CN108617206A - A kind of cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings - Google Patents
A kind of cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings Download PDFInfo
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- CN108617206A CN108617206A CN201810263755.9A CN201810263755A CN108617206A CN 108617206 A CN108617206 A CN 108617206A CN 201810263755 A CN201810263755 A CN 201810263755A CN 108617206 A CN108617206 A CN 108617206A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/086—Devices for repotting
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Transplanting Machines (AREA)
Abstract
It fills the gaps with seedlings end effector and its method of filling the gaps with seedlings the invention discloses a kind of cotyledon period vegetables seedling in earthen bowl, the device includes upper cover, chassis, spiral fluted disc, adjustment axis, laterally adjust bar, mud guard, cylinder, seedling shovels, four forked seedling shovels are driven by cylinder and constitute approximate rectangular pyramid stage body, packaging type structure is formed to seedling in earthen bowl when seedling taking, make spiral fluted disc by rotation spiral fluted disc and laterally adjusts bar worm drive, bar is laterally adjusted to extend radially or shrink to which four seedlings of stepless changing shovel relative position to adapt to cavities structure size, cotyledon period seedling in earthen bowl loose in different structure size cavities can be completed, nondestructively take out, apparatus structure is compact, operating speed is fast, reliability is high, installation maintenance is easy, meet cotyledon period, nursery early stage Plug seedling seedling taking, it fills the gaps with seedlings requirement.
Description
Technical field
The present invention relates to agricultural mechanical fields, more particularly, to a kind of cotyledon can adapt to different cavities structure sizes
Phase vegetables seedling in earthen bowl is filled the gaps with seedlings end effector.
Background technology
In current vegetables modernization cultivating system, since Plug seedling can be well adapted for scale, commercialized
The mode of production, Light media hole tray culture occupy main status, and industrial seedling rearing is the important component of modern agriculture.Vegetables
Seedling is in seedling raising process, since seed quality, seeder performance, matrix environment etc. cause hole tray to occur without seedling hole, Bu Nengwei
Automatic Transplanter supply stalwartness, the rice shoot without hole seriously affect the operation quality of full-automatic transplantation, therefore in transplanting process
Or the nursery stage fills the gaps with seedlings to hole tray without seedling cavities.It fills the gaps with seedlings hole tray hole in nursery early stage or mid-term, it can be on seedbed
In batches, it concentrates, efficiently carry out that fill the gaps with seedlings work, especially cotyledon period seedling branches and leaves are mutually unobstructed, and image recognition success rate is high,
Component of filling the gaps with seedlings does not damage the seedling of surrounding, and root sticks together and cavities wall adhesion strength after not influencing seedling, will provide nothing for full-automatic transplantation
Hole, the seedling in earthen bowl that growing way is neat, healthy, improve the operation quality transplanted automatically.But cotyledon period seedling cauline leaf is tiny, tender and crisp,
Root system not yet forms relatively strong root with matrix and sticks together, and it is easily loose to be vulnerable to damage, culture substrate for seedling when seedling taking, and existing shifting
The seedling picking mechanism of cultivation machine such as ejecting type, ejection clamping type, clamping type, four needle pliering clips, two needle pliering clips etc. are to be directed to seedling
Seedling taking exploitation, the solid seedling in earthen bowl seedling taking to stick together is formed suitable for well developed root system, for cotyledon period Plug seedling using above-mentioned
It is routed broken that the direct seedling taking of mode can make root stick together, and can not take out loose cotyledon period seedling in earthen bowl intactly or without seedling matrix.Therefore,
In order to realize nursery early stage efficiently, quickly fill the gaps with seedlings, it is accordingly required in particular to which developing one kind, can to take out cotyledon period seedling intactly thin
The end effector of filling the gaps with seedlings of the vegetables seedling in earthen bowl small, tender, root system is undeveloped and culture substrate is easily loose.
