CN103818709A - Automatic carrying device for seedling plates - Google Patents
Automatic carrying device for seedling plates Download PDFInfo
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- CN103818709A CN103818709A CN201410080551.3A CN201410080551A CN103818709A CN 103818709 A CN103818709 A CN 103818709A CN 201410080551 A CN201410080551 A CN 201410080551A CN 103818709 A CN103818709 A CN 103818709A
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- leading screw
- screw module
- carrying finger
- stepping motor
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Abstract
The invention relates to an automatic conveying device for seedling plates. The device can automatically load and unload plugs provided with seedlings so as to realize automatic conveying between a seedling box and a conveying belt, and belongs to the field of facility agriculture. The automatic conveying device mainly consists of a loading and unloading mechanism, a moving mechanism and a control system. The loading and unloading mechanism comprises telescopic conveying fingers in the shapes of four parallel rods and a lifting mechanism consisting of lead screw modules, so that the loading and unloading of a plurality of seedling plates can be realized; the moving mechanism consists of four wheel hub motors in rectangular arrangement, so that the fore-and-aft movement and left-and-right turning of the device can be realized; the control system consists of a single chip microcomputer, an infrared switch sensor, a Hall position sensor, a stepper motor driver and a wheel hub motor controller, so that the control of the whole system is realized through detection signals of the sensors. According to the automatic conveying device, the loading and unloading and conveying of the seedling plates are integrated, the device is simple in structure and convenient to operate, and automatic conveying work of the seedling plates is completed.
Description
Technical field
The present invention relates to a kind of seedling dish automatic conveying device, relate in particular to a kind of automatic conveying device of cultivating seedling cave dish for industrial seedling rearing enterprise, belong to industrialized agriculture field.
Background technology
Industrial hole plate seedling growth technology is convenient to disease and pest control, unified management management, is used widely.But the carrying of seedling dish, mainly by manually completing, has reduced industrialized agriculture degree of automation.Current domestic nursery is because of standard disunity, and the transport operation level of mechanization of seedling dish is still not high, most of multilayer wheel-type hand carts that adopts, and its mode of transport is take manpower as main, and degree of automation is low and increased labour cost.The country of external industrialized agriculture prosperity is more to the Handling device research of seedling dish, and Holland is by controlling agricultural robot carrying cave dish seedling, but these system complex are expensive, are difficult to widespread use in small-scale agriculture enterprise.Thereby be badly in need of wanting a kind of mechanical equipment of applicable China's national situation to replace manual operation, realize loading, transportation and the unloaded operation of seedling dish between nursery box and load-transfer device.
Summary of the invention
Along with hole plate seedling growth technology being widely used in industrialized agriculture, in order to raise labour productivity, to reduce labour intensity and reducing productive costs, the present invention has designed a kind of cave dish automatic conveying device of giving birth to seedling.
The present invention solves the technical scheme that its technical matters takes:
A kind of seedling dish automatic conveying device, comprises load/unload mechanism, travel mechanism and control system;
Described load/unload mechanism is made up of frame, lifting mechanism and carrying finger, described lifting mechanism comprises leading screw module I, leading screw module II, connecting panel II, extension plate, described leading screw module II is connected with the slide block of leading screw module I by connecting panel II, employing bolt is fixed, described leading screw module I is connected with described frame, employing bolt is fixed, and described extension plate is connected with leading screw module II, adopts and is screwed; Described carrying finger is made up of stepping motor, driving lever, crank I, connecting rod, crank II, connecting panel I, crank I, connecting rod, crank II and connecting panel I connect into parallelogram lindage, carrying finger is connected on described lifting mechanism by connecting panel I, employing bolt is fixed, carrying finger I is arranged on the bottom of extension plate, carrying finger II is arranged on extension plate top, carrying finger III is arranged on the slide block of leading screw module II, the slide block of leading screw module II is in the time of top, carrying finger III is in maximum position, and between carrying finger, spacing equates; Stepping motor I, II are arranged on frame support parts, and driving lever I, II are connected with the output shaft of stepping motor I, II respectively, and described stepping motor output shaft is D type, and driving lever is bolted on stepping motor output shaft.
Described travel mechanism is made up of frame, wheel hub motor and power supply, described frame adopts aluminium alloy extrusions to make rectangular configuration, described wheel hub motor is arranged on described frame bottom by turning cylinder, form four wheel mechanism by rectangular arrangement, can realize moving forward and backward with left and right of seedling dish automatic conveying device and turn by independently controlling wheel hub motor.
