CN203105083U - Perpendicular seeding apparatus for garlic - Google Patents
Perpendicular seeding apparatus for garlic Download PDFInfo
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- CN203105083U CN203105083U CN 201220315547 CN201220315547U CN203105083U CN 203105083 U CN203105083 U CN 203105083U CN 201220315547 CN201220315547 CN 201220315547 CN 201220315547 U CN201220315547 U CN 201220315547U CN 203105083 U CN203105083 U CN 203105083U
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- garlic
- manipulator
- motor
- mechanical arm
- shaped groove
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Abstract
The utility model relates to a perpendicular seeding apparatus for garlic. The apparatus comprises a V-shaped groove 21 which contains garlic, a master control case 22, a two-dimensional motor 26, a mechanical arm rotary joint 17, a vertical pressure sensor 18, a side pressure sensor 20, a grid mechanical arm 14 which grasps garlic, a mechanical arm positioning sensor 25 and graving motors 31, wherein the V-shaped groove 21 which contains garlic is used to contain garlic; the master control case 22 is internally provided with a power supply, a central processor and an interface circuit; the two-dimensional motor 26 can drive a vertical mechanical arm 16 to move horizontally and drive the vertical mechanical arm 16 to move up and down; the vertical mechanical arm can rotate by 180 degrees; the mechanical arm 14 is made of a flexible material and moves above the V-shaped groove 21 to grasp garlic; the two-dimensional motor 26 drives the whole arm to move out of the V-shaped groove; the mechanical arm grasping garlic enters the bottom of the trench, and the two graving motors 31 grave; and garlic seeds are vertically seeded in soil to complete seeding.
Description
Technical field
The utility model relates to a kind of garlic planter tool, specifically belongs to the upright seeding apparatus of a kind of garlic.
Background technology
Modern medicine study confirms, garlic integrates the medicinal and health-care components of kind more than 100, wherein tens kinds of compositions have independent antitumaous effect, and China is global topmost garlic producing country, country of consumption, exported country and largest production state, and the plantation of garlic is very general.
Bulbil is huge towards influence that garlic is grown during the garlic sowing.Studies show that: bulbil has very big influence towards the growth to the garlic plant during sowing, and bulbil is down and when level, and the germination leaf is unearthed slow and thin and delicate, the garlic plant is shorter, and leaf area is little, photosynthesis just a little less than, be unfavorable for the growth of garlic kind grain, if bulbil up, the head of garlic of results is just heavier, and volume is also big, bulbil towards level or down, the head of garlic weight of results is less, and volume is also little, and the attitude of garlic under ground portion growth attitude garlic kind when sowing is consistent.Bulbil towards level or down, the head of garlic lay low or stands upside down shape in underground being.
The garlic profile is irregular, guaranteeing that garlic grows well will be kept upright in the process of plantation, this mainly relies on artificial plantation, production efficiency is low, the waste lot of manpower and material resources, be not suitable for the sowing of modern large tracts of land, therefore, press for the developing intellectual resource degree high reach the garlic planter that upright sowing requires.
At present, garlic planter on the market can't imitate staff and uprightly sow garlic, garlic kind grain that sowing is come out have lie low also have bulbil down, this all can produce great harmful effect to the seeding quality of garlic and the output of garlic, can't realize the upright seeding operation of large-area precision.
The utility model content
The purpose of this utility model: provide a kind of garlic upright seeding apparatus, change garlic planter and can not accurately uprightly sow the design of garlic kind grain, make the sowing of garlic break away from manual operation, save lot of manpower and material resources, make the sowing of garlic no longer become the burden at vast plantation family, meet modern planting requirement, significantly improve the enthusiasm at vast plantation family, the quality and yield of large-area raising garlic, to the demand of garlic quality, promote Agricultural Development with the needs that satisfy vast plantation family and eater.