Invention content
The purpose of the present invention overcomes existing seedling seedling picking mechanism that cannot completely, nondestructively take out cotyledon period vegetables seedling in earthen bowl
Disadvantage, the present invention propose a kind of cotyledon period vegetables seedling in earthen bowl can adapt to hole tray cavities structure size fill the gaps with seedlings end effector and
Its method of filling the gaps with seedlings is made up of four be driven by the cylinder forked seedling shovels close to the inversion tetragonous cone table bodily form, after being inserted into seedling in earthen bowl
Formation formed packaging type structure realize it is complete, nondestructively take out seedling in earthen bowl；Make four of installation cylinder by rotating spiral fluted disc
It laterally adjusts bar to extend radially out or shrink, to make four seedling shovels adapt to cavities structure size, end effector knot of entirely filling the gaps with seedlings
Structure is compact, versatile, reliability is high, fills the gaps with seedlings for the hole tray seedling in earthen bowl cotyledon period of different structure size and provides function admirable
It fills the gaps with seedlings end effector.
The technical scheme adopted by the invention to solve the technical problem is that：Cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end effector
Including upper cover, chassis, spiral fluted disc, adjustment axis, laterally adjusts bar, mud guard, left holing clip, right holing clip, cylinder, cylinder and push away
Bar, seedling shovel, air compressor, pressure-regulating valve, digital display manometer, three position four-way electromagnetic valve；Upper cover is inverted cylindrical shape, on
Tops set connecting bracket, and upper cover side, which is uniformly distributed along the circumference, opens up four notches, and four notch tops of upper cover open up "T"-shaped
Guide groove, four guide grooves are centrosymmetric distribution along upper cover center；It is equipped with fovea superior semicircle on the symmetrical two panels arcing outer edges of upper cover
Slot, two fovea superior half slots are centrosymmetrically arranged along upper cover；The side on chassis is uniformly distributed along the circumference with bottom is arranged four notches, bottom
Disk center is equipped with Step Shaft, and Step Shaft central axis is overlapped with center chassis axis；It is fixed on the outside of Step Shaft that there are two symmetrical arcs
Shape block, arc block top are equipped with arc groove, are equipped with recessed half slot on the symmetrical two panels arcing outer edges in chassis, two recessed half
Circular groove is arranged symmetrically along center chassis；Upper cover is fixed by screw and chassis, four notches and four, the chassis notch of upper cover
Width and center are consistent, two bearing holes of two fovea superior half slots of upper cover and two of chassis recessed half slots compositions, two
The line of centres of bearing hole is vertical with chassis longitudinal centre line；Spiral fluted disc is mounted on by bearing on Step Shaft, in adjustment axis
End is set by bearing on arc groove, and adjustment axis outer end is mounted on by bearing by fovea superior half slot and recessed half slot structure
At bearing hole in；It is " T " shaped bar that laterally adjust bar, which be section, and four laterally adjust bar and are separately mounted to four of upper cover and lead
In slot, laterally adjusts bar and constitute prismatic pair with guide groove；It laterally adjusts bar section and is alternatively I-shaped, trapezoidal, laterally adjust bar
Cross sectional shape is consistent with the shape that four notch tops of upper cover open up guide groove, each other couple；Left holing clip and right holing clip
It is bolted on and constitutes gripper sleeve together, four gripper sleeves tilt respectively to be fixed on four and laterally adjust the outer of bar
End, cylinder are fixed between left holing clip and right holing clip；Cylinder push-rod, four seedling shovels point are respectively fixed on the output shaft of cylinder
It is not fixed on the lower end of four cylinder push-rods；It the adjustment axis, spiral fluted disc and laterally adjusts bar and constitutes drive mechanism, adjust
Axis is by driving helical tooth disc spins to laterally adjust bar along spiral fluted disc radial expansion to drive；
The distribution that is centrosymmetric of four mud guards is fixed on chassis lower part, four mud guard lower parts with shoveled respectively with four seedlings
Inner surface parallel contact.
Based on the above-mentioned technical proposal, following several preferred implementations can also be provided：
The upper surface of the spiral fluted disc is equipped with helicla flute, and the lower face of spiral fluted disc is the cone flank of tooth, is laterally adjusted under bar
Side is spiral tooth, and the helicla flute of spiral fluted disc upper surface and the spiral tooth laterally adjusted on the downside of bar constitute threaded engagement；Helical tooth
The upper surface of disk is equipped with helicla flute, the spiral thread form shape laterally adjusted on the downside of bar can be all the shapes such as triangle, rectangle, trapezoidal；
The adjustment axis is bevel pinion shaft, the cone tooth engagement and structure of the cone tooth on the outside of adjustment axis and spiral fluted disc lower face
At gear drive；Hex wrench hole is equipped at the center of adjustment axis outer end.
