CN113207378A - Pneumatic seedling taking end effector - Google Patents
Pneumatic seedling taking end effector Download PDFInfo
- Publication number
- CN113207378A CN113207378A CN202110657645.2A CN202110657645A CN113207378A CN 113207378 A CN113207378 A CN 113207378A CN 202110657645 A CN202110657645 A CN 202110657645A CN 113207378 A CN113207378 A CN 113207378A
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- seedling
- rod
- taking
- bolt
- blocking
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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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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention relates to a pneumatic seedling taking end effector which can be used for transplanting pot seedlings of various sizes. The method comprises the following steps: the seedling picking device comprises an air cylinder, a flange plate, a piston rod, a seedling blocking rod, a connecting plate, a seedling picking hook, a mounting plate, a floating joint, a seedling picking rod, a large bolt, a seedling blocking piece and a small bolt. The cylinder is fixed on the mounting plate through the mode of front end flange mounting, the piston rod is connected with the floating joint, the floating joint is connected with the seedling taking rod, the connecting plate is connected with the mounting plate through the big bolt, the seedling stopping rod is fixed on the mounting plate through the big bolt and has three-gear adjustable positions, and the hole site on the connecting plate is passed together with the seedling taking rod, the seedling stopping piece and the seedling taking hook are connected with the seedling stopping rod and the seedling taking rod respectively through the small bolt, the structure of the seedling taking hook and the seedling stopping piece can be designed independently, and different angles can be adjusted during installation so as to realize clamping and releasing of different-size pot seedlings. The invention has the advantages of simple structure, flexible movement, short clamping process, wide seedling taking range and the like.
Description
Technical Field
The invention relates to a pneumatic seedling taking end effector, in particular to a study on high-speed low-loss seedling taking and throwing of a full-automatic plug seedling transplanter, solves the problems of complex structure, difficulty in control, inflexibility in movement and high seedling injury rate of the conventional end effector, and belongs to the field of agricultural machinery.
Background
The seedling transplantation has the advantages of climate compensation, seedling survival rate improvement, yield per mu improvement and the like, and in recent years, the rapid development of the factory plug seedling technology and the advancement and adaptability of the technology provide new requirements for the plug seedling field transplantation technology. At present, domestic full-automatic exploration research on the plug seedling transplanter is less, the researched intelligent machines are still in an experimental stage, and the control system of the plug seedling transplanter has the problems of low positioning precision, poor reliability, low intelligent degree and the like on the whole, so that the transplanting efficiency is limited. The seedling taking mechanism serves as a key mechanism of the field transplanter, the seedling taking mechanism with stable and efficient performance can effectively reduce the seedling damage rate, and the transplanting efficiency is improved.
The existing end effector needs to add a transverse clamping action to clamp the pot seedlings in the moving process for the purpose of clamping and releasing, so that the structure of the effector is complicated and is difficult to control accurately. And the existing actuator has poor capacity of clamping pot seedlings with different sizes, and different models need to be replaced. In order to solve the problems, the pneumatic seedling taking end effector has the advantages of being convenient to control, simple and compact in structure and the like due to the fact that only vertical reciprocating motion is needed. The seedling taking hook and the seedling blocking piece can be designed independently, different installation angles can be adjusted when the seedling taking rod and the seedling blocking rod are connected, so that pot seedlings of different sizes can be clamped and released, and the seedling taking hook and the seedling blocking piece have important significance for development of a high-speed low-loss full-automatic transplanter.
Disclosure of Invention
In view of the above, the present invention provides a pneumatic seedling-picking end effector, which is easy to control, simple and compact in structure, flexible in movement, and capable of independently designing accessories and installing and adjusting.
A seedling end effector is got to pneumatic type, including cylinder (1), ring flange (2), piston rod (3), hinder seedling pole (4), connecting plate (5), get seedling hook (6), mounting panel (7), joint (8) float, get seedling pole (9), big bolt (10), hinder seedling piece (11), little bolt (12). The cylinder (1) is fixed on the mounting panel (7) through the mode of front end ring flange (2) installation, and floating joint (8) is connected in piston rod (3), and floating joint (8) are connected with getting seedling pole (9) again, and connecting plate (5) are connected with mounting panel (7) through big bolt (10), hinder seedling pole (4) to fix on mounting panel (7) through big bolt (10) and have the position of three grades of differences adjustable to be applicable to different cave dish sizes. The seedling blocking rod (4) and the seedling taking rod (9) penetrate through the hole positions on the connecting plate (5) together to determine the installation position.