Described control system comprises micro controller system, infrared switch sensor I and II, hall position sensor I and II, stepper motor driver, hub motor control device, the transmitting terminal of described infrared switch sensor I, II and receiving end are arranged on described frame pillar, corresponding one by one, and contour with described driving lever, described hall position sensor I and II are arranged on the crossbeam of frame, and the magnet steel correspondence of hall position sensor I and II is arranged on the connecting panel I of each carrying finger; Described micro controller system is connected by I/O mouth and infrared switch sensor I and II, hall position sensor I and II, stepper motor driver, wheel hub controller, described micro controller system is by control step motor driver and the motion of wheel hub controller control setup, described infrared switch sensor I and II, hall position sensor I and II pass to micro controller system by serial communication signal, realize controlled reset.
Advantage of the present invention is:
For different manipulating objects, adopt different mode of transport, when device is worked in nursery box, adopt the whole mode that picks and places of putting that rounds; In the time that load-transfer device is combined, adopt the mode that picks and places of singly putting of singly getting.Carrying finger adopts parallelogram lindage, can conveniently support seedling dish, can effectively avoid again interfering.It is simple in structure, easy to operate, can automatically complete the operation of carrying seedling dish.Seedling dish automatic conveying device degree of automation is high, saves labour power, boosts productivity.
Accompanying drawing explanation:
Fig. 1 is the standby figure of integral installation of the present invention;
Fig. 2 is that carrying finger of the present invention is stretched out and contraction state figure;
Fig. 3 is carrying finger stepping motor of the present invention and driving lever front view and upward view;
Fig. 4 is birds-eye view of the present invention;
Fig. 5 is elevator composition of the present invention;
Fig. 6 is seedling dish automatic conveying device of the present invention flow diagram in nursery box;
Fig. 7 is the flow diagram of seedling dish automatic conveying device of the present invention and load-transfer device.
The specific embodiment:
Consult Fig. 1,2,3, a kind of seedling dish automatic conveying device is by load/unload mechanism, travel mechanism and composition of the control system.Wherein, load/unload mechanism comprises frame 1, lifting mechanism and carrying finger.Lifting mechanism comprises leading screw module I6, leading screw module II8, extension plate 3, connecting panel 4.Leading screw module I6 is connected with frame 1, adopts bolt to fix, and leading screw module II8 is connected with the slide block 603 of leading screw module I6 by connecting panel 4, adopts and is screwed, and extension plate 3 is connected with the flange 802 of leading screw module II8, adopts and is screwed. Carrying finger 2,5 and 7 adopts parallelogram lindage, and driving lever 20 is connected with the output shaft of stepping motor 19.In the time that stepping motor 19 starts, drive driving lever 20 to rotate, driving lever 20 drives carrying finger stretch out or shrink.The transmitting terminal 13 of infrared switch sensor and receiving end 14 are arranged on the pillar two ends of frame 1, and contour with driving lever 20, hall position sensor 22 is arranged in frame 1, contour with driving lever 20, and magnet steel 21 correspondences of six hall position sensors are arranged on the connecting panel 18 of each carrying finger.
Carrying finger is made up of crank I15, connecting rod 16, crank II17 and connecting panel I18, and crank I15 is connected with connecting panel I18 by pin with crank II17, can rotate around pin, forms revolute pair.Connecting rod 16 is connected with crank I15, the II17 other end by pin, forms parallelogram lindage.The connecting panel of carrying finger I2, II5 is connected with extension plate 3, adopts and is screwed, and the connecting panel 18 of carrying finger III7 is connected with connecting panel 9 by screw, and connecting panel 9 is connected by screw with the slide block 803 of leading screw module II8.
In Handling device, in the connection mode of stepping motor 19 and driving lever 20, stepping motor 19 is connected with frame 1, adopts and is screwed, and driving lever 20 is connected with the output shaft of stepping motor 19, adopts and is screwed, and output shaft end is D type.At device, in the time that load-transfer device is combined, driving lever 20 is higher than load-transfer device plane.
Consult Fig. 4, the type of drive of carrying finger I2, II5, III7, carrying finger moves to when contour with driving lever, and stepping motor 19 drives driving lever 20, drives carrying finger stretch out or shrink by the U-shaped groove of crank I15.
Consult Fig. 5, lifting mechanism connection mode, leading screw module I is made up of stepping motor 601, flange 606, leading screw 604, slide block 603, guide groove 605, baffle plate 602, stepping motor 601 is connected by screw with flange 606, flange 606, baffle plate 602 are connected with guide groove 605, employing screw connects, and slide block 603 moves along leading screw 604 605 li of guide grooves.