It is trapezoidal that the seedling, which shovels the part outer profile that buries, and seedling shovel is in forked, and the tine ends of seedling shovel are sharp edge；When cylinder pushes away
When bar is extended to lower limit position, four seedling shovels are constituted close to the inversion tetragonous cone table bodily form.
The air compressor, pressure-regulating valve, digital display manometer, four three position four-way electromagnetic valves by pressure hose according to
Secondary connection, the gas circuits of four three position four-way electromagnetic valves are cross gas circuit, four cylinders by pressure hose respectively with four three
Four way solenoid valve connects；Air circuit breaker, the airflow direction of four three position four-way electromagnetic valves control 3-position 4-way electricity by controller
Magnet valve is realized.
Based on above-mentioned cotyledon period vegetables seedling in earthen bowl fill the gaps with seedlings end effector method and step of filling the gaps with seedlings it is as follows：
The first step：Adjustment axis is rotated using die nut, the cone tooth driving spiral fluted disc of adjustment axis rotates, on spiral fluted disc
The helicla flute in face and the spiral dentification worm drive on the downside of bar are laterally adjusted, four laterally adjust bar respectively along four of upper cover
"T"-shaped guide groove, which synchronizes, to be extended radially out or to contract, be fixed on four laterally adjust the cylinder of bar outer end, seedling shovel it is synchronous to
Outer or inwardly adjusting, to make four seedlings shovels adapt to cavities structure sizes；
Second step：Computer sends Reset and instructs to controller, and controller, which controls four three position four-way electromagnetic valves, makes four
The cylinder push-rod of cylinder is shunk, and four seedlings shovels move obliquely, make the profile that four seedlings shovel lower edge linear extensions are formed with
Cavities top bore is suitable；
Third walks：Computer sends " displacement " and instructs to controller, and cotyledon period vegetables seedling in earthen bowl is made to fill the gaps with seedlings end effector
It moves integrally to waiting taking above spare seedling, it is then whole to move down, so that four seedlings is shoveled lower edges close to the edge of hole tray cavities；
4th step：Computer sends " seedling taking " instruction to controller, and controller, which controls four three position four-way electromagnetic valves, makes four
The cylinder push-rod of cylinder stretches out, and four cylinder push-rods drive four seedlings shovels to be tilted along cavities wall and are inserted into seedling in earthen bowl respectively, control
Device can control each cylinder and work in order, be grouped work or synchronous working, to make seedling shovel sequentially be inserted into respectively, be grouped and be inserted into
Or it is synchronous be inserted into, then cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings integrally is moved up and is moved to above cavities to be filled the gaps with seedlings；
5th step：Computer sends " filling the gaps with seedlings " instruction to controller, and cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings is whole
Body, which drops to, fills the gaps with seedlings cavities, and controller, which controls four three position four-way electromagnetic valves, makes the cylinder push-rod of four cylinders shrink, four
Seedling shovel moves obliquely, and the matrix on mud guard push and block seedling shovel, seedling in earthen bowl stays in cavities to be filled the gaps with seedlings, and controller can control respectively
Cylinder works, is grouped work or synchronous working in order, to make seedling shovel sequentially extraction respectively, be grouped extraction or synchronous extraction,
Then cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings rises overally, and completes to fill the gaps with seedlings.
The invention has the advantages that：It is made up of close to the tetragonous cone table bodily form four forked seedling shovels, is inserted into bowl
Packaging type structure is formed after seedling, it being capable of cotyledon period seedling is tender, root system is undeveloped and culture substrate is easily loose vegetables bowl
Seedling is complete, nondestructively takes out, and Cat-in resisting force is small；Bar is laterally adjusted by adjustment axis rotation spiral fluted disc, spiral fluted disc and four
Threaded engagement, make four to laterally adjust bar and extending radially out or shrinking, four seedlings of stepless changing shovel relative positions to adapt to cave
Pore structure size improves the versatility filled the gaps with seedlings；Gas circuit is controlled by three position four-way electromagnetic valve, can both make the independent work of each cylinder
Make to be that seedling shovel is individually inserted into or removes, can also make symmetrically to be grouped work, work at the same time, reduces the insertion of seedling shovel, removes seedling in earthen bowl
Impact force ensure that pot seedling is complete；Apparatus structure is compact, operating speed is fast, reliability is high, installation maintenance is easy, meets cotyledon
Phase, nursery early stage Plug seedling seedling taking, requirement of filling the gaps with seedlings.
