CN103466261B - A kind of pot seedling transplanter cave dish conveying and positioning device - Google Patents
A kind of pot seedling transplanter cave dish conveying and positioning device Download PDFInfo
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- CN103466261B CN103466261B CN201310407086.5A CN201310407086A CN103466261B CN 103466261 B CN103466261 B CN 103466261B CN 201310407086 A CN201310407086 A CN 201310407086A CN 103466261 B CN103466261 B CN 103466261B
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Abstract
The invention provides a kind of pot seedling transplanter cave dish conveying and positioning device, a pot seedling transplanter is provided with the identical cave dish conveying and positioning device of two nested structures, two covering devices are arranged in parallel, wherein delivery platform is fixedly mounted on conveying platform frame, cave dish transportation guide device is installed above delivery platform, cave dish is placed on delivery platform, between two conveyings, is provided with horizontal feed chain apparatus, horizontal conveying chain is pressed spacing distance L in conveying platform frame both sides
1be provided with the dish push pedal of several caves, outside conveying platform frame, be provided with transmission chain device, messenger chain side is provided with Hall element, when driven by servomotor messenger chain rotates one week, and the cave dish push pedal miles of relative movement L thereupon on horizontal conveying chain
1, the Hall element of messenger chain side obtains an induced signal simultaneously, thus realizes cave dish location conveying.Apparatus of the present invention conveying positioning precision is high, reliable and stable, be applied to potted-seedling transplanting.
Description
Technical field
The automation that the invention belongs in industrialized agriculture transplants field, especially a kind of conveying and positioning device and method being specifically designed to potted tray seedling transplanter.
Technical background
Hole plate seedling growth is a new industry; it is the Novel seedling raising technology that 20 century 70s grow up in the world; hole plate seedling growth is compared with conventional seedbed system mode; there is Sheng Gong ﹑ Sheng Li ﹑ seedling Kuai ﹑ Jie be about this Di of Zi Yuan ﹑ Cheng ﹑ Xiao and Shuai Gao ﹑ and be convenient to management and the advantage such as protecting agriculture ecology environment, be mainly used in the nursery of Yan Cao ﹑ Hua Hui ﹑ vegetables and trees.In order to ensure that crop has suitable space to promote it to take root and to grow in the dish fry of cave, need cave to coil pot seedling from compact disc to lower density dish between transplanting, and cave dish is to the transplanting between flowerpot.Although cave dish potted-seedling transplanting is very simple, need a large amount of handwork, and continuous working is easily tired, production efficiency is low, is difficult to realize large area operation, constrains the development of hole plate seedling growth technology.For this reason, dish pot seedling High-Speed Automatic transplanter in research cave seems particularly important, and it is for raising labour productivity, and reduces labour intensity, promotes that the development of hole plate seedling growth technology is significant.
The research of cave dish pot seedling automatic transplanting technology starts from eighties of last century eighties, mainly contain two kinds of implementations at present, be with the cave of an industrial machine artificial body dish pot seedling automatic transplanting, another kind is the cave dish pot seedling automatic transplanting of exploitation independent machine electric system.1987, the people such as KUTZ have studied the feasibility based on Puma560 transplant robot.1992, the people such as KC.Ting have studied based on ADEPT-SCARA four-degree-of-freedom transplant robot.The people such as Ryu in 1999 devise a set of special electromechanical appliance, have developed transplant robot.In March, 2010, Agricultural University Of Shenyang Qiu the beginning of spring etc., human hair understood the automatic transplanter that a kind of Plug seedling is transplanted.Structure is simple, convenient, but efficiency is lower, and precision is not high.
Cave disk-transporting device registration device and method are the important component parts of cave dish pot seedling transplanter, present stage cave dish pot seedling transplanter feedway many employings V belt translation, sensor localization, as 2010 China of Nian Gao state wait the patent of invention of people's application, name is called the automated potted seedling transplanter in greenhouse, and application number is 201010194836.1.V belt translation easily produces slip, and affect the precision of pot seedling conveying, practical application kind problem is a lot.For this situation, the present invention proposes one reliably Plug seedling conveying and positioning device and method.
Summary of the invention
The object of the present invention is to provide a kind of conveying and positioning device for cave dish potted-seedling transplanting, transplant operation quality to improve Plug seedling.
