CN202907451U - Automatic plug seedling transplanting pick-and-place device - Google Patents

Abstract

The utility model relates to a device for automatic transplanting of seedlings in plug trays, which is mainly composed of a cam feed mechanism, a conical slider, four mechanical fingers, a mechanical finger limit block 9, a clamping needle 14, a traction gate line 11, Brake line pulling device, spring 12, support rod 19, frame, etc.; the four mechanical fingers can be opened around the joints under the push of the cam feed mechanism, and kneaded under the action of the spring force. Each mechanical finger is equipped with a Indent and protrude the clamping needle, extend the mechanical fingers through the four clamping needles and insert them into the seedling pot body of the plug, pinch the seedlings tightly, and retract the mechanical fingers through the four clamping needles to leave the seedling pot body of the plug to loosen the seedlings . The utility model is characterized in that the opening and closing of four mechanical fingers and the expansion and contraction of four clamping needles are realized completely by means of mechanical movement. Plant fields.

Description

A device for automatically transplanting seedlings in plug trays

technical field

The utility model relates to the field of automatic transplanting machinery for plug seedlings, in particular to a seedling picking and placing device for automatic transplanting of plug seedlings. the

Background technique

Industrial plug seedling cultivation is the pioneer of modern agriculture and industrial agriculture, and has become the leader of modern vegetable and flower industry. The supporting seedling cultivation and transplanting technology and equipment can not meet the great development of seedling industrialization. Although my country has developed various types of vegetable seedling transplanting machines such as clamp type, chain clamp type, flexible disc type, hanging cup type, and seedling guide tube type, these transplanting machines remain at the semi-mechanical level. , needs to be equipped with considerable manpower to manually take seedlings, throw seedlings and other operations, but it is labor-saving but not labor-saving. The research on the automatic transplanting machine for plug seedlings is actively exploring. the

At present, the research of domestic scholars on the automatic transplanting machine mainly focuses on the research and development of the seedling picking mechanism. The seedling picking trajectory is planned according to the seedling picking requirements. Circular gear planetary gear system transplanting mechanism (Application No.: 201110270973.3, 201110270977.1, 201010104378.8), a rotary swinging seedling transplanting device developed by Jiangsu University (Application No. : 201110180467.5), etc., but these studies are in the laboratory stage and have not yet reached the practical production. In fact, the use of rigid components to automatically and efficiently clamp flexible plug seedlings is a process of rigid-flexible multi-body composite action. Improper way of taking will also make the success rate of taking seedlings very low, which cannot meet the actual needs of production. the

Pneumatic or electric-pneumatic methods are widely used in foreign facilities for automatic transfer of seedlings, such as the Dutch Pic-O-Mat PC series automatic transfer machine, the Italian Transplanter RW series transplanter, etc., both of which are structurally The four clamping needles are inserted into the seedling pot body of the plug to take seedlings. It performs well in terms of seedling picking speed and seedling quality, but it needs to be equipped with air compressors, solenoid valves, and other pneumatic control components. The structure is complex. The cost of the system is high, and it is difficult to apply it to the automatic transfer machine for dryland crops. For the automatic transfer of plug seedlings in dry land, a cam is generally used to push two seedling needles to clamp the plug seedlings. This method of picking seedlings has higher requirements on the seedling raising process. In addition, the medium of plug seedlings in my country is mainly herbaceous peat, mixed with auxiliary materials such as vermiculite and perlite. The pots of the plugs cultivated have poor flexibility and are easily broken when clamped by two needles. For this reason, the structure of the end effector of the automatic seedling transfer machine in the facility can be used for reference, and the four-needle pinching and clamping of the seedling pot body can be realized by mechanical means, which can meet the requirements of automatic transfer of seedlings in my country. the

Utility model content

The purpose of this utility model is to provide a device for automatic transplanting of seedlings in plug trays, which relies entirely on mechanical movement, and uses four needles to clamp and release seedlings in plug trays, so as to simplify the structure and reduce the cost of the system while reducing the number of seedlings to be taken. Process to the loss of seedlings and improve the success rate of seedlings. the

The technical scheme of the utility model is as follows:

