylinder 29 drives slide block 2 to shrink, and slide block 2 and guide groove block 4 reset under the effect of back-moving spring one 32 and back-moving spring two 34, and the grafting clip clamps the grafted seedling, and so far completes a push action.

The frame 31 includes 12 3030 aluminum profiles with four to four equal lengths, which are fastened by aluminum profile 3030 corner pieces and special bolts, and are in the shape of a cuboid as a whole. The four 3030 corner pieces at the upper end are connected to the base 1 by screws.

The base 1 is the main carrier of the entire clamping mechanism, and various round holes and slotted holes are processed on the base 1 for installing the key mechanism of the clamping mechanism. Dovetail groove one 14 and dovetail groove two 17 are processed on the base 1, and two return springs are respectively provided in the dovetail groove one and two for assisting the movement of the slider 2 and the guide groove block 4 to complete the clamping action; A baffle plate 33 is respectively installed at both ends of the groove one 14, and the baffle plate 33 is a 90-degree bent baffle plate, and a round hole is processed on its non-working surface, and is fastened on the slot hole of the base 1 by screws. Working surface assists back-moving spring one 32 and slide block 2 realizes reset action.

The push rod bases 6 work in pairs on the left and right sides. The two push rod bases 6 are processed with slotted holes, which are fastened to the slotted holes of the base 1 by screws. The working surface of the push rod bases 6 is processed with a The first slot 7 is used to carry and limit the push rod main body 8 so that it can slide forward and backward at the desired position. The position of the push rod base 6 can be adjusted by the size of the push rod main body 8, so that the gap between the push rod main body 8 and the push rod base is appropriate, so as to ensure that the push rod main body 8 can slide flexibly in the push rod base through groove 7 without moving left and right. shaking.

The push rod main body 8 is the main part of the push rod assembly. The two wings of the push rod main body 8 slide in the slideway 12 of the slider, and the front and rear movement of the push rod main body 8 is realized by the interaction between its surface and the surface of the slider 2. Transition of slider 2's left and right swipe. The push rod head 9 is a component connected to the front end of the push rod main body to realize the push clamping action. A groove 10 is left at the front end of the push rod 9, which can limit the grafting clip therein so that the push clamp action can be completed smoothly. The push rod attachment 11 is a component used to transmit motion between the uniaxial cylinder 29 and the push rod main body 8. Specifically, the push rod attachment is a U-shaped iron block with a width of about 15MM, and a round hole is arranged at the rear end thereof. The push rods of the uniaxial cylinders 29 can be rigidly connected.

The single-axis cylinder 29 is a single-circle double-acting cylinder, which is the power source of the clamping mechanism and provides the power source for the push rod main body 8 to drive the push rod to move back and forth. The cylinder bracket 30 is used to fix the cylinder on the base 1. Specifically, the cylinder bracket is an L aluminum profile with a width of 40MM, and its lower end is connected to the slotted hole of the base by screws.

Described slide block 2 left and right each one is distributed in pairs, and a trapezoidal block-13 is processed at the bottom of slide block 2, and it can slide in the dovetail groove-14 of described base 1 and guarantees not to break away from base 1, makes whole slide block 2 The main body of the push rod 8 is used as the power source to move left and right on the base 1, and reset under the action of the reset spring 1 32 in the dovetail groove 14 of the base 1. On the upper part of the slider 2, according to the shape characteristics of the graft clip, a special structure is designed to accept the graft clip and make the graft clip open a certain angle under the pressure of the slider 2 while moving forward, so that it can Passed smoothly to the next location.

Described guide groove block 4 left and right each one is distributed in pairs, and a trapezoidal block 2 16 is processed at the bottom of guide groove block 4, and it can slide in the dovetail groove 2 17 of described base and guarantees not to break away from base 1, makes whole guide groove The groove block 4 can move left and right on the base 1 . The guide groove block 4 is processed with a through groove two 15, which can accept the grafting clip delivered by the slide block 2 and make its front end open and be delivered to the grafting position.