In order to solve above technical matters, the technical solution adopted in the present invention is as follows:
A kind of pot seedling transplanter cave dish conveying and positioning device, comprises conveying platform frame (1), delivery platform (15), cave dish input detecting sensor (2), cave dish transportation guide device, horizontal feed chain apparatus, transmission chain device, it is characterized in that:
Described delivery platform (15) is fixedly mounted in conveying platform frame (1) two side stand, and cave dish input detecting sensor (2) is arranged on conveying platform frame (1) outboard support entrance, and cave dish is placed on delivery platform (15);
Described cave dish transportation guide device coils conveying (7) by cave, inner side, conveying (8) is coiled in cave, outside, crossbeam (6), overarm brace (11) form; Crossbeam (6) is arranged in parallel along cave dish throughput direction, and the number of crossbeam (6) has 2 at least; Each crossbeam (6) is supported by overarm brace (11); Each crossbeam (6) is provided with chute (12), chute (12) is built with movable sliding block (10), cave dish conveying, inner side (7) and cave, outside dish conveying (8) connect with slide block (10) respectively, cave dish conveying, inner side (7) and cave, outside coils width between conveying (8) and cave to coil width equal, and it is concordant with cave panel surface that conveying (7) is coiled in cave, inner side, conveying (8) upper surface is coiled in cave, outside;
Described horizontal feed chain apparatus is by horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24), cave dish push pedal (5) form, horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24) be arranged on the both sides of conveying platform frame (1) respectively, cave dish push pedal (5) is by equidistant L
1evenly be arranged on conveying platform frame (1) both sides conveyer chain (9), the spacing distance L between cave dish push pedal (5)
1be greater than the length of cave dish;
Described transmission chain device is by messenger chain (13), sprocket wheel C (22), sprocket wheel D(23), servomotor (20), Hall element sensing chip (16), Hall element (17) form, package unit is arranged on the outside of conveying platform frame (1); Sprocket wheel C(22) and carrier chain device in drive sprocket A(18) coaxially install; Servomotor (20) and drive sprocket D(23 in transmission chain device) coaxially install; Hall element sensing chip (16) is arranged on messenger chain (13), and position is adjustable; Hall element (17) is arranged on conveying platform frame (1) outside, corresponding with Hall element sensing chip (16), but does not contact;
Described transmission chain device middle sprocket D(23) and sprocket wheel C(22) transmitting ratio is 1:1, carrier chain device middle sprocket A(18) and sprocket wheel B(24) transmitting ratio is 1:1;
Described horizontal feed chain apparatus middle sprocket A(18), sprocket wheel B(24) radius R
1, transmission chain device middle sprocket C (22), sprocket wheel D(23) radius R
2, cave dish push pedal spacing distance L
1, messenger chain (13) total length L
2meet following relation:
According to above-mentioned relation, have messenger chain (13) and often rotate one week between horizontal conveying chain (9) and messenger chain (13), pass by cave dish push pedal (5) on horizontal conveying chain (9) a cave dish push pedal spacing distance L
1technical characteristic;
A cave dish pot seedling transplanter is provided with two cover cave dish conveying and positioning devices, two covering device structures are identical, be arranged in parallel, delivery platform (15) wherein in a set of cave dish conveying and positioning device is upper to be placed for seedling dish (4), and the upper placement of delivery platform (15) in the dish conveying and positioning device of another set of cave is planted seedlings dish (3).
In the dish transportation guide device of cave, slide block (10) is fixed in chute (12) by screw (14), unclamp the screw (14) on slide block (10), slide block (10) can move in chute (12), slide block (10) is mobile in mobile cave dish conveying, inner side (7), the cave, outside dish conveying (8) of driving of chute (12), thus the width between conveying (8) is coiled in adjustment cave dish conveying, inner side (7) and cave, outside, to adapt to the cave dish of different in width.
The present invention has beneficial effect.The present invention adopts Chain conveyer, cave dish push pedal, conveying structure, and sensor detecting, and realize dish conveying location, cave, structure is simple, reliable and stable.Relative to traditional belt-driven conveying, not only delivery precision is high, and the strong adaptability to different size cave dish, has good practicality and economy.
Accompanying drawing explanation
Fig. 1 feedway general illustration;
Fig. 2 Chain conveyer schematic diagram;
Fig. 3 cave dish transportation guide device schematic diagram.
In figure: 1. dish input detecting sensor 3. in stand 2. cave plants seedlings dish 4. for cave dish conveying 9. conveyer chain 10. slide block 11. overarm brace 12. chute 13. messenger chain 14. screw 15. delivery platform 16. sensing chip 17. Hall element 18. sprocket wheel A 19. axle 20. motor 21. transplanting mechanism working face 22. sprocket wheel C 23. sprocket wheel D 24. sprocket wheel B 25. seedling claw outside cave dish conveying 8. inside seedling dish 5. cave dish push pedal 6. crossbeam 7..