Description of the drawings
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram inside the present invention；
Fig. 3 is the schematic diagram of superstructure of the present invention；
Fig. 4 is the schematic diagram of chassis structure of the present invention；
Fig. 5 is pneumatic diagram of the present invention；
Fig. 6 is electric drawings of the present invention；
In figure：Upper cover 1, spiral fluted disc 3, adjustment axis 4, laterally adjusts bar 5, mud guard 6, left holing clip 7, right folder at chassis 2
Hold folder 8, cylinder 9, cylinder push-rod 10, seedling shovel 11, air compressor 12, pressure-regulating valve 13, digital display manometer 14,3-position 4-way
Solenoid valve 15.
Specific implementation mode
The concrete structure and embodiment further illustrated the present invention below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings includes upper cover
1, chassis 2, spiral fluted disc 3, adjustment axis 4, laterally adjust bar 5, mud guard 6, left holing clip 7, right holing clip 8, cylinder 9, cylinder
Push rod 10, seedling shovel 11, air compressor 12, pressure-regulating valve 13, digital display manometer 14, three position four-way electromagnetic valve 15；
Upper cover 1 is inverted cylindrical shape, and the top of upper cover 1 sets connecting bracket 1-1, and cotyledon period vegetables seedling in earthen bowl end of filling the gaps with seedlings is held
Row device can be by connecting bracket 1-1 mountings and external agency.1 side of upper cover, which is uniformly distributed along the circumference, opens up four notches, upper cover 1
Four notch tops open up "T"-shaped guide groove 1-2, and four guide groove 1-2 are centrosymmetric distribution along 1 center of upper cover；Upper cover 1 is symmetrical
Two panels arcing outer edges on be equipped with fovea superior half slot 1-3, two fovea superior half slot 1-3 are centrosymmetrically arranged along upper cover 1；
The side on chassis 2 is uniformly distributed along the circumference with bottom is arranged four notches, and 2 center of chassis is equipped with Step Shaft 2-1, Step Shaft
2-1 central axis are overlapped with 2 central axis of chassis；It is fixed on the outside of Step Shaft 2-1 that there are two symmetrical arc block 2-3, arc block 2-3
Top is equipped with arc groove 2-4, and recessed half slot 2-2, two recessed half slots are equipped on 2 symmetrical two panels arcing outer edges of chassis
1-3 is centrosymmetrically arranged along chassis 2；
Upper cover 1 is fixed by screw and chassis 2, four notches of upper cover 1 and the width of 2 four, chassis notch and center one
It causes, two fovea superior half slot 1-3 of upper cover 1 constitute two bearing holes, two bearings with two of chassis 2 recessed half slot 2-2
The line of centres in hole is vertical with 2 longitudinal centre line of chassis；
Spiral fluted disc 3 is mounted on by bearing on Step Shaft 2-1, and installation is set in two 4 inner ends of adjustment axis by bearing respectively
On two arc groove 2-4, two 4 outer ends of adjustment axis are mounted on by bearing by fovea superior half slot 1-3 and recessed semicircle respectively
In two bearing holes that slot 2-2 is constituted；
Laterally adjust bar 5 be section be " T " shaped bar, four laterally adjust four guide grooves that bar 5 is separately mounted to upper cover 1
In 1-2, laterally adjusts bar 5 and guide groove 1-2 and constitute prismatic pair；It laterally adjusts 5 section of bar and is alternatively I-shaped, trapezoidal, transverse direction
It is consistent with the shape that four notch tops of upper cover 1 open up guide groove 1-2 to adjust 5 cross sectional shape of bar, each other couple；
Left holing clip 7 is bolted on right holing clip 8 and constitutes gripper sleeve together, and four gripper sleeves incline respectively
Four outer ends for laterally adjusting bar 5 tiltedly are fixed on, cylinder 9 is fixed between left holing clip 7 and right holing clip 8；The output shaft of cylinder 9
On be respectively fixed with cylinder push-rod 10, four seedlings shovels 11 are separately fixed at the lower ends of four cylinder push-rods 10；
Adjustment axis 4, spiral fluted disc 3 and laterally adjust bar 5 constitute drive mechanism, adjustment axis 4 pass through drive spiral fluted disc 3 revolve
It transfers drive and laterally adjusts bar 5 along 3 radial expansion of spiral fluted disc；
The distribution that is centrosymmetric of four mud guards 6 is fixed on 2 lower part of chassis, four 6 lower parts of mud guard with respectively with four
Seedling shovels 11 inner surface parallel contacts.
