CN204131960U - A kind of transplanter end effector - Google Patents
A kind of transplanter end effector Download PDFInfo
- Publication number
- CN204131960U CN204131960U CN201420300519.7U CN201420300519U CN204131960U CN 204131960 U CN204131960 U CN 204131960U CN 201420300519 U CN201420300519 U CN 201420300519U CN 204131960 U CN204131960 U CN 204131960U
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- CN
- China
- Prior art keywords
- end effector
- transplanter
- disk
- gripper shoe
- rod
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- Expired - Fee Related
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Abstract
The utility model provides a kind of transplanter end effector of structure novel.Comprising mechanical finger (1), connecting rod (2) and (3), disk (4), driving rod (5), gripper shoe (6), stepper motor (7), cylinder (8), it drives driving rod (5) to rotate by stepper motor (7), driving rod (5) drives disk (4) to rotate, cylinder (8) drivening rod (2) motion on disk (4), thus connecting rod (2) drivening rod (3) end-effector medial motion, connecting rod (3) swings back and forth its stressed lower driving mechanical finger (1), mechanical finger (1) can make end effector clamp and decontrol when at one end fixing one end movement.The end effector of this design can reduce hand labour, and cheap, easy to maintenance, and this end effector can realize seedling fast from high density cave dish to the transplanting work of the potted plant movement of low-density under the cooperation of transplanter.
Description
Technical field
The utility model relates to a kind of transplanter end effector, is specifically related to one and can realizes getting seedling from the dish of different size cave, and coiled to low-density cave dish or the potted plant transplanter end effector carrying out shifting by high density cave by seedling.
Background technology
At present, the technology that developed countries relies on and fund advantage, have developed a lot of high-precision transplanter end effector.As the UT-2 type transplanter that France produces, the MT transplanter that Holland produces, the Ultramar transplanter that Italy produces, the three row pot seedling jaw clamping type transplanters that Italy Chenchen & Magli produces, CKH-6A and the CKB-4A circle KTI-dish clip grafting device of former Soviet Union's development, the Dzchc-Dip transplanter of Japanese A-500 Kubo field transplanter, I-70 Northeast transplanter, the large discipline transplanter of V-500 and TP-1 beans tiger transplanter and the U.S..The feature of the transplanter end effector in these transplanters is, cave line-spacing and the transplanting uniform depth of transplanting seedlings are transplanted, and keep good upright degree, and operating speed are higher, can reach 60 castings/mi n, not easily hinder seedling.
In recent years, along with the progress of modern science and technology and the development of modern agriculture with high efficiency, agricultural production develops towards high efficiency and high-precision mechanization, automation direction.Due to aspects such as history, idea and technology, there are very large gap in China's traditional farming and developed country, especially in Plug seedling transplantation technique.What China adopted greatly in Plug seedling transplanting is purely to transplant by hand, and the transplanter adopted to there is transplanter end effector designs lack of standardization, the shortcomings such as kind is few, and survival rate is lower.And from the external transplanter end effector introduced, it is expensive, maintenance, safeguard that the reason such as inconvenient is also a key factor of restriction China agricultural machinery development, therefore need design a kind of simple efficient, dependable performance, transplanter end effector with low cost.
Utility model content
For solving the problems such as China's transplanter end effector structures complexity, it is simple that the purpose of this utility model is to provide a kind of structure, the transplanter end effector of dependable performance, and plug transplantation machine can be coordinated to use together.
The purpose of this utility model is achieved through the following technical solutions, comprising: mechanical finger 1, connecting rod 2, connecting rod 3, disk 4, driving rod 5, gripper shoe 6, stepper motor 7, cylinder 8.It is characterized in that: be provided with a manhole at the center of gripper shoe 6, and manhole diameter is greater than the diameter of stepper motor 7 motor shaft, stepper motor 7 is fixed at the upper surface of gripper shoe 6, the motor shaft of stepper motor 7 will through the through hole in gripper shoe 6, then by driving rod 5 with one end of lug screwed hole and the motor shaft (i.e. turning cylinder) of stepper motor 7 is coaxial is connected and fixes with holding screw, make motor shaft and driving rod 5 can not coaxial rotation, an external disk 4 below driving rod 5 again, disk 4 upper surface is circumferentially evenly provided with four cylinders 8, 4 cylinders 8 are directly fixed on the upper surface of disk 4 by screw, again by one end of four connecting rods 2 and cylinder 8 chain connection, the other end of four connecting rods 2 and four connecting rods 3 there is cylindrical one end chain connection, gripper shoe 6 is circumferentially provided with four equally distributed engaging lugs, the upper end of mechanical finger 1 and four engaging lug chain connections, the lug of mechanical finger 1 middle-end is respectively at the local chain connection with through hole on four connecting rods 3.
During work, stepper motor 7 rotarily drive driving rod 5 and disk 4 rotates, be fixed on cylinder 8 on disk 4 around disk 4 center rotating, and then moved by connecting rod 2 drivening rod 3 be connected with cylinder 8, mechanical finger 1 upper end and gripper shoe 6 chain connection, therefore, under the drive of connecting rod 3, machinery in finger 1 towards inner side or outer side oscillation, thus can make transplanter end effector capture and decontrol.
The beneficial effects of the utility model are: structure is simple, are easy to operation, dependable performance, the cave dish of different size and transplanter can be coordinated to use according to actual conditions.