The technical solution of the utility model is: the upright seeding apparatus of a kind of garlic comprises the V-shaped groove by the splendid attire garlic, V-shaped groove master control cabinet, two-dimentional motor, manipulator cradle head, various pressure, position sensor, the manipulator of extracting garlic, grave mound motor; The V-shaped groove of described splendid attire garlic is used for the splendid attire garlic, is beneficial to manipulator and grasps; In the described master control cabinet power supply, central processing unit, interface circuit are arranged.
The further technical scheme of the utility model is: the upright seeding apparatus of a kind of garlic comprises the V-shaped groove by the splendid attire garlic, master control cabinet, two-dimentional motor, manipulator cradle head, various pressure, position sensor, the manipulator of extracting garlic, grave mound motor; The V-shaped groove of described splendid attire garlic is used for the splendid attire garlic, is beneficial to manipulator and grasps; In the described master control cabinet power supply, central processing unit, interface circuit are arranged; Described two-dimentional motor can drive vertical mechanical arm and move horizontally, and vertical mechanical arm is moved up and down, and the cradle head built-in motor can make mechanical arm do the rotation of 180 degree.
The more detailed technical scheme of the utility model is: the upright seeding apparatus of a kind of garlic comprises the V-shaped groove by the splendid attire garlic, master control cabinet, two-dimentional motor, manipulator cradle head, various pressure, position sensor, the manipulator of extracting garlic, grave mound motor; The V-shaped groove of described splendid attire garlic is used for the splendid attire garlic, is beneficial to manipulator and grasps; In the described master control cabinet power supply, central processing unit, interface circuit are arranged; Described two-dimentional motor can drive vertical mechanical arm and move horizontally, and vertical mechanical arm is moved up and down, and the cradle head built-in motor can make mechanical arm do the rotation of 180 degree; Described manipulator uses flexible material to make; has certain elasticity so that protection garlic kind grain is not damaged; shape according to garlic; manipulator (14) is made the aperture plate shape; there are two; become palmation; when grasping garlic kind grain; manipulator moves to the top of V-shaped groove; this action is finished by planar stepping motor; manipulator opens and moves down then; contact V-shaped groove up to manipulator; the mechanical finger pressure sensor is signal loopback central processing unit; judge with this whether manipulator descends suitable; should run into V-shaped groove can not crush manipulator and V-shaped groove again; next will grasp garlic; pressure sensor feedback pressure signal when grasping garlic; this signal assurance manipulator is not broken garlic into pieces; two dimension motor band entire arms and is shifted out V-shaped groove; motor in the cradle head makes mechanical arm rotate 90 degree; the two dimension motor moves down entire arms, and when arm entered in the seed furrow, the pressure sensor of cradle head bottom at a touch bottom of trench was given central processing unit with regard to backhaul signals; central processing unit just commander stops to move down arm; right latter two grave mound motor rotates, finish the grave mound task after, manipulator is separately; loose soil can be fixed into erectility to garlic kind grain along webs; at this moment manipulator shifts out soil again, and garlic kind grain still stands upright in the soil, finishes sowing.
The utility model has the advantages that:
1. the utility model can make garlic kind grain uprightly sow, and makes the design of garlic planter more targeted, and the performance of radical change garlic planter makes it intelligent, meets modern planting requirement, significantly improves the enthusiasm at vast plantation family, promotes Agricultural Development.
2. the utility model imitates the function of staff, give equipment extracting garlic kind grain and the ability that manipulator is taken away again after burying garlic kind grain, this has guaranteed that garlic kind grain can not tilt, and can improve the quality of sowing garlic in the process of a large amount of plantations, reaches the same effect of by artificial seeding.
