CN112136440A - Automatic seedling feeding device based on rotary cup type vegetable transplanting machine - Google Patents
Automatic seedling feeding device based on rotary cup type vegetable transplanting machine Download PDFInfo
- Publication number
- CN112136440A CN112136440A CN202011049403.7A CN202011049403A CN112136440A CN 112136440 A CN112136440 A CN 112136440A CN 202011049403 A CN202011049403 A CN 202011049403A CN 112136440 A CN112136440 A CN 112136440A
- Authority
- CN
- China
- Prior art keywords
- seedling feeding
- fixed
- seedling
- claw
- device based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine, which comprises a connecting rack, a horizontal transmission part, a vertical transmission part, a seedling feeding arm, a seedling feeding part, a portal frame and a PLC (programmable logic controller) control box. The design of the automatic seedling feeding device of the rotary cup type vegetable transplanter can replace the manual work to feed the seedlings, so that the cost is saved, the efficiency is improved, and the automation level of the transplanter can be improved.
Description
Technical Field
The invention belongs to the field of vegetable seedling transplanting operation devices, and relates to an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine.
Background
Transplanting is one of the important links of vegetable cultivation and production, and the survival rate of vegetable seedlings can be improved through transplanting, so that the yield is ensured, and the cost is reduced. At present, most of small vegetable transplanting machines suitable for transplanting operation conditions in China still adopt a manual operation mode in a seedling feeding link, namely, the plug seedlings are manually grabbed from the densely planted plug and fed into seedling throwing cups for transplanting, and the traditional manual operation mode is low in efficiency and high in strength and restricts the agricultural mechanized development.
Therefore, the automatic seedling feeding device is matched with the rotary cup type transplanter to be used for replacing manual operation, and the problem of urgent need for agricultural development in China is solved by improving the automation level of the transplanting operation.
Disclosure of Invention
The technical problem solved by the invention is as follows: the device can replace manual work to carry out seedling feeding operation, and vegetable seedlings can be taken out of the hole trays and fed into seedling feeding cups of the rotary cup type vegetable transplanting machine to assist in completing transplanting operation.
In order to achieve the purpose, the invention provides an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine, which comprises a connecting rack, a horizontal transmission part, a vertical transmission part, a seedling feeding arm, a seedling feeding part, a portal frame and a PLC (programmable logic controller) control box, wherein the connecting rack is connected with the horizontal transmission part;
the connecting rack comprises an aluminum profile frame and a plug fixing frame, the bottom surface of the aluminum profile frame is fixed with the operating platform of the transplanter, and the plug fixing frame is fixed on the top surface of the aluminum profile frame;
the horizontal transmission component is provided with a synchronous belt linear module, and two sides of the synchronous belt linear module are fixed on the connecting rack;
the vertical transmission part comprises a seedling feeding arm fixing frame, an L-shaped supporting seat and a ball screw linear module, the ball screw linear module is divided into a left ball screw linear module and a right ball screw linear module, and two sides of the ball screw linear module are fixed by connecting pieces; the bottom end of a ball screw linear module in the vertical transmission component is fixed on a slide block of a synchronous belt linear module in the horizontal transmission component;
the seedling feeding arm comprises an axle box, a miniature slide rail and an aluminum profile, the left end of the seedling feeding arm is fixed with a seedling feeding arm fixing frame on the vertical transmission part through the aluminum profile, and the right end of the seedling feeding arm is fixed with an L-shaped supporting seat in the vertical transmission part through the axle box; the two axle boxes are arranged, and the upper end and the lower end of each axle box are respectively fixed at the left end and the right end of the aluminum section;
the seedling feeding part comprises a plurality of seedling feeding claws, an electric cylinder and a plurality of fixing plates; the electric cylinder in the seedling feeding part is fixed on the gantry aluminum profile, and the fixing plate is fixed on the miniature slide rail in the seedling feeding arm;
the portal frame comprises a portal aluminum profile and an electric cylinder support;
the PLC control box is fixed on the right side of the connecting rack.
Preferably, feed seedling arm mount and fix on the slip table of vertical drive disk assembly left side ball linear module, the front end and the aluminium alloy of feeding seedling arm mount are connected fixedly, L type supporting seat is fixed on the slip table of vertical drive disk assembly right side ball linear module, and the front end of L type supporting seat is fixed on the axle box in feeding the seedling arm.