The upper surface of spiral fluted disc 3 is equipped with helicla flute, and the lower face of spiral fluted disc 3 is the cone flank of tooth, laterally adjusts 5 downside of bar
For spiral tooth, the helicla flute of 3 upper surface of spiral fluted disc and the spiral tooth for laterally adjusting 5 downside of bar constitute threaded engagement；Helical tooth
It can be all the shapes such as triangle, rectangle, trapezoidal that the upper surface of disk 3, which is equipped with helicla flute, laterally adjusts the spiral thread form shape of 5 downside of bar,
Shape；
Adjustment axis 4 is bevel pinion shaft, the cone tooth engagement and structure of the cone tooth and 3 lower face of spiral fluted disc in 4 outside of adjustment axis
At gear drive；Hex wrench hole is equipped at 4 outer end center of adjustment axis.
The part outer profile that buries of seedling shovel 11 is trapezoidal, and for seedling shovel 11 in forked, the tine ends of seedling shovel 11 are sharp edge；Work as cylinder
When the elongation of push rod 10 is to lower limit position, four seedling shovels 11 are constituted close to the inversion tetragonous cone table bodily form.
14, four air compressor 12, pressure-regulating valve 13, digital display manometer three position four-way electromagnetic valves 15 are soft by pressure
Pipe is sequentially connected, and the gas circuits of four three position four-way electromagnetic valves 15 is cross gas circuit, and four cylinders 9 are by pressure hose respectively with four
Three position four-way electromagnetic valve 15 connects；Air circuit breaker, the airflow direction of four three position four-way electromagnetic valves 15 are controlled by controller
Three position four-way electromagnetic valve 15 is realized.Controller can be connected to computer, and automation control is carried out by computer.
It is filled the gaps with seedlings based on above-mentioned cotyledon period vegetables seedling in earthen bowl the method for filling the gaps with seedlings of end effector, steps are as follows：
The first step：Adjustment axis 4 is rotated using die nut, the cone tooth driving spiral fluted disc 3 of adjustment axis 4 rotates, helical tooth
Helicla flute above disk 3 and the spiral dentification worm drive for laterally adjusting 5 downside of bar, four laterally adjust bar 5 respectively along upper
Four "T"-shaped guide groove 1-2 of lid 1, which are synchronized, to be extended radially out or to contract, is fixed on four gas for laterally adjusting 5 outer end of bar
Cylinder 9, seedling shovel 11 are synchronized and are inwardly or outwardly adjusted, to make four seedling shovels 11 adapt to cavities structure size；
Second step：Computer sends Reset and instructs to controller, and controller, which controls four three position four-way electromagnetic valves 15, to be made
The cylinder push-rod 10 of four cylinders 9 is shunk, and four seedling shovels 11 move obliquely, so that four seedlings is shoveled 11 lower edge linear extensions and is formed
Profile it is suitable with cavities top bore；
Third walks：Computer sends " displacement " and instructs to controller, and cotyledon period vegetables seedling in earthen bowl is made to fill the gaps with seedlings end effector
It moves integrally to waiting taking above spare seedling, then entirety moves down, and four seedlings is made to shovel 11 lower edges close to the edge of hole tray cavities；
4th step：Computer sends " seedling taking " instruction to controller, and controller, which controls four three position four-way electromagnetic valves 15, to be made
The cylinder push-rod 10 of four cylinders 9 stretches out, and four cylinder push-rods 10 drive four seedling shovels 11 to be tilted along cavities wall and are inserted into alms bowl respectively
Body seedling, then cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings integrally move up and move to above cavities to be filled the gaps with seedlings；
5th step：Computer sends " filling the gaps with seedlings " instruction to controller, and cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings is whole
Body, which drops to, fills the gaps with seedlings cavities, and controller, which controls four three position four-way electromagnetic valves 15, makes the cylinder push-rod 10 of four cylinders 9 shrink,
Four seedling shovels 11 move obliquely, and the matrix on 6 push and block seedling of mud guard shovel 11, seedling in earthen bowl stays in cavities to be filled the gaps with seedlings, then sub
Leaf phase vegetables seedling in earthen bowl end effector of filling the gaps with seedlings rises overally, and completes to fill the gaps with seedlings.