3. manipulator of the present utility model can use a lot of, so the speed of drilling of garlic planter can be very high.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is further described:
Fig. 1 garlic kind grain and V-shaped groove;
Fig. 2 grasps manipulator and the control assembly of garlic;
Fig. 3 manipulator grasps garlic in V-shaped groove;
The cradle head of Fig. 4 manipulator;
Fig. 5 firmly grasps the manipulator of garlic kind grain;
Fig. 6 garlic kind grain is in erectility under the situation that manipulator is firmly grasped;
The upright seeding machinery hand of Fig. 7 overall structure;
The position of Fig. 8 manipulator and garlic kind grain root and bulbil position;
Fig. 9 garlic kind grain grave mound schematic diagram;
The upright seeding machinery circuit structure of Figure 10 garlic block diagram;
Figure 11 pressure sensor and interface circuit;
Figure 12 manipulator A, B, C position sensor interface circuit;
Figure 13 grave mound motor, manipulator folding motor-drive circuit;
Figure 14 manipulator palm state sensor (relative positions of two palms);
Figure 15 planar stepping motor drive circuit;
Figure 16 power circuit;
Figure 17 motor-drive circuit;
Among the figure: 1 manipulator folding motor; 2 uni-drive gear boxes; 3 sensor fixed supports; 4 fixed supports; 5 palm relative position sensors; 6 magnet or LED; 7 spring pressure sensors; 8 transmission levers; 9 springs; 10 turning cylinders; 11 transmission levers; 12 fixed supports; 13 mechanical arm A; 14 aperture plate shape manipulators; 15 mechanical finger pressure sensors; 16 vertical mechanical arms; 17 cradle heads; 18 pressure at right angle sensors; The transmission case of 19 manipulators; 20 lateral pressure sensors; 21V shape groove; 22 master control cabinets; 23 transverse arms; 24 support bars; 25 manipulator alignment sensor C; 26 two-dimentional motors; 27 soil-covering meanss; 28LED (arm location); 29 soil-covering means shells; 30 grave mound plates; 31 grave mound motors; 32 soil.
Embodiment
As shown in Figure 1, when the V-shaped groove width is garlic kind grain horizontal positioned 1.6 times of average length, the garlic that enters V-shaped groove, because the restriction of the shape of V-shaped groove, garlic is fixed easily, is convenient to manipulator 14 and grasps.
As shown in Figure 2, turning cylinder 10 has 5, and nethermost two turning cylinders are fixed, 1,2,4, the 12nd, fix, under the drive of manipulator folding motor, by the transmission of gear-box, drive transmission levers 11 and move up and down, two palms of manipulator can deciliter, the size of strength is by 7 perception of spring pressure sensor, grasp the state of garlic kind grain by Fig. 5, shown in Figure 6,, the folding condition of manipulator 14, the folding degree provides information by position sensor 5, and central processing unit makes a decision.
As shown in Figure 3, manipulator 14 grasps the state of garlic in the V-type groove.
As shown in Figure 4, the cradle head of manipulator 14, the 19th, the transmission case of cradle head.
State when as shown in Figure 5, manipulator 14 is caught garlic.
As shown in Figure 6, after manipulator 14 was caught garlic, after cradle head was rotated, the root of garlic down.
As shown in Figure 7, manipulator 14 will find the position of garlic to be realized by planar stepping motor 26 work, manipulator 14 is along with moving on the arm 16, be in B position as shown in Figure 8 then, move to the top of V-type groove then, manipulator alignment sensor 25 judges whether the position of manipulator is accurate, the light of manipulator alignment sensor 25 perception LED28 is located, accurately behind the location, two-dimentional motor 26 is being with arm 16 integral body to move down, when manipulator touches the V-type groove, touch signal is sent by mechanical finger pressure sensor 15, in the process that manipulator moves down, catch garlic kind grain, when mechanical finger pressure is higher than setting value, two-dimentional motor 26 stalls, arm 16 stops to move down, finish grasping movement, two-dimentional driven by motor arm shifts out the V-type groove then, for plantation is prepared.
As shown in Figure 8, manipulator 14 has three kinds with the relative position of arm 16, manipulator 14 is seized condition when the B position, manipulator 14 is the plantation state when A, C position, according to the bulbil of garlic and root towards determining in the A position or the C position, when bulbil towards the right side time, manipulator 14 should be positioned at the C position, when bulbil towards a left side time, manipulator 14 should be positioned at the A position.