Preferably, the seedling feeding arm further comprises: the direct current motor is fixed on the motor base, and the motor base is fixed on the axle box.
Preferably, the seedling feeding arm further comprises: the synchronous belt pulley comprises a transmission shaft, a synchronous belt pulley, a synchronous toothed belt and bearings, wherein the transmission shaft, the synchronous belt pulley and the bearings are all placed in an axle box, the bearings are placed in bearing holes in the upper end and the lower end of the axle box, the upper end and the lower end of the transmission shaft are fixed in an inner hole of the bearings in a clearance fit mode, the synchronous belt pulley is fixed on the transmission shaft through a set screw, and the synchronous toothed belt is meshed in the synchronous belt pulley at the two ends.
Preferably, the seedling feeding arm further comprises: the plug plate is fixed on the gantry miniature slide rail through bolts.
Preferably, the electric cylinder is fixed on an electric cylinder support in the portal frame, and each seedling feeding claw is fixed on a miniature slide rail in the seedling feeding arm in a bolt connection mode through a threaded hole in a fixing plate behind the seedling feeding claw;
preferably, the seedling feeding part further comprises: the automatic seedling feeding device comprises an I-shaped seat, a seedling feeding claw telescopic rod, a gantry miniature slide rail, a seedling feeding claw base, a claw needle seat and a linear bearing, wherein the gantry miniature slide rail is fixed at the bottom end of an electric cylinder through a gantry aluminum profile, the seedling feeding claw telescopic rod is connected with a miniature slide block on the gantry miniature slide rail through a screw hole structure at the top end of the seedling feeding claw telescopic rod through a bolt, the I-shaped seat is fixed at the bottom end of the seedling feeding claw telescopic rod through an internal threaded hole, the claw needle is inserted into a bottom end hole of the claw needle seat and fixed through a set screw, the top end of the claw needle seat is fixed at the bottom end of the seedling feeding claw base through a pin shaft, the linear bearing is inserted into a bearing hole at the top end of the seedling feeding claw base and limited by clamp springs at the upper end.
Preferably, the seedling feeding part further comprises: the two ends of the roller chain are fixed among the plurality of fixing plates by pin shafts.
Preferably, the gantry aluminum frame comprises a cross beam and two vertical beams, and the two vertical beams are respectively fixed on a sliding block of the ball screw linear module in the vertical transmission part; the electric cylinder support is fixed on a cross beam in the aluminum profile through a bolt.
Preferably, the PLC control box comprises an input controller, a transmission part controller and a seedling feeding claw controller, wherein the input controller comprises a device start-stop and reset switch, an advancing positioning sensor, a lifting positioning sensor, a left and right separation and combination limiting sensor of a seedling feeding claw and a seedling throwing cup rotation counting sensor; the transmission part controller comprises a servo motor driver, a corresponding seedling feeding arm horizontal transmission closed-loop servo motor, a stepping motor driver and a seedling feeding arm vertical transmission stepping motor; the seedling feeding claw controller consists of a separation and combination control relay, a seedling feeding claw horizontal separation and combination direct current motor, a telescopic control relay and a seedling feeding claw vertical opening and closing electric cylinder.