Claims (6)
- The end effector 1. a kind of cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings, it is characterised in that including upper cover (1), chassis (2), helical tooth Disk (3), adjustment axis (4) laterally adjust bar (5), mud guard (6), left holing clip (7), right holing clip (8), cylinder (9), cylinder Push rod (10), seedling shovel (11)；Upper cover (1) is inverted cylindrical shape, sets connecting bracket (1-1) at the top of upper cover (1), upper cover (1) side is uniformly distributed along the circumference out If four notches, four notch tops of upper cover (1) open up "T"-shaped guide groove (1-2), and four guide grooves (1-2) are along upper cover (1) The heart is centrosymmetric distribution；Fovea superior half slot (1-3), two fovea superiors half are equipped on the symmetrical two panels arcing outer edges of upper cover (1) Circular groove (1-3) is centrosymmetrically arranged along upper cover (1)；The side on chassis (2) is uniformly distributed along the circumference with bottom is arranged four notches, and chassis (2) center is equipped with Step Shaft (2-1), step Axis (2-1) central axis is overlapped with chassis (2) central axis；It is fixed on the outside of Step Shaft (2-1) that there are two symmetrical arc block (2- 3), the top arc block (2-3) is equipped with arc groove (2-4), and recessed half slot is equipped on chassis (2) symmetrical two panels arcing outer edges (2-2), two recessed half slots (1-3) are centrosymmetrically arranged along chassis (2)；Upper cover (1) is fixed by screw and chassis (2), four notches of upper cover (1) and the width of (2) four, chassis notch and in The heart is consistent, and two fovea superior half slots (1-3) of upper cover (1) constitute two bearings with two of chassis (2) recessed half slots (2-2) The line of centres in hole, two bearing holes is vertical with chassis (2) longitudinal centre line；Spiral fluted disc (3) is mounted on by bearing on Step Shaft (2-1), and adjustment axis (4) inner end is set by bearing mounted on arc On slot (2-4), adjustment axis (4) outer end is mounted on by bearing to be made of fovea superior half slot (1-3) and recessed half slot (2-2) In bearing hole；It is " T " shaped bar that laterally adjust bar (5), which be section, and four laterally adjust bar (5) and are separately mounted to four of upper cover (1) and lead In slot (1-2), laterally adjusts bar (5) and constitute prismatic pair with guide groove (1-2)；Left holing clip (7) is bolted on right holing clip (8) and constitutes gripper sleeve together, and four gripper sleeves incline respectively Four outer ends for laterally adjusting bar (5) are tiltedly fixed on, between the fixed left holing clip (7) of cylinder (9) and right holing clip (8)；Cylinder (9) it is respectively fixed with cylinder push-rod (10) on output shaft, four seedlings shovels (11) are separately fixed at four cylinder push-rods (10) Lower end；It the adjustment axis (4), spiral fluted disc (3) and laterally adjusts bar (5) and constitutes drive mechanism, adjustment axis (4) passes through driving Spiral fluted disc (3) rotation laterally adjusts bar (5) along spiral fluted disc (3) radial expansion to drive；The distribution that is centrosymmetric of four mud guards (6) is fixed on chassis (2) lower part, four mud guard (6) lower parts with respectively with four A seedling shovels (11) inner surface parallel contact.
- The end effector 2. a kind of cotyledon period vegetables seedling in earthen bowl according to claim 1 is filled the gaps with seedlings, it is characterised in that the spiral shell The upper surface for revolving fluted disc (3) is equipped with helicla flute, and the lower face of spiral fluted disc (3) is the cone flank of tooth, and it is spiral shell to laterally adjust on the downside of bar (5) Tooth is revolved, the helicla flute of spiral fluted disc (3) upper surface and the spiral tooth laterally adjusted on the downside of bar (5) constitute threaded engagement.
- The end effector 3. a kind of cotyledon period vegetables seedling in earthen bowl according to claim 1 is filled the gaps with seedlings, it is characterised in that the tune Nodal axisn (4) is bevel pinion shaft, and the cone tooth engagement of cone tooth and spiral fluted disc (3) lower face on the outside of adjustment axis (4) simultaneously constitutes tooth Wheel transmission；Hex wrench hole is equipped at adjustment axis (4) outer end center.