Consult Fig. 6, seedling dish automatic conveying device and nursery box flow diagram.Device enters nursery box, and the center of symmetry face of frame two ends carrying finger overlaps with the longitudinal plane of symmetry of seedling dish, and while loading seedling dish at Handling device from nursery box, three layers of carrying finger are stretched out, and every layer of carrying finger is lower than the corresponding Box Hole disc carrier of growing seedlings; In the time that Handling device unloads seedling dish to nursery box, every layer of carrying finger is higher than the corresponding Box Hole disc carrier of growing seedlings.
Consult Fig. 7, seedling dish automatic conveying device coordinates figure with load-transfer device.Handling device can enter from load-transfer device one end, and the center of symmetry face of frame two ends carrying finger overlaps with load-transfer device center of symmetry face.
Concrete carrying step is as follows:
When this device loads seedling dish 11 from nursery box, carrying finger I2, II5, III7 are in extended state, the slide block 804 of leading screw module II8 is in top, the stepping motor 601 of leading screw module I6 starts, and the slide block 603 of leading screw module I6 moves up, and drives leading screw module II8 to move up, in the time of carrying finger I2, II5 and III7 arrival appropriate location, carrying finger I2, II5 and III7 hold up pallet 12, and drive seedling dish upward movement, realize and load seedling dish.
When this device unloads seedling dish 11 to nursery box, leading screw module I6 stepping motor 601 starts, the slide block 603 of leading screw module I6 moves down, drive carrying finger I2, II5 and III7 and seedling dish to move down, in the time that carrying finger I2, II5 and III7 move to appropriate location, seedling dish is placed on nursery box support, carrying finger I2, II5 and III7 are along with leading screw module I6 slide block continues to move downward, in the time that hall position sensor 22 detects signal, the stepping motor 601 of leading screw module I6 stops operating, device exits nursery box, realizes unloading seedling dish.
When this device unloads seedling dish 11 from load-transfer device, the device center of symmetry that seedling dish is housed overlaps with load-transfer device center of symmetry, the receiving end 14 of infrared switch sensor detects on load-transfer device, whether there is seedling dish, if there is seedling dish, device is waited for, if without seedling dish, the stepping motor 601 of leading screw module I6 starts, the slide block 603 of leading screw module I6 drives leading screw module II8 to move down, in the time that hall position sensor 22 detects signal, the stepping motor 601 of leading screw module I6 stops operating, the stop motion of 3 carrying fingers, seedling dish is placed on load-transfer device, stepping motor 19 is received turn signal, driving lever 20 drives carrying finger I2 to shrink, first seedling dish is placed and is finished, when receiving end 14 signal detection of infrared switch sensor are on load-transfer device during without seedling dish, the stepping motor 601 of leading screw module I6 starts, and the slide block 603 of leading screw module I6 drives leading screw module II8 to move down, simultaneously, stepping motor 19 rotates backward, and drives driving lever 20 to reset.In the time that hall position sensor 22 detects signal, the stepping motor 601 of leading screw module I6 stops operating, and is placed on load-transfer device with the pallet 12 of seedling dish, and stepping motor 19 rotates, and driving lever 20 drives carrying finger II5 to shrink, and second seedling dish placed and finished, in the time that the receiving end 14 of infrared switch sensor detects on load-transfer device without seedling dish, the stepping motor 601 of leading screw module I6 rotates, the slide block 603 of leading screw module I6 moves down, in the time that the slide block 603 of leading screw module I6 arrives bottom, the stepping motor 601 of leading screw module I6 stops operating, the stepping motor 801 of leading screw module II8 rotates, the slide block 804 of leading screw module II8 drives carrying finger III7 to move down, in the time that hall position sensor 22 detects signal, the stepping motor 801 of leading screw module II8 stops operating, seedling dish 11 is placed on load-transfer device, stepping motor 19 rotates, drive driving lever 20 that carrying finger III7 is shunk, the 3rd seedling dish placed and finished.