As shown in Figure 9, in the process of plantation, mechanical arm 16 moves down, after touching soil, pressure at right angle sensor 18 is just given central processing unit with feedback signal, central processing unit just commands 31 work of grave mound motor to carry out the grave mound operation after receiving signal, soil will be pressed onto lateral pressure sensor 20, lateral pressure sensor 20 is given central processing unit with pressure signal, the work of expression grave mound is finished, central processing unit commander grave mound motor quits work and commands manipulator 14 to open certain angle slightly, loose soil can be fixed into erectility to garlic kind grain along webs, at this moment manipulator 14 shifts out soil again, and garlic kind grain still stands upright in the soil, finishes sowing.
Figure 10 is the schematic diagram that contacts between central processing unit and the each several part, various sensors are by interface circuit and central processing unit communication, the different device work of back commander is judged in the signal analysis that central processing unit is sent here according to sensor, detailed process is, central processing unit is given interface circuit with command signal, and interface circuit is controlled machine operation again.
Be pressure sensor and interface circuit as shown in figure 11, the electric bridge that used pressure sensor all is made up of R1, R2, R3, R4, RP, RT, can obtain the size of suffered pressure accurately, this just makes things convenient for machine to accomplish accurate action, after electric bridge is given pressure signal U1 and amplified, converted to by A/D converter again and give CPU after the data signal and handle.
Figure 12 is manipulator A, B, C position sensor and interface circuit, this circuit has three respectively, circuit structure is identical, R7, R8 form bleeder circuit, divider resistance, R6 are divider resistances under photo resistance is on the R5 composition, R6, the voltage above the R8 compare in U2, and comparison signal is sent into CPU from A.
Figure 13 is the drive circuit of manipulator folding motor, Figure 17 is the grave mound motor circuit, and the M1 among Figure 17 is the grave mound motor, is responsible for the grave mound operation, the signal controlling Q2 that CPU sends opens or turn-offs, this switching signal is by U3 control Q3 conducting or shutoff, and U3 realizes electrical isolation, and Q3 realizes the control to motor, M2 is manipulator folding motor, be responsible for the operation of opening and closing up of mechanical palm, Figure 13, among Figure 17, P, Q links to each other with CPU respectively, P, Q has 00,01,10,11 4 kinds of states, P, Q is that 01 o'clock motor just changes P, Q is motor counter-rotating in 10 o'clock, Q4 controls U4, Q6 controls U5, and Q9 controls U6, and Q11 controls U7, U4 controls Q5, U5 controls Q7, and U6 controls Q8, and U7 controls Q10, Q5, Q7, Q8, the Q10 drive motors rotates forward or backwards, U4, U5, U6, U7, U9 realizes electrical isolation, and U8 cooperates the realization overcurrent protection with U9, and T connects CPU; Q2 to Q11, U3 to U9 all are operated on off state.
Figure 14 is manipulator palm state sensor (relative positions of two palms), the relative position of finding out two palms that this sensor can be more accurate, and CPU determines turning to of palm folding motor again according to the process of program then.Above one row resistance be last divider resistance, below row's earth resistance be following divider resistance, use photo resistance or photodiode, below the voltage signal of row's earth resistance upper end convert data to by U10 and give CPU, CPU is according to the relative position of two palms of this data judging.
Figure 15 is the planar stepping motor drive circuit, can grasp garlic kind grain by accurate mobile manipulator, and move to position accurately.CPU send data to give U11 according to the needs of program operation, and U11 drives stepper motor and rotates.Planar stepping motor is made up of two stepper motors, and a responsible horizontal movement is responsible for moving both vertically for one, this circuit have two identical.
Figure 16 is circuit construction of electric power figure, uses generator or batteries, output 24V and ± the 5V power supply, ± 5V is produced by U10 and U11,12V is produced by U12,12V, 24V supply with motor, ± 5V supplies with central processing unit.