A device for automatically transplanting and placing seedlings in tray seedlings, which is composed of four mechanical fingers with the same geometric parameters that can swing, and is characterized in that it also includes a cam feeding mechanism, a conical slider, four mechanical fingers, and a mechanical finger. Limiting block 9, clamping needle 14, traction brake wire 11, brake wire pulling device, spring 12, support rod 19, frame; the four mechanical fingers can be bypassed under the push of the cam feed mechanism. The installation hole of the mechanical finger joint 7 of the groove swings, and is pinched by tightening the spring 8; it also includes a device that is installed on the mechanical finger and can be stretched in the mechanical finger through the joint action of the traction brake line 11 and the spring 12 along the direction of the mechanical finger. The gripping needle 14 that passes through the gripping needle sleeve 13 and slides in the chute of the mechanical finger joint 7; The brake wire cap 10 is attached to the traction brake wire 11 on the bolt 16 fastened with the clamping needle 14, the spring 12 whose two ends are respectively hung on the bolt 16 and the bolt 15, and the The brake line 10 is fixedly installed on the mechanical finger joint 7 along the same plane to form a roller 17; the cam feeding mechanism pushes the manipulator finger to open, and the cam 2 is fixed on the camshaft 23, and the camshaft 23 rotations, the push rod sliding sleeve rod 5, the conical block 18, and the mounting plate 21 constitute the cam feed mechanism roller push rod follower, the roller 3 is installed at the end of the push rod 4, and is in contact with the cam 2, and the push rod 4 Conical block 18 is consolidated at one end to form a roller push rod. The push rod sliding sleeve rod 5 is fixed on the installation plate 21. The block 18 bears four rollers 17 in a symmetrical layout. When the tip of the conical block 18 is on the rollers 17, the mechanical fingers are pinched under the action of the tightening spring 8. When the bottom surface of the conical block 18 is on the rollers 17, the joints of the mechanical fingers are opened. Thereby realize pinch to get seedling and open seedling. the

The pulling action of the clamping needle 14 is mainly composed of a crank disc 24, a connecting rod 25, a mounting plate 26, a slide bar 27, a traction brake line 28, pin shafts 29 and 30; 25. Mounting plate 26, slide bar 27, pin shafts 29 and 30 constitute a crank slider, and the slide bar 27 equipped with four traction brake lines 28 is fixed on the crank slider, and is arranged on the crank disc along the diameter direction. The pin shaft 30 in the chute on the 24 moves to change the crank length, thereby realizing the different reciprocating distances of the slide bar 27; the traction brake line 28 connected with the slide bar 27 is connected with the traction brake line 14 11 are affixed together. the

The utility model has beneficial effects. The end effector for the automatic transplanting of seedlings in the tray has four movable mechanical fingers, which can be pulled by the traction brake line to realize the expansion and contraction of the clamping needle, and the opening and closing of the fingers is realized through the cam feeding mechanism, and the action is completely realized by mechanical means. Simple structure and high flexibility; when picking seedlings, the four mechanical fingers are in an open state. Once the seedlings are taken, the four clamping needles are stretched out and inserted into the seedling body of the hole tray, and at the same time, the four mechanical fingers are closed and grasped. The hole tray seedling selection not only ensures the success rate of seedling picking, but also reduces the occurrence of seedling injury. the

Description of drawings

Embodiments of the utility model will be described in further detail below in conjunction with the accompanying drawings. the

Fig. 1 is a schematic diagram of the overall structure of the utility model. the

Figure 2 is a schematic diagram of the mechanical finger. the

Fig. 3 is a schematic diagram of a mechanical finger brake line pulling device. the

Figure 4 is a schematic diagram of the mechanical finger skeleton. the

Figure 5 is a schematic diagram of the conical slider of the mechanical finger. the

As shown in Figure 1, the numbers in the figure respectively represent: 1, 21. Installation version 2. Cam 3, 17. Roller 4. Push rod 5. Push rod sliding sleeve rod 6. Pin shaft 7. Mechanical finger joint 8. Tighten Spring 9. Mechanical finger limit block 10. Brake wire riser 11. Pull brake wire 12. Spring 13. Gripping needle sleeve 14. Gripping needle 15, 16, 22. Bolt 18. Conical block 19. Support rod 20. Four-finger hanger 23. Camshaft

As shown in Figure 3, the labels in the figure respectively represent: 24. crank disc 25. connecting rod 26. installation plate 27. slide bar 28. traction brake line 29, 30. pin shaft. the

Detailed ways

As shown in Figure 1, the overall structure of the utility model consists of a cam feed mechanism, a conical slider, a mechanical finger joint, a mechanical finger limit block, a clamping needle, a pulling brake wire, a brake wire pulling device, a spring, a support rod, rack etc. The specific layout of each kinematic pair and parts is as follows. the