When this device loads seedling dish 11 from load-transfer device, 3 pairs of carrying fingers are all in contraction state, and the slide block 603 of leading screw module I6 is in least significant end.The receiving end 14 of infrared switch sensor detects seedling dish on load-transfer device, leading screw module II8 stepping motor 801 rotates, the slide block 804 of leading screw module II8 drives carrying finger III7 upward movement, when hall position sensor 22 detects signal, the stepping motor 801 of leading screw module II8 stops operating, stepping motor 19 messengers, drive driving lever 20 to rotate backward to order about carrying finger III7 and stretch out, afterwards, the stepping motor 801 of leading screw module II8 rotates, leading screw module II8 slide block 804 drives carrying finger III7 upward movement, loads first seedling dish, leading screw module II8 slide block 804 outreaches and stops, stepping motor 19 backwards rotation, driving lever 20 resets, in the time that the receiving end 14 of infrared switch sensor detects seedling dish 11, the stepping motor 601 of leading screw module I6 rotates, 3 handling hands refer to upward movement, in the time that hall position sensor 22 detects carrying finger II5, the stepping motor 601 of leading screw module I6 stops operating, stepping motor 19 connection signals, drive driving lever 20 to rotate backward carrying finger II5 is stretched out, afterwards, the stepping motor 601 of leading screw module I6 rotates, the slide block 603 of leading screw module I6 drives 3 handling hands to refer to upward movement, , stop when the appropriate location, stepping motor 19 connection signals, drive driving lever 20 to reset, realize and load second seedling dish, in the time that the receiving end 14 of infrared switch sensor detects signal, the stepping motor 601 of leading screw module I6 rotates, 3 handling hands refer to upward movement, in the time that hall position sensor 22 detects carrying finger I2, the stepping motor 601 of leading screw module I6 stops operating, stepping motor 19 connection signals, driving lever 20 backwards rotation drive carrying finger I2 to stretch out, the stepping motor 601 of leading screw module I6 rotates, the slide block 603 of leading screw module I6 drives leading screw module II8 upward movement,, stop when the appropriate location, realize and load the 3rd seedling dish, complete the seedling dish work of loading.
When this device transports between nursery box and load-transfer device, adopt four individual drive wheel hub motors.Front motor wheel hub I23, front motor wheel hub II25 start, and when rear motor wheel hub I24, rear motor wheel hub II26 do not start, front motor wheel hub I23, front motor wheel hub II25 turn to identical with rotating speed, and device travels forward; Front motor wheel hub I23, front motor wheel hub II25 turn to identical, rotating speed difference, and device is turned forward.Rear motor wheel hub I24, rear motor wheel hub II26 start, when front motor wheel hub I23, front motor wheel hub II25 do not start, rear motor wheel hub I24, rear motor wheel hub II26 turn to when identical with rotating speed, device is motion backward, turning to of rear motor wheel hub I24, rear motor wheel hub II26 is identical, rotating speed difference, device is turned backward, therefore can moving forward and backward with left and right of implement device turn.
Claims (3)
1. a seedling dish automatic conveying device, comprises load/unload mechanism, travel mechanism and control system;
Described load/unload mechanism is made up of frame, lifting mechanism and carrying finger, described lifting mechanism comprises leading screw module I, leading screw module II, connecting panel II, extension plate, described leading screw module II is connected with the slide block of leading screw module I by connecting panel II, employing bolt is fixed, described leading screw module I is connected with described frame, employing bolt is fixed, and described extension plate is connected with leading screw module II, adopts and is screwed; Described carrying finger is made up of stepping motor, driving lever, crank I, connecting rod, crank II, connecting panel I, crank I, connecting rod, crank II and connecting panel I connect into parallelogram lindage, carrying finger is connected on described lifting mechanism by connecting panel I, employing bolt is fixed, carrying finger I is arranged on the bottom of extension plate, carrying finger II is arranged on extension plate top, carrying finger III is arranged on the slide block of leading screw module II, the slide block of leading screw module II is in the time of top, carrying finger III is in maximum position, and between carrying finger, spacing equates; Stepping motor I, II are arranged on frame support parts, and driving lever I, II are connected with the output shaft of stepping motor I, II respectively, and described stepping motor output shaft is D type, and driving lever is bolted on stepping motor output shaft.
2. described in, travel mechanism is made up of frame, motor wheel hub and power supply, described frame adopts aluminium alloy extrusions to make rectangular configuration, four described motor wheel hubs are arranged on described frame bottom by turning cylinder, form four wheel mechanism by rectangular arrangement, can realize moving forward and backward with left and right of seedling dish automatic conveying device and turn by independently controlling motor wheel hub.