- The end effector 4. a kind of cotyledon period vegetables seedling in earthen bowl according to claim 1 is filled the gaps with seedlings, it is characterised in that the seedling Shovel (11) the part outer profile that buries is trapezoidal, and seedling shovels (11) in forked, and the tine ends that seedling shovels (11) are sharp edge；Work as cylinder push-rod (10) when elongation is to lower limit position, four seedling shovels (11) are constituted close to the inversion tetragonous cone table bodily form.
- The end effector 5. a kind of cotyledon period vegetables seedling in earthen bowl according to claim 1 is filled the gaps with seedlings, it is characterised in that further include Air compressor (12), pressure-regulating valve (13), digital display manometer (14), three position four-way electromagnetic valve (15)；The air compression Machine (12), pressure-regulating valve (13), digital display manometer (14), four three position four-way electromagnetic valves (15) are connected successively by pressure hose Connect, the gas circuits of four three position four-way electromagnetic valves (15) is cross gas circuit, four cylinders (9) by pressure hose respectively with four three Position four-way solenoid valve (15) connects；Air circuit breaker, the airflow direction of four three position four-way electromagnetic valves (15) are controlled by controller Three position four-way electromagnetic valve (15) is realized.
- The method of filling the gaps with seedlings of end effector 6. a kind of cotyledon period vegetables seedling in earthen bowl according to claim 1 is filled the gaps with seedlings, feature It is that steps are as follows：The first step：Using die nut rotation adjustment axis (4), the cone tooth driving spiral fluted disc (3) of adjustment axis (4) rotates, spiral The helicla flute of fluted disc (3) above and the spiral dentification worm drive on the downside of bar (5) are laterally adjusted, four laterally adjust bar (5) It is synchronized respectively along four "T"-shaped guide grooves (1-2) of upper cover (1) and extends radially out or to contract, be fixed on four and laterally adjust The cylinder (9) of whole bar (5) outer end, seedling shovel (11) synchronization are inwardly or outwardly adjusted, to make four seedling shovels (11) adapt to cavities knot Structure size；Second step：Controller, which controls four three position four-way electromagnetic valves (15), makes the cylinder push-rod (10) of four cylinders (9) shrink, and four Seedling shovel (11) moves obliquely, the profile and cavities top bore phase for so that four seedlings shovel (11) lower edge linear extensions is formed When；Third walks：Cotyledon period vegetables seedling in earthen bowl end effector of filling the gaps with seedlings is moved integrally to waiting taking above spare seedling, it is then whole It moves down, four seedlings is made to shovel (11) lower edge close to the edge of hole tray cavities；4th step：Controller, which controls four three position four-way electromagnetic valves (15), makes the cylinder push-rod (10) of four cylinders (9) stretch out, and four A cylinder push-rod (10) drives four seedling shovels (11) to be tilted along cavities wall and is inserted into seedling in earthen bowl respectively, then cotyledon period vegetables seedling in earthen bowl End effector of filling the gaps with seedlings integrally is moved up and is moved to above cavities to be filled the gaps with seedlings；5th step：Cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings in end effector entire lowering to cavities of filling the gaps with seedlings, controller control four Three position four-way electromagnetic valve (15) makes the cylinder push-rod (10) of four cylinders (9) shrink, and four seedlings shovels (11) move obliquely, keep off Mud plate (6) push and block seedling shovels the matrix on (11), and seedling in earthen bowl stays in cavities to be filled the gaps with seedlings, and then cotyledon period vegetables seedling in earthen bowl is filled the gaps with seedlings end End actuator rises overally, and completes to fill the gaps with seedlings.
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| CN201810263755.9A CN108617206B (en) | 2018-03-28 | 2018-03-28 | Seedling supplementing end effector for cotyledon-stage vegetable pot seedlings and seedling supplementing method thereof |
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| CN201810263755.9A CN108617206B (en) | 2018-03-28 | 2018-03-28 | Seedling supplementing end effector for cotyledon-stage vegetable pot seedlings and seedling supplementing method thereof |
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| CN112715313A (en) * | 2020-12-29 | 2021-04-30 | 重庆九禾园林规划设计建设(集团)有限公司 | Soil-carrying excavating device for rapidly transplanting whole flowers |
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