The mechanical finger is a key component of the end effector for seedling picking, which directly affects the quality of seedling picking. The structure of the mechanical finger of the present utility model is as shown in Figure 2. It is mainly composed of mechanical finger joint 7, brake wire cap 10, traction brake wire 11, spring 12, clamping needle sleeve 13, clamping needle 14, bolts (15, 16), and roller 17. The brake wire cap 10 is fixed on the mechanical finger joint 7, the traction brake wire 11 passes through the brake wire cap 10 and is applied to the bolt 16, the bolt 16 is fastened to the clamping needle 14, one end of the spring 12 is hung on the bolt 16, and the other is One end hangs on the bolt 15, and the mechanical finger joint 7 has a chute at one end of getting seedlings in the mechanical finger, and the clamping needle 14 passes through the clamping needle sleeve 13 and can slide in the chute of the mechanical finger joint 7. Under the pulling effect of the traction brake wire 11, the gripping needle 14 retracts into the gripping needle sleeve 13, when the gripping needle 14 loses the pulling effect of the traction brake wire 11, the gripping needle sleeve is pulled under the action of the spring 12 13 stretches out and grabs needle 14. the

The mechanical finger brake line pulling device of the present utility model realizes the pulling effect of the clamping needle 14, as shown in FIG. 3 . It is mainly composed of crank disc 24, connecting rod 25, mounting plate 26, slide bar 27, traction brake line 28, bearing pin (29,30). Crank disc 24, connecting rod 25, mounting plate 26, slide bar 27, pin shaft (29, 30) constitute crank slider mechanism, and the installation position of pin shaft 30 can be moved on crank disc 24, thereby changes the crank length, Different reciprocating distances of the slide bar 27 are realized. The slide bar 27 is equipped with four traction brake wires 28, the traction brake wires 28 are connected with the traction brake wires 11, and the traction brake wires 11 are driven by pulling or loosening the traction brake wires 28, thereby realizing the expansion and contraction of the clamping needle 14. the

The seedling-taking end effector of the present utility model is made up of four mechanical fingers, is symmetrically arranged on the described mechanical finger skeleton along the center line of mechanical finger skeleton, as shown in Figure 4, consists of four finger hangers 20, support rod 19, mechanical Finger limit block 9 forms. Four mechanical fingers are installed on the four-finger hanger 20, constitute finger joints, and can rotate flexibly. Each mechanical finger joint 7 moves in the groove of the mechanical finger limit block 9 to ensure the grasping posture of pinching. The four mechanical fingers are closed by the tightening spring 8, and the grasping force of the clamping needle 14 on the plug body mainly comes from the tightening spring 8, which is adaptable to plug seedlings with different softness and hardness. The four clamping needles 14 are tightly kneaded to pinch the bowl firmly, and when the bowl is hard, the four clamping needles 14 are loosely kneaded to maintain the clamping state. the

The cam feeding mechanism of the utility model completes the opening or pinching of the finger joints of the manipulator, mainly composed of a cam 2, a camshaft 23, a roller (3, 17), a push rod 4, a push rod sliding sleeve rod 5, a conical block 18, an installation Board 21 composition. The cam 2 is fixed on the camshaft 23 and rotates with the camshaft 23. The roller 3, the push rod 4, the push rod sliding sleeve rod 5, the conical block 18, and the mounting plate 2) constitute the cam feed mechanism roller push rod follower, The roller 3 is installed at the end of the push rod 4 and is in contact with the high pair of the cam 2. The other end of the push rod 4 is consolidated with a conical block 18 to form a roller push rod, as shown in FIG. 5 . The push rod sliding sleeve rod 5 is fixed on the mounting plate 21, and the push rod 4 and the push rod sliding sleeve rod 5 form a moving pair, which moves back and forth under the push of the cam 2, and the conical block 18 bears on four symmetrically arranged rollers 17. When the cone block 18 tip is against the roller 17, the mechanical fingers are pinched under the tightening spring 8 effect, and when the bottom surface of the cone block 18 is against the roller 17, the mechanical finger joints are opened, thereby realizing pinching to get seedlings and opening seedlings. the