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail.
As shown in Figure 1, a cave dish pot seedling transplanter is provided with two cover cave dish conveying and positioning devices, two covering device structures are identical, be arranged in parallel, often overlap cave dish conveying and positioning device and be made up of conveying platform frame 1, delivery platform 15, cave dish input detecting sensor 2, cave dish transportation guide device, horizontal feed chain apparatus, transmission chain device.Wherein, delivery platform 15 is fixedly mounted in conveying platform frame 1 liang of side stand, cave dish input detecting sensor 2 is arranged on conveying platform frame 1 outboard support entrance, is placed on respectively on the delivery platform 15 in two cover cave arranged side by side dish conveying and positioning devices for seedling dish 4 and the dish 3 that plants seedlings.
As shown in figures 1 and 3, dish transportation guide device in cave coils conveying 7 by cave, inner side, conveying 8 is coiled in cave, outside, crossbeam 6, overarm brace 11 form; The crossbeam 6 of more than 2 is arranged in parallel along cave dish throughput direction, and crossbeam 6 is supported by overarm brace 11; Crossbeam 6 is provided with chute 12, chute 12 is built with movable sliding block 10, cave, inner side dish conveying 7 and cave, outside dish conveying 8 connect with slide block 10 respectively, slide block 10 is fixed in chute 12 by screw 14, unclamp the screw 14 on slide block 10, slide block 14 can move in chute 12, the mobile drive inner side cave dish conveying 7 of slide block 14 in chute 12, cave, outside dish conveying 8 move, thus the width between conveying 8 is coiled in adjustment inner side cave dish conveying 7 and cave, outside, to adapt to the cave dish of different in width.
As shown in Figure 2, horizontal feed chain apparatus is coiled push pedal 5 formed by conveyer chain 9, sprocket wheel A18, sprocket wheel B24, cave, conveyer chain 9, sprocket wheel A18, sprocket wheel B24 are arranged on the both sides of conveying platform frame 1 respectively, cave dish push pedal 5 is evenly arranged on conveying platform frame 1 both sides conveyer chain 9 by equidistant L1, and the spacing distance L1 between the dish push pedal 5 of cave is greater than the length of cave dish.
As shown in Figure 2, transmission chain device is made up of messenger chain 13, sprocket wheel C22, sprocket wheel D23, servomotor 20, Hall element sensing chip 16, Hall element 17, and package unit is arranged on the outside of conveying platform frame 1; Drive sprocket A18 in sprocket wheel C22 and carrier chain device coaxially installs; Servomotor 20 is coaxially installed with drive sprocket D23 in transmission chain device; Hall element sensing chip 16 is arranged on messenger chain 13, and Hall element 17 is arranged on outside conveying platform frame 1, corresponding with Hall element sensing chip 16, but does not contact.
Transmission chain device middle sprocket D23 and sprocket wheel C22 transmitting ratio are 1:1, and carrier chain device middle sprocket A18 and sprocket wheel B24 transmitting ratio are 1:1; The radius R of horizontal feed chain apparatus middle sprocket A18, sprocket wheel B24
1, transmission chain device middle sprocket C22, sprocket wheel D23 radius R
2, cave dish push pedal 5 spacing distance L
1, messenger chain length L
2meet:
condition, according to this condition, servomotor 20 drives the messenger chain 13 on transmission chain device often to rotate one week, drives the dish push pedal of the cave on conveyer chain 9 and conveyer chain 9 to pass by forward a push pedal spacing distance L
1, the Hall element sensing chip 16 simultaneously on messenger chain 13 is close once with Hall element 17, and Hall element 17 obtains an induced signal.