Each of the corners 3 is distributed in pairs, and the corners 3 are fixed on the round hole of the base 1 by screws, and a bearing 19 is respectively installed at its two ends, and the corners 3 are connected to the slider 2 and the guide by the bearings 19. The groove blocks 4 are in contact to realize force transmission between the slide block 2 and the guide groove block 4 . Under the action of the corner 2, the moving direction of the slider 2 and the guide block 4 is always opposite, which can meet the requirements of the clamping.

Described seedling setting assembly 20 comprises the 3030 corner frame 25 that plays a supporting role, the double-acting double-axis cylinder three 23 of control seedling setting machine grasping left and right movement, double-axis cylinder four 24, the double-acting double-axis cylinder one 21 of controlling seedling setting machine grasping up and down movement , biaxial cylinder two 22, the mechanical claw 26 of setting seedlings. Biaxial cylinder three 23 and biaxial cylinder four 24 are fixed on the angle frame 25, and angle frame 25 is fixed on the base 1, and the lower end of biaxial cylinder two 22 connects seedling setting machine to grasp 26, and the upper end of biaxial cylinder one 21 also connects seedling setting Mechanical grasping 26, specifically, 3030 corner frame 25 can fasten the biaxial cylinder 3 23 and biaxial cylinder 4 24 which control the left and right movement of the seedling setting mechanical grasping 26 to the bottom of the front part of the base 1 through screws, and control the seedling setting mechanical grasping. The biaxial cylinder one 21 and biaxial cylinder two 22 moving up and down are fastened on the two ends of biaxial cylinder three 23 and biaxial cylinder four 24 by screws, so that biaxial cylinder one 21 and biaxial cylinder two 22 are on the two ends of biaxial cylinder three 23, move left and right under the drive of biaxial cylinder four 24 pistons; The left and right two parts of fixed seedling mechanical grasping 26 are respectively fastened on the piston of double-acting biaxial cylinder one 21 and biaxial cylinder two 22 that control the fixed seedling mechanical grasping up and down movement, The lower end of biaxial cylinder two 22 connects the fixed seedling machinery to grab 26 right side parts, and the upper end of biaxial cylinder one 21 connects the left side part of fixed seedling mechanical grab 26, makes fixed seedling mechanical grab 26 in double-acting biaxial cylinder one 21 and biaxial cylinder Two 22 move up and down under the drive of the piston (concrete structure as shown in Figure 10). The end that the seedling setting machine grasps is respectively fixed with the rubber pad 27 that the surface is semi-cylindrical, to prevent from crushing the grafted seedlings. The seedling setting component 20 can realize the righting and positioning function for the seedlings to be grafted before the grafting clips hold the seedlings.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (1)

1. A kind of arc-shaped grafting folder pushes clipping method automatically, is characterized in that, comprises the steps: (1) Manually place the arc-shaped grafting clip on the slideway of the slider, the steel wire ring of the grafting clip is supported on the plane of the slideway, and the lower half of the grafting clip head falls between the two sliders; (2) The seedling setting component moves first, the two-axis cylinder one and two-axis cylinder two contract to align the two rubber pads, and then the two-axis cylinder three and two-axis cylinder four contract to make the notches on the two rubber pads dock, complete the seedling setting action, and then double Axial cylinders one, two, three and four are reset respectively, and the seedling setting machine is grasped and separated; (3) The push rod assembly moves forward under the push of the single-axis cylinder, the groove on the push rod head of the push rod assembly pushes the wire ring of the grafting clip, and the inclined surfaces on both sides of the push rod main body interact with the slider To push the slider to move left and right, at this time, under the action of the corner, the slider transmits the force to the guide block, so that the direction of movement of the guide block and the slider is opposite; (4) The grafting clip continues to move forward, and its steel wire ring enters the through groove of the guide groove block until it reaches the front end, that is, the grafting position, that is, the position where the seedling setting machine grasps the seedling setting action. At this time, the grafting clip is already in the open state and the grafting clip The center of the opening coincides with the center of the working position where the seedling setting machine grabs the rubber pad; (5) The uniaxial cylinder drives the slide block assembly to shrink, and the slide block and the guide groove block are reset under the action of the return spring one and the return spring two, and the grafting clip clamps the grafted seedlings, and a push clip action is completed so far.