A seedling end effector is got to pneumatic type, hinder seedling piece (11) and hinder seedling pole (4) through little bolt (12) and be connected and angle regulation at will, also can independently design the seedling piece that hinders of different patterns independently and hinder seedling pole (4) and be connected in order to satisfy different clamps and get the demand. Get seedling hook (6) and get seedling pole (9) through little bolt (12) and be connected and also can adjust the angle at will, also can get seedling hook (6) structure and get seedling pole (9) connection according to the independent design of user demand.
When the pneumatic seedling taking end effector is driven by the air cylinder (1), the piston rod (3) is connected with the floating joint (8) to ensure that the axis of the pneumatic seedling taking end effector is consistent with the moving direction of a load. The pot seedlings are clamped by the seedling taking hook (6), and the pot seedlings naturally fall to finish the throwing step through the blocking action of the seedling blocking piece (11), so that the transverse clamping force is omitted, only vertical reciprocating motion is needed, and the clamping and throwing process of the pot seedlings is simplified.
The pneumatic seedling taking end effector has the advantages of convenience in control, simple and compact structure and the like only by vertical reciprocating motion. The seedling taking hook (6) and the seedling blocking piece (11) can be designed independently, and different installation angles can be adjusted when the seedling taking rod (9) and the seedling blocking rod (4) are connected so as to realize clamping and releasing of pot seedlings with different sizes.
Drawings
Fig. 1 is an isometric view of a pneumatic seedling end effector.
Fig. 2 is a front view of the pneumatic seedling-taking end effector.
Fig. 3 is a partial schematic view of the seedling taking rod of the actuator.
Fig. 4 is a partial schematic view of the seedling blocking rod of the actuator.
Reference numbers in the figures: 1 is the cylinder, 2 is the ring flange, 3 is the piston rod, 4 is for hindering seedling pole, 5 is the connecting plate, 6 is for getting the seedling hook, 7 is the mounting panel, 8 is the floating joint, 9 is for getting the seedling pole, 10 is big bolt, 11 is for hindering the seedling piece, 12 is little bolt.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in figure 1, the device comprises a cylinder (1), a flange plate (2), a piston rod (3), a seedling blocking rod (4), a connecting plate (5), a seedling taking hook (6), a mounting plate (7), a floating joint (8), a seedling taking rod (9), a big bolt (10), a seedling blocking sheet (11) and a small bolt (12). The cylinder (1) is fixed on the mounting plate (7) in a mounting mode through the front end flange plate (2), the piston rod (3) is connected with the floating joint (8), the floating joint (8) is connected with the seedling taking rod (9), and the connecting plate (5) is connected with the mounting plate (7) through the large bolt (10).
The pneumatic seedling taking end effector is characterized in that: the seedling blocking rod (4) is fixed on the mounting plate (7) through a big bolt (10) and has three different positions which are adjustable so as to be suitable for different plug sizes. The seedling blocking rod (4) and the seedling taking rod (9) penetrate through the hole positions on the connecting plate (5) together to determine the installation position.
The pneumatic seedling taking end effector is characterized in that: the seedling blocking pieces (11) are connected with the seedling blocking rods (4) through the small bolts (12) and can be adjusted at will, the seedling blocking pieces in different styles can be independently and independently designed to be connected with the seedling blocking rods (4) so as to meet different clamping requirements [ D1] of the seedling taking hooks (6) and be connected with the seedling taking rods (9) through the small bolts (12) and can be adjusted at will, and the structures of the seedling taking hooks (6) can be independently designed according to use requirements and connected with the seedling taking rods (9).
The pneumatic seedling taking end effector is characterized in that: when the air cylinder (1) is used for driving, the piston rod (3) is connected with the floating joint (8) to ensure that the axis of the piston rod is consistent with the moving direction of the load. The pot seedlings are clamped by the seedling taking hook (6), and the pot seedlings naturally fall to finish the throwing step under the blocking action of the seedling blocking piece (11), so that the transverse clamping force is omitted, only vertical reciprocating motion is needed, and the clamping and throwing steps of the pot seedlings are simplified.
Claims (5)
1. The utility model provides a seedling end effector is got to pneumatic type, includes cylinder (1), ring flange (2), piston rod (3), hinders seedling pole (4), connecting plate (5), gets seedling hook (6), mounting panel (7), floating joint (8), gets seedling pole (9), big bolt (10), hinders seedling piece (11), little bolt (12).