The working process of cave of the present invention dish conveying and positioning device is as follows:
A. delivery platform 15 entrance first overlapping two the cave dish conveying and positioning device be arranged in parallel is put into for seedling dish 4 and the dish 3 that plants seedlings, cave dish input detecting sensor 7 has detected cave dish input, thus start driving servomotor 20, servomotor 20 drives messenger chain 13 to rotate, messenger chain 13 drives conveyer chain 9 to rotate, the cave dish push pedal 5 be arranged on conveyer chain 9 promotes to plant seedlings dish 3 and moving forward for seedling dish 4, until be in together in transplanting mechanism seedling claw 25 working face 21 for seedling dish 4 and the dish 3 first row cavities line of centers that plants seedlings, servomotor 20 is then stopped to rotate;
B. after adjusting to initialization position when first group for seedling dish 4, the dish 3 that plants seedlings, keep conveyer chain 9 and messenger chain 13 motionless, the position of two Hall element sensing chips 16 on two messenger chains 13 in manual adjustment transmission chain device, two Hall element sensing chips 16 are alignd with the inductive head of two Hall elements 17 respectively, and now conveyer chain 9 and messenger chain 13 present position are defined as zero position;
C. after cave disk-transporting device zero position is determined, put into for seedling dish 4 and the dish 3 that plants seedlings at first group for dish push pedal 5 place, each cave after seedling dish 4 and the dish 3 that plants seedlings successively, and the dish push pedal 5 of each cave is kept in touch respectively and for seedling dish 4, the dish 3 that plants seedlings, because messenger chain 13 often rotates one week, conveyer chain 9 drives cave to coil to pass by cave dish push pedal spacing distance L
1, so the relative position of each cave dish is also determined;
D. start transplanter and get seedling device, seedling claw 25 gets seedling successively from for seedling dish 4 first row cavities, is then implanted successively by seedling and plants seedlings in dish 3 first row cavities;
E. when seedling claw 25 takes for seedling dish 4 one row Plug seedling, controller starts for the servomotor 20 in the disk-transporting device of cave, seedling dish side, servomotor 20 drives the sprocket wheel D23 on transmission chain device to rotate an angle according to for seedling dish 4 liang of cavities centre distances, make to move forward a cavities centre distance for seedling dish 4, then stop servomotor 20 to rotate, what seedling claw 25 started next row seedling gets seedling; When seedling claw 25 plants row's cavities of the dish 3 that completely plants seedlings, controller starts the servomotor 20 planted seedlings in the disk-transporting device of dish cave, side, servomotor 20 drives the sprocket wheel D23 on transmission chain device to rotate an angle according to dish 3 liang of cavities centre distances of planting seedlings, the dish 3 that makes to plant seedlings moves forward a cavities centre distance, then stop servomotor 20 to rotate, seedling claw 25 starts planting seedlings of next row cavities;
F. when seedling claw 25 to take in for seedling dish 4 after all Plug seedling, controller drives the servomotor 20 for seedling disk-transporting device side to rotate, the dish push pedal 5 of the cave on conveyer chain 9 is driven to move forward thus, cave dish push pedal 5 promotes also moving forward for seedling dish 4 on delivery platform 15, until servomotor 20 drives the Hall element sensing chip 16 on messenger chain 13 again to align with the inductive head of Hall element 17, Hall element 17 obtains induced signal, and control servomotor 20 and stop operating, next dish just supplies the first row Plug seedling of seedling dish to push in the working face 21 of transplanting mechanism seedling claw 25 by the cave dish push pedal 5 now on conveyer chain 9, seedling claw start next dish Plug seedling get seedling operation, after cavities all during seedling claw 25 will plant seedlings dish 3 implant Plug seedling, controller drives the servomotor 20 of disk-transporting device side of planting seedlings to rotate, the dish push pedal 9 of the cave on conveyer chain 9 is driven to move forward thus, the dish 3 that plants seedlings that cave dish push pedal 5 promotes on delivery platform 15 also moves forward, until servomotor 20 drives the Hall element sensing chip 16 on messenger chain 13 again to align with the inductive head of Hall element 17, Hall element 17 obtains induced signal, and control servomotor 20 and stop operating, next first row cave disk hole of coiling the dish 3 that plants seedlings just pushes in the working face 21 of transplanting mechanism seedling claw 25 by the cave dish push pedal 5 now on conveyer chain 9, seedling claw starts the operation of planting seedlings that next coils the dish 3 that plants seedlings,
G. often complete and be once fed forward for the whole dish of seedling dish 4 or the dish 3 that plants seedlings, just insert one respectively in the entrance of pot seedling transplanter two cave disk-transporting device for seedling dish 4 or the dish 3 that plants seedlings, cave disk-transporting device repeats d, e, f step, realizes the cycle operation of transplanter.