The automatic seedling feeding device of the rotary cup type vegetable transplanter can replace manual seedling feeding operation, saves cost and improves efficiency, so that the automation level of the transplanter is remarkably improved. The operation object of revolving cup formula transplanter is lettuce plug seedling, and the plug seedling grows to certain stage back blade and can cover whole plug, and the seedling claw of feeding in this seedling device can push away the blade that shelters from before snatching the seedling and stick together, and the protection blade is complete when guaranteeing to snatch the success rate. The transplanter is light in weight, so that the automatic seedling feeding device is used for processing materials, and the automatic seedling feeding device is light and durable in material selection, simple in structure and convenient to detach and install.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic overall structure diagram of an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine;
FIG. 2 is a side view of the overall structure of an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine;
FIG. 3 is a schematic structural view of a connecting frame of an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine;
FIG. 4 is a schematic structural diagram of a seedling feeding arm and a seedling feeding component in the automatic seedling feeding device based on the rotary cup type vegetable transplanting machine;
FIG. 5 is a schematic diagram of the internal structure of an axle box in the automatic seedling feeding device based on the rotary cup type vegetable transplanting machine;
FIG. 6 is a schematic structural diagram of a seedling feeding claw in an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine;
FIG. 7 is a schematic structural diagram of a roller chain in an automatic seedling feeding device based on a rotary cup type vegetable transplanting machine;
FIG. 8 is a schematic structural diagram of a PLC control system in the automatic seedling feeding device based on the rotary cup type vegetable transplanting machine;
fig. 9 is a working flow chart of the automatic seedling feeding device based on the rotary cup type vegetable transplanting machine.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
As shown in fig. 1-8, the present embodiment provides a device capable of taking out vegetable seedlings from a tray 128-hole long with 540mm length, 280mm width, and 43mm height and feeding the vegetable seedlings into a seedling cup of a rotary cup type vegetable transplanter to assist in completing transplanting operations, which comprises a connecting rack 1, a horizontal transmission component 2, a vertical transmission component, a seedling feeding arm 4, a seedling feeding component 5, a gantry 6, and a PLC control box 7;
the connecting rack 1 comprises an aluminum profile frame 11 and a plug fixing frame 12, wherein the bottom surface of the aluminum profile frame 11 is fixed with the operating platform of the transplanter, and the plug fixing frame 12 is fixed on the top surface of the aluminum profile frame 11;
a synchronous belt linear module is arranged on the horizontal transmission part 2, and two sides of the synchronous belt linear module are fixed at the limiting position on the connecting rack 1 through bolts by using right-angle aluminum;
the vertical transmission component comprises a seedling feeding arm fixing frame 31, an L-shaped supporting seat 32 and a ball screw linear module 3, the ball screw linear module 3 is divided into a left ball screw linear module and a right ball screw linear module, the bottom end of the ball screw linear module in the vertical transmission component 3 is fixed on a sliding block of the synchronous belt linear module by using a bolt, and two sides of the ball screw linear module are fixed by using connecting pieces to ensure the stability of the modules;
the seedling feeding arm 4 comprises an axle box 43, a miniature slide rail 47 and an aluminum profile 410, the left end of the seedling feeding arm 4 is fixed with a seedling feeding arm fixing frame 31 on the vertical transmission part through the aluminum profile 410 through a bolt, and the right end of the seedling feeding arm is fixed with an L-shaped supporting seat 32 in the vertical transmission part through the axle box 43 through a bolt; two axle boxes 43 are arranged, and the upper end and the lower end of each axle box are respectively fixed at the left end and the right end of the aluminum section 410;
the seedling feeding part 5 comprises a plurality of seedling feeding claws 51, an electric cylinder 52 and a plurality of fixing plates 59; the electric cylinder 52 in the seedling feeding part 5 is fixed on a gantry aluminum profile 61 through a bolt, and a fixing plate 59 is fixed on the miniature slide rail 47 in the seedling feeding arm 4 in a bolt connection mode;
the portal frame 6 comprises a portal aluminum profile 61 and an electric cylinder support 62;
the PLC control box 7 is fixed on the right side of the connecting rack 1 by adopting bolt connection.
Feed seedling arm mount 31 and fix on the slip table of vertical drive disk assembly left side ball linear module, the front end of feeding seedling arm mount 31 is connected fixedly with aluminium alloy 410, and L type supporting seat 32 is fixed on the slip table of vertical drive disk assembly right side ball linear module, and the front end of L type supporting seat 32 is fixed on the axle box 43 in feeding seedling arm 4.
Feed seedling arm 4 still includes: motor cabinet 41, direct current motor 42 passes through the bolt fastening on motor cabinet 41, and motor cabinet 41 uses the bolt fastening on axle box 43 through the screw on the base.
Feed seedling arm 4 still includes: the transmission shaft 44, the synchronous belt pulley 45, the synchronous cog belt 46, the bearing 48, the transmission shaft 44, the pulley 45 and the bearing 48 are all placed in the axle box 43, the bearing 48 is placed in bearing holes in the upper end and the lower end of the axle box 43 in an interference fit mode, the upper end and the lower end of the transmission shaft 44 are fixed in an inner hole of the bearing 48 in a clearance fit mode, the synchronous belt pulley 45 is fixed on the transmission shaft 44 through a set screw, and the synchronous cog belt 46 is meshed in the synchronous belt pulleys 45 at the two ends.
Wherein, a belt wheel 45 is fixed on the transmission shaft 44 to drive a synchronous cog belt 46 to rotate, and bearings 48 on two sides ensure that the transmission shaft 44 rotates smoothly.