Among Figure 17, CPU controls Q2, and U3 realizes the photoelectricity isolation, and Q2 controls Q3 by U3, the rotation of Q3 control motor M 1.
It is in sum, existing that details are as follows with a specific embodiment.
Embodiment: the upright seeding apparatus of a kind of garlic, comprise the V-shaped groove 21 by the splendid attire garlic, master control cabinet 22, two dimension motor 26, manipulator cradle head 17, pressure at right angle sensor 18, lateral pressure sensor 20, grasp the aperture plate shape manipulator 14 of garlic, manipulator alignment sensor 25, grave mound motor 31; The V-shaped groove 21 of described splendid attire garlic is used for the splendid attire garlic, is beneficial to manipulator 14 and grasps; In the described master control cabinet 22 power supply, central processing unit, interface circuit are arranged; Described two-dimentional motor 26 can drive vertical mechanical arm 16 and move horizontally, and vertical mechanical arm 16 is moved up and down, and cradle head 17 built-in motors can make mechanical arm do the rotation of 180 degree; Described manipulator 14 uses flexible material to make; has certain elasticity so that protection garlic kind grain is not damaged; when grasping garlic kind grain; manipulator 14 moves to the top of V-shaped groove 21; this action is finished by two-dimentional motor 26; manipulator 14 opens and moves down then; contact V-shaped groove 21 up to manipulator; mechanical finger pressure sensor 15 is signal loopback central processing unit; judge with this whether manipulator 14 descends suitable; should run into V-shaped groove can not crush manipulator 14 and V-shaped groove 21 again; next will grasp garlic; pressure sensor 7 feedback pressure signals when grasping garlic; this signal assurance manipulator is not broken garlic into pieces; two dimension motor 26 is being with entire arms to shift out V-shaped groove; motor in the cradle head makes mechanical arm rotate 90 degree; two dimension motor 26 moves down entire arms; when arm enters in the seed furrow; the pressure sensor 18 of cradle head bottom at a touch bottom of trench is given central processing unit with regard to backhaul signals; central processing unit just commander stops to move down arm; right latter two grave mound motor 31 rotates; the signal of finishing the grave mound task is sent by lateral pressure sensor 20; manipulator 14 separately; loose soil can be fixed into erectility to garlic kind grain along webs; at this moment manipulator shifts out soil again, and garlic kind grain still stands upright in the soil, finishes sowing.
Below only be concrete exemplary applications of the present utility model, protection domain of the present utility model is not constituted any limitation.In addition to the implementation, the utility model can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop within the utility model scope required for protection.
Claims (8)
1. upright seeding apparatus of garlic, it is characterized in that: comprise the V-shaped groove (21) by the splendid attire garlic, master control cabinet (22), two dimension motor (26), manipulator cradle head (17), pressure at right angle sensor (18), lateral pressure sensor (20), grasp the aperture plate shape manipulator (14) of garlic, manipulator alignment sensor (25), grave mound motor (31); It is characterized in that: the V-shaped groove of splendid attire garlic (21) is used for the splendid attire garlic, is beneficial to manipulator (14) and grasps; In the described master control cabinet (22) power supply, central processing unit, interface circuit are arranged; Described two-dimentional motor (26) can drive vertical mechanical arm (16) and move horizontally, and vertical mechanical arm (16) is moved up and down, and cradle head (17) built-in motor can make mechanical arm do the rotation of 180 degree; Described manipulator (14) uses flexible material to make, has certain elasticity so that protection garlic kind grain is not damaged, manipulator alignment sensor (25) is fixed on the position, lower-left of (26), be positioned at the below of (23), when below (25) move to (28) time, can accept the light of (28); Grave mound motor (31) be positioned at the splendid attire garlic V-shaped groove (21) below, be positioned in the trench of seed covering when the aperture plate shape manipulator (14) that grasps garlic and carry out when burying preparation, the grave mound motor is finished grave mound work.