3. described in, control system comprises micro controller system, infrared switch sensor I and II, hall position sensor I and II, stepper motor driver, hub motor control device, the transmitting terminal of described infrared switch sensor I, II and receiving end are arranged on described frame pillar, corresponding one by one, and contour with described driving lever, described hall position sensor I and II are arranged on the crossbeam of frame, and the magnet steel correspondence of hall position sensor I and II is arranged on the connecting panel I of each carrying finger; Described micro controller system is connected by I/O mouth and infrared switch sensor I and II, hall position sensor I and II, stepper motor driver, hub motor control device, described micro controller system is by control step motor driver and the motion of hub motor control device control setup, described infrared switch sensor I and II, hall position sensor I and II pass to micro controller system by serial communication signal, realize controlled reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410080551.3A CN103818709A (en) | 2014-02-25 | 2014-02-25 | Automatic carrying device for seedling plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410080551.3A CN103818709A (en) | 2014-02-25 | 2014-02-25 | Automatic carrying device for seedling plates |
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| CN103818709A true CN103818709A (en) | 2014-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410080551.3A Pending CN103818709A (en) | 2014-02-25 | 2014-02-25 | Automatic carrying device for seedling plates |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104310040A (en) * | 2014-09-12 | 2015-01-28 | 中国农业大学 | Automatic stacking device for grafted seedling trays |
| CN105366259A (en) * | 2015-11-08 | 2016-03-02 | 西北农林科技大学 | Automatic seedling plate van based on double-chain transmission |
| CN105961037A (en) * | 2016-04-27 | 2016-09-28 | 西北农林科技大学 | Multi-seedling appearance characteristic continuous detection device |
| CN106379745A (en) * | 2016-11-15 | 2017-02-08 | 浙江机电职业技术学院 | Automatic aperture disk feeding device |
| CN106448412A (en) * | 2016-10-31 | 2017-02-22 | 博洛尼家居用品湖北有限公司 | Cabinet lifting experience device |
| CN107624314A (en) * | 2017-11-15 | 2018-01-26 | 河南科技大学 | A kind of culturing and transplanting seedlings machine seed plate automatic conveying device |
| CN107804714A (en) * | 2017-12-11 | 2018-03-16 | 北京搏思农业科技有限公司 | A kind of seedbed carrier and a kind of seedbed method for carrying |
| CN112849956A (en) * | 2020-12-24 | 2021-05-28 | 广西财经学院 | Forestry seedling bed material loading unloading system |
| CN113979346A (en) * | 2021-09-16 | 2022-01-28 | 北京市农林科学院智能装备技术研究中心 | Automatic carrying and lifting device for seedling raising plate |
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Patent Citations (5)
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104310040A (en) * | 2014-09-12 | 2015-01-28 | 中国农业大学 | Automatic stacking device for grafted seedling trays |
| CN104310040B (en) * | 2014-09-12 | 2016-03-09 | 中国农业大学 | Grafting dish stacking device |
| CN105366259A (en) * | 2015-11-08 | 2016-03-02 | 西北农林科技大学 | Automatic seedling plate van based on double-chain transmission |
| CN105961037A (en) * | 2016-04-27 | 2016-09-28 | 西北农林科技大学 | Multi-seedling appearance characteristic continuous detection device |
| CN106448412A (en) * | 2016-10-31 | 2017-02-22 | 博洛尼家居用品湖北有限公司 | Cabinet lifting experience device |
| CN106379745A (en) * | 2016-11-15 | 2017-02-08 | 浙江机电职业技术学院 | Automatic aperture disk feeding device |
| CN107624314A (en) * | 2017-11-15 | 2018-01-26 | 河南科技大学 | A kind of culturing and transplanting seedlings machine seed plate automatic conveying device |
| CN107624314B (en) * | 2017-11-15 | 2023-10-20 | 河南科技大学 | Seedling tray automatic conveying device for seedling transplanting machine |
| CN107804714A (en) * | 2017-12-11 | 2018-03-16 | 北京搏思农业科技有限公司 | A kind of seedbed carrier and a kind of seedbed method for carrying |
| CN107804714B (en) * | 2017-12-11 | 2023-08-25 | 京鹍(北京)农业科技有限公司 | Seedbed carrying vehicle and seedbed carrying method |
| CN112849956A (en) * | 2020-12-24 | 2021-05-28 | 广西财经学院 | Forestry seedling bed material loading unloading system |
| CN113979346A (en) * | 2021-09-16 | 2022-01-28 | 北京市农林科学院智能装备技术研究中心 | Automatic carrying and lifting device for seedling raising plate |
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Application publication date: 20140528 |
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