Feed seedling arm 4 still includes: and the plug pressing plate 411 is fixed at the top end of the gantry micro sliding rail 55 through bolts.
The electric cylinder 52 is fixed on an electric cylinder support 62 in the portal frame 6 through bolt connection, and the seedling feeding claw 51 is fixed on the miniature slide rail 47 on the seedling feeding arm 4 through a threaded hole on a fixing plate 59 behind the electric cylinder in a bolt connection mode. The seedling feeding claw 51 is fixed on the slide block and slides on the micro slide rail 47 under the drive of the synchronous cog belt 46;
the seedling feeding part 5 further comprises: the automatic seedling feeding device comprises an I-shaped seat 53, a seedling feeding claw telescopic rod 54, a gantry miniature slide rail 55, a seedling feeding claw base 56, a claw needle 57, a claw needle seat 58 and a linear bearing 510, wherein the miniature slide rail 55 is fixed at the bottom end of an electric cylinder 52 through an aluminum profile, the seedling feeding claw telescopic rod 54 is connected with a miniature slide block on the miniature slide rail 55 through a top end screw hole through a bolt, the I-shaped seat is fixed at the bottom end of the seedling feeding claw telescopic rod 54 through an internal threaded hole, the claw needle 57 is inserted into a bottom end hole of the claw needle seat 58 and fixed through a set screw, the top end of the claw needle seat 58 is fixed at the bottom end of the seedling feeding claw base 56 through a pin shaft, the linear bearing 510 is inserted into a bearing hole at the top end of the seedling feeding claw base 56 and limited at.
The seedling feeding part 5 further comprises: the two ends of the precise roller chain 49 are fixed in different fixing plates 59 by pin shafts so as to ensure that the distance between the two is fixed.
The gantry aluminum frame 61 comprises a cross beam and two vertical beams, and the two vertical beams are fixed on the aluminum profiles 410 in the seedling feeding arms 4 through corner connectors; the cylinder support 62 is fixed on a beam in the gantry aluminum frame 61 through bolts.
In the embodiment, the electric cylinder is used as a power part, the storage battery is used as a power source, the use is not limited by the environment, and the disassembly and the transportation are convenient; the seedling feeding claw is simple in structure, convenient to disassemble and adjust and stable in structure; thirdly, the distance between the claw needles of the seedling feeding claw can be adjusted through tests to find out the distance with the highest success rate of seedling grabbing, so that the working efficiency is improved; fourthly can push away the blade that shelters from the seedling and stick together before the claw needle grabs the seedling, prevent to damage the blade in grabbing the seedling engineering.
The opening and closing of the seedling claws in the seedling feeding device are mainly controlled by the matching of a miniature slide block on a miniature guide rail and a precise roller chain. The direct current motor drives the transmission shaft to drive the synchronous belt pulley to control the synchronous cog belt to rotate in the horizontal direction of the seedling feeding arm, the synchronous belt pressing plate behind the left seedling feeding claw guarantees that the seedling feeding claw and the synchronous cog belt move, the miniature sliding block can guarantee that each seedling feeding claw moves smoothly, two adjacent seedling feeding claws are connected through the precise roller chain to guarantee that the distances between the seedling feeding claws are the same, limit switches are arranged on two sides of the aluminum profile to control the stopping positions of the seedling feeding claws to move left and right, and the seedling feeding claws are guaranteed to respectively correspond to respective plug holes and seedling throwing cups.
The working principle is as follows:
before the automatic seedling feeding device is started, the cultivated plug seedlings are placed into the plug fixing frame 12 and fixed; then a reset key is started, the horizontal transmission component moves forward in the reset process until the seedling feeding claw reaches the square of the seedling throwing cup, the vertical transmission component rises, the synchronous toothed belt 46 drives the seedling feeding claw 51 to be combined to the right side of the seedling feeding arm, and the electric cylinder rod extends to open the seedling feeding claw 51; then a start button is pressed, the seedling feeding device starts to work, the horizontal transmission part 2 retreats until the seedling feeding claws 51 reach the top ends of the first row of hole sites of the plug tray, and the vertical transmission part descends until the distance between the seedling feeding claws and the plug tray is 10 mm; then, the vertical transmission part slowly descends in the process that the cylinder rod retracts to drive the seedling feeding claw to fold, the seedling feeding claw is controlled to grab seedling lumps, the plug pressing plate 411 tightly presses the plug in the process, and the plug is prevented from being separated from the plug fixing frame 12 in the process that the seedling feeding claw grabs the seedling lumps; then the vertical transmission component drives the seedling feeding arm 4 to ascend, the seedling feeding claw is controlled to grab the seedling lumps to be separated from the plug tray, the horizontal transmission component 2 moves forward until the seedling feeding claw reaches the position right above the seedling throwing cup, and in the process, the synchronous toothed belt drives the seedling feeding claws to be dispersed to the corresponding seedling throwing cups; finally, the cylinder rod is pushed out to drive the I-shaped seat to descend so as to push the seedling lumps to separate from the seedling feeding claw and fall into a corresponding seedling throwing cup; and then the automatic seedling feeding device repeatedly and circularly grabs the plug seedlings in the second row.