The working process of the seedling-taking end effector of the present utility model is as follows: according to the size and seedling state of the hole tray seedlings, the hole-to-cavity posture and the degree of opening and closing of the seedling-taking end effector are adjusted. When the seedling-taking end effector takes seedlings, four Gripping needle 14 stretches out and inserts the hole plate seedling pot body, and conical block 18 abandons the top roller 17 simultaneously, and four mechanical fingers pinch and grab the hole plate seedling under the force effect of tightening up spring 8. When the seedling end effector puts the seedlings, the conical block 18 pushes away the roller 17, and the four mechanical fingers are stretched, so that the mechanical fingers are in an open state. At the same time, the four gripping needles 14 retract into the gripping needle sleeve 13, So as to achieve the purpose of grasping and releasing the plug seedlings. the

The utility model has beneficial effects. The pinch 14 is inserted into the bowl and pinched tightly to grab the plug seedlings. The insertion point is small and the grasping force is symmetrical, which is less destructive to the bowl and greatly improves the quality of the seedlings. The opening and closing degree of the mechanical fingers in the utility model depends on the pushing degree of the conical block 18 and the shape of the conical block 18. When the conical block 18 is pushed deeply, the four mechanical fingers will be enlarged to meet the needs of holes of different sizes. The plate seedling clamping enhances the flexibility of the seedling picking end effector. When the seedling-taking end effector of the utility model is performing the seedling-picking action, the four mechanical fingers are in an open state. Once the seedling-picking position is reached, the four clamping needles 14 are stretched out and inserted into the seedling body of the plug tray, and at the same time the four The mechanical fingers are closed to grab the plug seedlings, which not only ensures the success rate of seedling picking, but also reduces the occurrence of injured seedlings. the

Claims (2)

1. A device for automatic transplanting of plug seedlings, which is composed of four mechanical fingers that can swing with the same geometric parameters, is characterized in that: it also includes a cam feed mechanism, a conical slider, four mechanical fingers, Mechanical finger limit block (9), clamping needle (14), traction brake wire (11), brake wire pulling device, spring (12), support rod (19), frame; the four mechanical fingers are Pushed by the cam feed mechanism, it can swing around the installation hole of the mechanical finger joint (7) with chute, and pinch it tightly by tightening the spring 8; it also includes being installed on the mechanical finger and can be inserted into the mechanical finger along the direction of the mechanical finger. Through the joint action of the traction brake line (11) and the spring (12), the telescopic gripping needle (14) that passes through the gripping needle sleeve (13) and slides in the chute of the mechanical finger joint (7) is realized; The mechanical finger is fixed on the mechanical finger joint (7) by the brake wire cap (10), which passes through the brake wire cap (10) and is attached to the clamping needle (14) for fastening The traction brake wire (11) on the bolt (16), the spring (12) whose two ends are hung on the bolt (16) and the bolt (15) respectively, and the brake wire (10) along the same The plane is fixedly installed on the mechanical finger joint (7) to form a roller (17); the cam feeding mechanism pushes the manipulator finger to open, and the cam (2) is fixed on the camshaft (23), and the cam The shaft (23) rotates, the push rod sliding sleeve rod (5), the conical block (18), and the mounting plate (21) constitute the cam feed mechanism roller push rod follower, and the roller (3) is installed on the push rod (4) The end is in contact with the high pair of the cam (2), and the other end of the push rod (4) is consolidated with a conical block (18) to form a roller push rod. The push rod sliding sleeve rod (5) is fixed on the mounting plate (21), and the push The rod (4) and the push rod sliding sleeve rod (5) constitute a moving pair, which moves back and forth under the push of the cam (2), and the conical block (18) is supported by four symmetrically arranged rollers (17). ) tip against the roller (17), the mechanical fingers pinch under the action of the tightening spring (8), when the bottom surface of the conical block (18) pushes against the roller (17), the joints of the mechanical fingers open, thereby realizing pinching and picking seedlings and Open up the seedlings. 2. A device for automatically transplanting seedlings in a tray according to claim 1, characterized in that: the pulling action of the clamping needle (14) is mainly composed of a crank disc (24), a connecting rod (25), mounting plate (26), slide bar (27), traction brake line (28), pin shaft (29,30); by crank disc (24), connecting rod (25), mounting plate (26 ), slider (27), pin shafts (29, 30) constitute a crank slider, and the slider (27) with four traction brake lines (28) is fixed on the crank slider, and is set along the diameter direction The pin shaft (30) in the chute on the crank disc (24) moves to change the length of the crank, so as to realize different reciprocating distances of the slide bar (27); the traction brake line connected with the slide bar (27) ( 28) The traction brake line (11) connected with the clamping needle (14) is fixed together.

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