2. The pneumatic seedling taking end effector as claimed in claim 1, wherein: the cylinder (1) is fixed on the mounting plate (7) by the mounting mode of the front end flange (2), the piston rod (3) is connected with the floating joint (8), the floating joint (8) is connected with the seedling taking rod (9), the connecting plate (5) is connected with the mounting plate (7) by the big bolt (10), the seedling blocking rod (4) is fixed on the mounting plate (7) by the big bolt (10) and has three different positions to be adjustable, so as to be suitable for different plug sizes,
the seedling blocking rod (4) and the seedling taking rod (9) penetrate through the hole positions on the connecting plate (5) together to determine the installation position.
3. The pneumatic seedling-taking end effector as claimed in claim 1, wherein: the seedling blocking pieces (11) are connected with the seedling blocking rods (4) through small bolts (12), the angle can be adjusted at will, and the seedling blocking pieces in different styles can be independently and independently designed to be connected with the seedling blocking rods (4) so as to meet different clamping requirements; get seedling hook (6) and get seedling pole (9) through little bolt (12) and be connected and also can adjust the angle at will, also can get seedling hook (6) structure and get seedling pole (9) connection according to the independent design of user demand.
4. The pneumatic seedling-taking end effector as claimed in claim 1, wherein: when the air cylinder (1) is used for driving, the piston rod (3) is connected with the floating joint (8) to ensure that the axis of the piston rod is consistent with the moving direction of the load; the pot seedlings are clamped by the seedling taking hook (6), and the pot seedlings naturally fall to finish the throwing step through the blocking action of the seedling blocking piece (11), so that the transverse clamping force is omitted, only vertical reciprocating motion is needed, and the clamping and throwing process of the pot seedlings is simplified.
5. The pneumatic seedling-taking end effector as claimed in claim 1, wherein: the flange plate (2), the connecting plate (5), the mounting plate (7), the large bolt (10) and the small bolt (12) are made of 45# steel, and the cylinder (1), the piston rod (3), the seedling blocking rod (4), the seedling taking hook (6), the seedling taking rod (9) and the seedling blocking piece (11) are made of 6061 duralumin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110657645.2A CN113207378A (en) | 2021-06-13 | 2021-06-13 | Pneumatic seedling taking end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110657645.2A CN113207378A (en) | 2021-06-13 | 2021-06-13 | Pneumatic seedling taking end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113207378A true CN113207378A (en) | 2021-08-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110657645.2A Pending CN113207378A (en) | 2021-06-13 | 2021-06-13 | Pneumatic seedling taking end effector |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002125420A (en) * | 2000-10-31 | 2002-05-08 | Kubota Corp | Method for transplanting seedling of transplanter and apparatus therefor |
| CN108617206A (en) * | 2018-03-28 | 2018-10-09 | 浙江大学 | 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 |
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
| CN209345547U (en) * | 2018-12-28 | 2019-09-06 | 重庆集成自动化***有限责任公司 | A kind of entire row based on PLC fetches and delivers seedling device |
| CN210782044U (en) * | 2019-07-23 | 2020-06-19 | 陵川县源华中药材科技开发有限公司 | A field planting is with device of transplanting seedlings for thesium |
| CN112806133A (en) * | 2020-10-20 | 2021-05-18 | 石河子大学 | Insert and press from both sides combination formula and get seedling mechanism |
-
2021
- 2021-06-13 CN CN202110657645.2A patent/CN113207378A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002125420A (en) * | 2000-10-31 | 2002-05-08 | Kubota Corp | Method for transplanting seedling of transplanter and apparatus therefor |
| CN108617206A (en) * | 2018-03-28 | 2018-10-09 | 浙江大学 | 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 |
| CN209345547U (en) * | 2018-12-28 | 2019-09-06 | 重庆集成自动化***有限责任公司 | A kind of entire row based on PLC fetches and delivers seedling device |
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
| CN210782044U (en) * | 2019-07-23 | 2020-06-19 | 陵川县源华中药材科技开发有限公司 | A field planting is with device of transplanting seedlings for thesium |
| CN112806133A (en) * | 2020-10-20 | 2021-05-18 | 石河子大学 | Insert and press from both sides combination formula and get seedling mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 马一凡等: "移栽番茄穴盘苗钵体夹持压缩特性试验研究", 《中国农机化学报》 * |
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Application publication date: 20210806 |
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