The PLC control box 7 comprises an input controller 71, a transmission part controller 72 and a seedling feeding claw controller 73, wherein the input controller 71 comprises a device start-stop and reset switch, an advancing positioning sensor, a lifting positioning sensor, a seedling feeding claw left-right separation-combination limiting sensor and a seedling throwing cup rotation counting sensor; the transmission part controller 72 consists of a servo motor driver, a corresponding seedling feeding arm horizontal transmission closed-loop servo motor, a stepping motor driver and a seedling feeding arm vertical transmission stepping motor; the seedling feeding claw controller 73 is composed of a separation and combination control relay, a seedling feeding claw horizontal separation and combination direct current motor, a telescopic control relay and a seedling feeding claw vertical opening and closing electric cylinder.
The start-stop and reset switch in the input controller 71 is used to control the start, stop and reset actions of the device before start; the forward positioning sensor is used for controlling the forward stop position of the seedling feeding arm, namely the seedling feeding claw reaches the position right above the seedling throwing cup; the lifting positioning sensor is used for controlling the lifting stop position of the seedling feeding arm to enable the seedling feeding claw to grab the seedling lumps to be separated from the plug tray; the left and right opening and closing limit sensor of the seedling feeding claw is used for controlling the stop position of the left and right movement of the seedling feeding claw on the seedling feeding arm, namely the opening and closing stop position of the seedling feeding claw; the seedling throwing cup rotating counting sensor is used for recording the rotating passing number of the seedling throwing cups, and the seedling feeding claws feed the seedlings into the seedling throwing cups after the passing number reaches the program required number.
A servo motor driver in the transmission part controller 72 controls a closed-loop stepping motor to drive a horizontal transmission part to drive a seedling feeding arm to complete displacement in the horizontal direction; a stepper motor driver in the transmission component controller 72 controls the stepper motor to drive the vertical transmission component to drive the seedling feeding arm to complete the displacement in the vertical direction.
A telescopic control relay in the transmission part controller 73 controls the electric cylinder to stretch so as to drive the seedling feeding claw to grab and feed the seedling lumps; the direct current motor on the seedling feeding arm is controlled by a separation and combination control relay in the transmission part controller 73 to drive the seedling feeding claw to move on the seedling feeding arm.
The automatic seedling feeding device of the rotary cup type vegetable transplanter is fixed on a working platform of the transplanter by utilizing a connecting frame 1, a driver in a transmission part controller 72 controls a motor to drive a horizontal transmission part 2 to control the advancing and retreating of the seedling feeding device and a vertical transmission part 3 to control the ascending and descending of the seedling feeding device respectively, a relay in a seedling feeding claw controller 73 controls a direct current motor to control the dispersion and folding of seedling feeding claws 51 on a seedling feeding arm 4 and an electric cylinder 52 to control the opening and closing of the seedling feeding claws 51, the seedling feeding arm 4 and the seedling feeding part 5 are fixed on a portal frame 6 built by aluminum profiles, the stability of the whole structure is ensured, and a control box 7 is placed on the right side of the connecting frame 1 and used for controlling the operation of the whole machine.
As shown in fig. 8, the working process is as follows: before the automatic seedling feeding device works, firstly, cultivated plug seedlings are placed on a plug bracket and fixed, then a reset switch in an input controller 71 is started, a servo motor driver driving motor in a transmission part controller 72 drives a horizontal transmission part 2 to move forward to a position of a forward positioning sensor in the input controller 71, a stepping motor driver drives a stepping motor to drive a vertical transmission part 3 to ascend to the position of an ascending positioning sensor, a relay in a seedling feeding claw controller 73 drives a direct current motor on a seedling feeding arm 4 to control a seedling feeding claw 51 to merge to a left-right dividing and combining limit switch on the right side, then a relay driving electric cylinder 52 retracts to control the seedling feeding claw 51 to open, and resetting is finished.