Accompanying drawing explanation
Fig. 1 is integrated model schematic diagram of the present utility model.
Fig. 2 is the scheme of installation of driving rod and disk.
Fig. 3 is mechanical finger schematic diagram.
Fig. 4 is gripper shoe schematic diagram.
In figure: mechanical finger 1, connecting rod 2, connecting rod 3, disk 4, driving rod 5, gripper shoe 6, stepper motor 7, cylinder 8.
Specific embodiment
Key of the present utility model is, sees Fig. 1, and transplanter end effector is made up of eight parts: i.e. mechanical finger 1, connecting rod 2, connecting rod 3, disk 4, driving rod 5, the gripper shoe 6 of fixing stepper motor, stepper motor 7, cylinder 8.
Part I be stepper motor 7 motor shaft through gripper shoe 6 central through hole and be fixed on the upper surface of gripper shoe 6, again driving rod 5 one end with lug is coaxially connected with the motor shaft of stepper motor 7, and with holding screw fixed electrical machinery axle and driving rod 5, this is the power section that transplanter end effector is grabbed seedling and put seedling, as shown in Figure 1.Part II is lower end disk 4 being fixed on driving rod 5, and keep, between disk 4 and driving rod 5, relative rotation to occur, four cylinders 8 are along the circumferential direction evenly distributed with at the upper surface of disk 4, by one end of four connecting rods 2 respectively with cylinder 8 chain connection, again by the other end chain connection with cylindrical one end and connecting rod 2 on connecting rod 3, as shown in Figure 1, Figure 2.Part III be four mechanical finger 1 upper ends with in gripper shoe 6 circumferentially equally distributed four engaging lugs link and be connected, four mechanical finger 1 middle-ends are had one end chain connection with through hole on the place of lug and connecting rod 3, as shown in Figure 1.This a few part is connected together, being rotated by stepper motor 7 drives driving rod 5 to rotate, disk 4 is driven to rotate by driving rod 5 again, the rotation of disk 4 makes cylinder 8 move along a Circular test, thus drive four connecting rods 2 to move, four connecting rods 2 drive four connecting rod 3 end-effector medial movement, and the mechanical finger 1 be connected with connecting rod 3 is due to engaging lug chain connection on upper end and gripper shoe 6, the pulling force effect that lower end is subject to connecting rod 3 moves, towards end effector medial movement, thus realize grabbing seedling and putting the work of seedling of mechanical finger 1, realize transplanter end effector from high density cave dish to the automatic transplanting of low-density cave dish.Fig. 1 is overall construction drawing.
The installation of transplanter end effector: according to the size of cave, place dish spacing, the sectional area of required stepper motor 7 is maximum should be no more than 40 × 40mm.In order to the weight alleviating transplanter end effector of trying one's best, consider the force request of transplanter end effector, the Material selec-tion of transplanter end effector should mainly manufacture with duralumin structural design simultaneously.Consider the size needing the seedling captured, need the inclination angle keeping mechanical finger 1 certain.
Claims (2)
1. a transplanter end effector, it is characterized in that being: comprise machinery in finger (1), connecting rod (2), connecting rod (3), disk (4), driving rod (5), gripper shoe (6), stepper motor (7), cylinder (8), stepper motor (7) is fixed on the upper surface of gripper shoe (6), gripper shoe (6) center is provided with a manhole, the motor shaft of stepper motor (7) passes the central through hole of gripper shoe (6) and is coaxially connected with driving rod (5), disk (4) is fixed on the lower end of driving rod (5), the upper surface of disk (4) is circumferentially evenly provided with four cylinders (8), one end of four connecting rods (2) respectively with four cylinder (8) chain connections, the other end of four connecting rods (2) respectively with one end chain connection of four connecting rods (3), gripper shoe (6) outside is circumferentially evenly provided with four engaging lugs, four mechanical finger (1) upper ends respectively with four engaging lug chain connections of gripper shoe (6), the lug of four mechanical finger (1) middle and upper parts respectively with the other end chain connection of four connecting rods (3).
2. transplanter end effector according to claim 1, it is characterized in that mechanical finger (1) middle and upper part is equipped with lug, driving rod (5) upper side is provided with lug, and is processed with screwed hole in lug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420300519.7U CN204131960U (en) | 2014-06-06 | 2014-06-06 | A kind of transplanter end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420300519.7U CN204131960U (en) | 2014-06-06 | 2014-06-06 | A kind of transplanter end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204131960U true CN204131960U (en) | 2015-02-04 |
Family
ID=52408697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420300519.7U Expired - Fee Related CN204131960U (en) | 2014-06-06 | 2014-06-06 | A kind of transplanter end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204131960U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104704966A (en) * | 2014-06-06 | 2015-06-17 | 中国计量学院 | End effector for transplanting machine |
| CN106068843A (en) * | 2016-07-10 | 2016-11-09 | 合肥扬扬农业科技有限公司 | A kind of transplanter end effector |
-
2014
- 2014-06-06 CN CN201420300519.7U patent/CN204131960U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104704966A (en) * | 2014-06-06 | 2015-06-17 | 中国计量学院 | End effector for transplanting machine |
| CN106068843A (en) * | 2016-07-10 | 2016-11-09 | 合肥扬扬农业科技有限公司 | A kind of transplanter end effector |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20150204 Termination date: 20150606 |
|
| EXPY | Termination of patent right or utility model |