Claims (3)
1. a pot seedling transplanter cave dish conveying and positioning device, comprises conveying platform frame (1), delivery platform (15), cave dish input detecting sensor (2), cave dish transportation guide device, horizontal feed chain apparatus, transmission chain device, it is characterized in that:
Described delivery platform (15) is fixedly mounted in conveying platform frame (1) two side stand, and cave dish input detecting sensor (2) is arranged on conveying platform frame (1) outboard support entrance, and cave dish is placed on delivery platform (15);
Described cave dish transportation guide device coils conveying (7) by cave, inner side, conveying (8) is coiled in cave, outside, crossbeam (6), overarm brace (11) form; Crossbeam (6) is arranged in parallel along cave dish throughput direction, and the number of crossbeam (6) has 2 at least; Each crossbeam (6) is supported by overarm brace (11); Each crossbeam (6) is provided with chute (12), chute (12) is built with movable sliding block (10), cave dish conveying, inner side (7) and cave, outside dish conveying (8) connect with slide block (10) respectively, cave dish conveying, inner side (7) and cave, outside coils width between conveying (8) and cave to coil width equal, and it is concordant with cave panel surface that conveying (7) is coiled in cave, inner side, conveying (8) upper surface is coiled in cave, outside;
Described horizontal feed chain apparatus is by horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24), cave dish push pedal (5) form, horizontal conveying chain (9), sprocket wheel A (18), sprocket wheel B(24) be arranged on the both sides of conveying platform frame (1) respectively, cave dish push pedal (5) is by equidistant L
1evenly be arranged on conveying platform frame (1) both sides conveyer chain (9), the spacing distance L between cave dish push pedal (5)
1be greater than the length of cave dish;
Described transmission chain device is by messenger chain (13), sprocket wheel C (22), sprocket wheel D(23), servomotor (20), Hall element sensing chip (16), Hall element (17) form, package unit is arranged on the outside of conveying platform frame (1); Sprocket wheel C(22) and carrier chain device in drive sprocket A(18) coaxially install; Servomotor (20) and drive sprocket D(23 in transmission chain device) coaxially install; Hall element sensing chip (16) is arranged on messenger chain (13), and position is adjustable; Hall element (17) is arranged on conveying platform frame (1) outside, corresponding with Hall element sensing chip (16), but does not contact;
Described transmission chain device middle sprocket D(23) and sprocket wheel C(22) transmitting ratio is 1:1, carrier chain device middle sprocket A(18) and sprocket wheel B(24) transmitting ratio is 1:1;
Described horizontal feed chain apparatus middle sprocket A(18), sprocket wheel B(24) radius R
1, transmission chain device middle sprocket C (22), sprocket wheel D(23) radius R
2, cave dish push pedal spacing distance L
1, messenger chain (13) total length L
2meet following relation:
According to above-mentioned relation, have messenger chain (13) and often rotate one week between horizontal conveying chain (9) and messenger chain (13), pass by cave dish push pedal (5) on horizontal conveying chain (9) a cave dish push pedal spacing distance L
1technical characteristic.
2. pot seedling transplanter cave according to claim 1 dish conveying and positioning device, it is characterized in that: a cave dish pot seedling transplanter is provided with two cover cave dish conveying and positioning devices, two covering device structures are identical, be arranged in parallel, delivery platform (15) wherein in a set of cave dish conveying and positioning device is upper to be placed for seedling dish (4), and the upper placement of delivery platform (15) in the dish conveying and positioning device of another set of cave is planted seedlings dish (3).
3. pot seedling transplanter cave according to claim 1 dish conveying and positioning device, it is characterized in that: in the dish transportation guide device of cave, slide block (10) is fixed in chute (12) by screw (14), unclamp the screw (14) on slide block (10), slide block (10) can move in chute (12), slide block (10) drives cave dish conveying, inner side (7) the mobile of chute (12), cave dish conveying, outside (8) is mobile, thus the width between conveying (8) is coiled in adjustment cave dish conveying, inner side (7) and cave, outside, to adapt to the cave dish of different in width.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310407086.5A CN103466261B (en) | 2013-09-10 | 2013-09-10 | A kind of pot seedling transplanter cave dish conveying and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310407086.5A CN103466261B (en) | 2013-09-10 | 2013-09-10 | A kind of pot seedling transplanter cave dish conveying and positioning device |
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| CN103466261A CN103466261A (en) | 2013-12-25 |
| CN103466261B true CN103466261B (en) | 2015-08-19 |
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| CN201310407086.5A Expired - Fee Related CN103466261B (en) | 2013-09-10 | 2013-09-10 | A kind of pot seedling transplanter cave dish conveying and positioning device |
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| CN110419307B (en) * | 2019-08-29 | 2020-11-10 | 马鞍山市安工大智能装备技术研究院有限公司 | Automatic seedling transplanting machine for plug seedlings |
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