The automatic seedling feeding device is started, the stepping motor drives the vertical transmission component 3 to descend until the seedling feeding claw 51 is 10mm away from the top end of the plug tray, the servo motor drives the horizontal transmission component 2 to retreat until the seedling feeding claw 51 reaches the position right above the first row of plug holes of the plug tray, and in the process, the seedling feeding claw base 56 on the seedling feeding claw 51 pushes away the blades for shielding the seedling lumps; then the electric cylinder 52 extends out to drive the miniature slide rail 55 connected with the seedling feeding claw telescopic rod 54 to descend, the I-shaped seat 53 fixed at the bottom end of the seedling feeding claw telescopic rod 54 extends out, the claw needle 57 inserted into the side holes at the two sides of the seedling feeding claw base 56 extends out along with the miniature slide rail, the top end of the claw needle 57 is inserted into the claw needle seat 58 and fixed on the I-shaped seat 53 through a pin shaft, and the claw needle 57 is controlled to penetrate into the seedling lump and tightly grasp the seedling lump; then the vertical transmission component 3 drives the whole body to ascend to a position of an ascending positioning sensor to enable the seedling lumps to be separated from a cavity disc, then the horizontal transmission component 2 moves forward to a position of an advancing positioning sensor, namely the seedling feeding claws 51 reach positions right above the seedling throwing cups, in the process, a direct current motor 42 fixed on a motor base 41 on the left side of the seedling feeding arm 4 works to drive a transmission shaft 44 in an axle box 43 to rotate, a synchronous belt pulley 45 is driven to rotate, a synchronous toothed belt 46 is controlled to drive the seedling feeding claws 51 to be separated to a left opening and closing limit switch and a right opening and closing limit switch, the seedling feeding claws 51 are connected with micro slide rails 47 on the seedling feeding arms 4 through fixing plates 58, bearings 48 embedded at two ends of the axle box 43 can ensure that the transmission shaft 44 rotates smoothly, a precise roller chain 49 fixed through a pin shaft ensures that the center distance between the seedling feeding claws 51 is the same as the center distance in the seedling throwing cups; in the seedling grabbing process of the seedling feeding device, the seedling throwing cup rotation counting sensor records the number of the rotated seedling throwing cups, when the counting reaches the number required by the control program, the electric cylinder 52 is retracted, the control claw needle 57 is opened, and meanwhile, the seedling feeding claw base 56 pushes the hole seedling lumps into the corresponding seedling throwing cup to complete one-time operation.
After the operation is finished once, the distance between the backward movement and the forward movement of the horizontal transmission component 2 is increased by the length of one hole, the operation is repeated for the second time, and after the operation of one hole tray is finished sixteen times, the program control device carries out the next tray seedling feeding operation again.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. An automatic seedling feeding device based on a rotary cup type vegetable transplanter is characterized by comprising a connecting rack (1), a horizontal transmission part (2), a vertical transmission part (3), a seedling feeding arm (4), a seedling feeding part (5), a portal frame (6) and a PLC (programmable logic controller) control box (7);
the connecting rack (1) comprises an aluminum profile frame (11) and a plug fixing frame (12), the bottom surface of the aluminum profile frame (11) is fixed with the operating platform of the transplanter, and the plug fixing frame (12) is fixed on the top surface of the aluminum profile frame (11);
a synchronous belt linear module is arranged on the horizontal transmission part (2), and two sides of the synchronous belt linear module are fixed on the connecting rack (1);
the vertical transmission part comprises a seedling feeding arm fixing frame (31), an L-shaped supporting seat (32) and a ball screw linear module (3), the ball screw linear module is divided into a left ball screw linear module and a right ball screw linear module, and two sides of the ball screw linear module are fixed by connecting pieces; the bottom end of a ball screw linear module in the vertical transmission component is fixed on a slide block of a synchronous belt linear module in the horizontal transmission component (2);
the seedling feeding arm (4) comprises an axle box (43), a miniature sliding rail (47) and an aluminum profile (410), the left end of the seedling feeding arm (4) is fixed with a seedling feeding arm fixing frame (31) on the vertical transmission part through the aluminum profile (410), and the right end of the seedling feeding arm is fixed with an L-shaped supporting seat (32) in the vertical transmission part through the axle box (43); two axle boxes (43) are arranged, and the upper end and the lower end of each axle box are respectively fixed at the left end and the right end of the aluminum profile (410);
the seedling feeding part (5) comprises a plurality of seedling feeding claws (51), an electric cylinder (52) and a plurality of fixing plates (59); an electric cylinder (52) in the seedling feeding part (5) is fixed on a gantry aluminum profile (61), and a fixing plate (59) is fixed on a miniature slide rail (47) in the seedling feeding arm (4).
2. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine is characterized in that a seedling feeding arm fixing frame (31) is fixed on a sliding table of a ball screw linear module on the left side of a vertical transmission component (3), the front end of the seedling feeding arm fixing frame (31) is fixedly connected with an aluminum profile (410), an L-shaped supporting seat (32) is fixed on the sliding table of the ball screw linear module on the right side of the vertical transmission component (3), and the front end of the L-shaped supporting seat (32) is fixed on an axle box (43) in a seedling feeding arm (4).
3. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine is characterized in that the seedling feeding arm (4) further comprises: the motor comprises a motor base (41) and a direct current motor (42), wherein the direct current motor (42) is fixed on the motor base (41), and the motor base (41) is fixed on the axle box (43).
4. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine is characterized in that the seedling feeding arm (4) further comprises: the transmission shaft (44), the synchronous belt pulley (45), the synchronous toothed belt (46), the bearing (48) and the hole plate pressing plate (411) are all placed in the axle box (43), the bearing (48) is placed in bearing holes in the upper end and the lower end of the axle box (43), the upper end and the lower end of the transmission shaft (44) are fixed in an inner hole of the bearing (48) in a clearance fit mode, the synchronous belt pulley (45) is fixed on the transmission shaft (44) through a set screw, the synchronous toothed belt (46) is meshed in the synchronous belt pulley (45) at the two ends, and the top end of the hole plate pressing plate (411) is fixed on the gantry miniature sliding rail (55).
5. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine is characterized in that the electric cylinder (52) is fixed on an electric cylinder support (62) in the portal frame (6), and each seedling feeding claw (51) is fixed on a miniature slide rail (47) in the seedling feeding arm (4) in a bolt connection mode through a threaded hole in a rear fixing plate (59).
6. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine as claimed in claim 5, wherein the seedling feeding component (5) further comprises: the seedling feeding claw telescopic rod (54) is fixed at the bottom end of the electric cylinder (52) through a gantry aluminum profile (61), the seedling feeding claw telescopic rod (54) is connected with a micro slide block on the gantry micro slide rail (55) through a screw hole structure at the top end of the seedling feeding claw telescopic rod by a bolt through a bolt, the I-shaped seat (53) is fixed at the bottom end of the seedling feeding claw telescopic rod (54) through an internal through hole and is fixed by a nut, the claw needle (57) is inserted into a hole at the bottom end of the claw needle seat (58) and is fixed by a set screw, the top end of the claw needle seat (58) is fixed at two sides of the I-shaped seat (53) through a pin shaft, the linear bearing (510) is inserted into a bearing hole at the top end of the seedling feeding claw base (56) and is limited at the upper end and the lower end of the linear bearing (510), the seedling feeding claw telescopic rod (54) is inserted into the inner hole of the linear bearing (510).
7. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine as claimed in claim 6, wherein the seedling feeding part (5) further comprises: the precise roller chain (49), two ends of the roller chain (49) are fixed among a plurality of fixing plates (59) by pin shafts.
8. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine is characterized in that the portal frame (6) comprises a portal aluminum profile (61) and an electric cylinder support (62);
the gantry aluminum frame (61) comprises a cross beam and two vertical beams, and the two vertical beams are fixed on the aluminum profiles 410 in the seedling feeding arms 4 through corner connectors; the electric cylinder support (62) is fixed on a cross beam in the aluminum profile (61) through bolts.