2. the upright seeding apparatus of garlic according to claim 1 is characterized in that: when the V-shaped groove width is garlic kind grain horizontal positioned 1.6 times of average length.
3. the upright seeding apparatus of garlic according to claim 1, it is characterized in that: according to the shape of garlic, manipulator (14) is made the aperture plate shape, has two, becomes palmation.
4. the upright seeding apparatus of garlic according to claim 1, it is characterized in that: described planar stepping motor (26) sends signal by CPU and gives U11, U11 removes to drive planar stepping motor again, planar stepping motor (26) is the combination of two stepper motors, can level, vertical both direction moves.
5. the upright seeding apparatus of garlic according to claim 1, it is characterized in that: manipulator (14) has three kinds with the relative position of arm (16), manipulator (14) is seized condition when the B position, manipulator (14) is the plantation state when A, C position, according to the bulbil of garlic and root towards determining in the A position or the C position, when bulbil towards the right side time, manipulator (14) should be positioned at the C position, when bulbil towards a left side time, manipulator (14) should be positioned at the A position.
6. the upright seeding apparatus of garlic according to claim 1 is characterized in that: the electric bridge that used pressure sensor all is made up of R1, R2, R3, R4, RP, RT, and electric bridge connects U1, and U1 is connected with A/D converter again, and A/D converter is connected with CPU again.
7. the upright seeding apparatus of garlic according to claim 1, it is characterized in that: manipulator palm state sensor (relative positions of two palms), this sensor can be found out the relative position of two palms accurately, CPU determines turning to of palm folding motor again according to the process of program then, sensor has two row's resistance, above one row resistance be last divider resistance, below row's earth resistance be following divider resistance, use photo resistance or photodiode, below a row earth resistance upper end be connected with U10, U10 is connected with CPU again.
8. the upright seeding apparatus of garlic according to claim 1 is characterized in that: grave mound motor M 1, responsible grave mound operation, the signal controlling Q2 that CPU sends opens or turn-offs, and this switching signal is by U3 control Q3 conducting or shutoff, and U3 realizes electrical isolation, Q3 realizes the control to motor, M2 is manipulator folding motor, is responsible for the operation of opening and closing up of mechanical palm, P, Q links to each other with CPU respectively, P, Q has 00,01,10,11 4 kinds of states, P, Q is that 01 o'clock motor just changes P, Q is motor counter-rotating in 10 o'clock, Q4 controls U4, Q6 controls U5, and Q9 controls U6, and Q11 controls U7, U4 controls Q5, U5 controls Q7, and U6 controls Q8, and U7 controls Q10, Q5, Q7, Q8, the Q10 drive motors rotates forward or backwards, U4, U5, U6, U7, U9 realizes electrical isolation, and U8 cooperates the realization overcurrent protection with U9, and T connects CPU; Q2 to Q11, U3 to U9 all are operated on off state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220315547 CN203105083U (en) | 2012-07-03 | 2012-07-03 | Perpendicular seeding apparatus for garlic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220315547 CN203105083U (en) | 2012-07-03 | 2012-07-03 | Perpendicular seeding apparatus for garlic |
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| Publication Number | Publication Date |
|---|---|
| CN203105083U true CN203105083U (en) | 2013-08-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220315547 Expired - Fee Related CN203105083U (en) | 2012-07-03 | 2012-07-03 | Perpendicular seeding apparatus for garlic |
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| Country | Link |
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| CN (1) | CN203105083U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104350846A (en) * | 2014-10-28 | 2015-02-18 | 梁开星 | Automatic identification and direction-regulating method and device of garlic clove |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
-
2012
- 2012-07-03 CN CN 201220315547 patent/CN203105083U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104350846A (en) * | 2014-10-28 | 2015-02-18 | 梁开星 | Automatic identification and direction-regulating method and device of garlic clove |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130807 Termination date: 20140703 |
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| EXPY | Termination of patent right or utility model |