9. The automatic seedling feeding device based on the rotary cup type vegetable transplanting machine is characterized in that the PLC control box (7) is fixed on the right side of the connecting rack (1);
the PLC control box (7) comprises an input controller (71), a transmission part controller (72) and a seedling feeding claw controller (73), wherein the input controller (71) comprises a device start-stop and reset switch, an advancing positioning sensor, a lifting positioning sensor, a seedling feeding claw left-right separation and combination limiting sensor and a seedling feeding cup rotating counting sensor; the transmission part controller (72) comprises a servo motor driver, a corresponding seedling feeding arm horizontal transmission closed-loop servo motor, a stepping motor driver and a seedling feeding arm vertical transmission stepping motor; and the seedling feeding claw controller (73) is composed of a separation and combination control relay, a horizontal separation and combination direct current motor of the seedling feeding claw, a telescopic control relay and an electric cylinder for vertically opening and closing the seedling feeding claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011049403.7A CN112136440A (en) | 2020-09-29 | 2020-09-29 | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011049403.7A CN112136440A (en) | 2020-09-29 | 2020-09-29 | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112136440A true CN112136440A (en) | 2020-12-29 |
Family
ID=73894423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011049403.7A Pending CN112136440A (en) | 2020-09-29 | 2020-09-29 | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112136440A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113207381A (en) * | 2021-06-17 | 2021-08-06 | 石河子大学 | Whole row seedling end effector of getting of servo electric jar driven cave dish seedling |
| CN113973552A (en) * | 2021-08-24 | 2022-01-28 | 沈阳农业大学 | Automatic seedling feeding device based on narrow plant spacing eight-row leaf vegetable transplanter |
| CN115885644A (en) * | 2022-12-16 | 2023-04-04 | 中建材凯盛机器人（上海）有限公司 | Automatic transplanter for seedling raising plug tray pot seedlings with automatic positioning structure |
-
2020
- 2020-09-29 CN CN202011049403.7A patent/CN112136440A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113207381A (en) * | 2021-06-17 | 2021-08-06 | 石河子大学 | Whole row seedling end effector of getting of servo electric jar driven cave dish seedling |
| CN113973552A (en) * | 2021-08-24 | 2022-01-28 | 沈阳农业大学 | Automatic seedling feeding device based on narrow plant spacing eight-row leaf vegetable transplanter |
| CN115885644A (en) * | 2022-12-16 | 2023-04-04 | 中建材凯盛机器人（上海）有限公司 | Automatic transplanter for seedling raising plug tray pot seedlings with automatic positioning structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112136440A (en) | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine | |
| CN101485263B (en) | Tray automatic seedling-feeding device | |
| CN202555718U (en) | Stamping manipulator | |
| CN102490196B (en) | Areca nut slicing machine with positioning function | |
| CN202594411U (en) | Paddy planting and sowing seeding disc automatic stacking device | |
| CN110771395B (en) | High-speed transplanting soil compactor for pot seedlings | |
| CN112655591B (en) | Novel automatic egg picking device in laying hen breeding process | |
| CN109954809B (en) | Full-automatic robot precision stamping riveting production line for large household appliance box | |
| CN109158935A (en) | A kind of drilling and tapping automatic device of porous part | |
| CN111247915A (en) | Quick whole row plug seedling conveyor | |
| CN213694819U (en) | Automatic seedling feeding device based on rotary cup type vegetable transplanting machine | |
| CN201365424Y (en) | Disk automatic seedling supply device | |
| CN111922528A (en) | Laser cutting equipment of glass material | |
| CN111865009A (en) | Automatic end plate pressing machine for motor stator | |
| CN212344482U (en) | Automatic seedling feeding device of vegetable transplanting machine | |
| CN217389394U (en) | Automatic seedling feeding device based on narrow plant spacing eight-row leaf vegetable transplanter | |
| CN106379745A (en) | Automatic aperture disk feeding device | |
| CN110881493A (en) | Automatic tray placing machine for baking | |
| CN215401566U (en) | Plate hot-pressing production line | |
| CN109819816A (en) | A kind of camptotheca acuminata decne cultivation solid water carrier process units | |
| CN209256444U (en) | A kind of convenient blanking system and production equipment automatically | |
| CN210076511U (en) | Seed removing device of double-slider type betel nut machine | |
| CN203748328U (en) | Automatic tray loader for degradable conical seedling cups | |
| CN219124756U (en) | Automatic seedling feeding device based on eight-row leaf vegetable transplanting machine with narrow plant spacing | |
| CN111052920B (en) | Automatic seedling feeding device of vegetable transplanting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |