CN106211886B - A kind of reversible coordinated type Plug seedling cuttage hand claw - Google Patents

Abstract

The utility model relates to a reversible linkage type plug seedling cutting hand claw, which belongs to the field of agricultural automatic seedling transplanting equipment. The claw includes a spring piece, a spring piece mounting block, a claw clamping block, a claw support plate, a push rod, a claw support plate mounting frame, a pole claw mounting block, a rotating shaft, a top plate, a lower cylinder, and a seedling transportation plate mounting block , Ejector mounting block, seedling transport plate, cylinder ‑ seedling transport plate mounting block, sleeve, upper cylinder, linear bearings, bearings, bearing mounts, rotating motors, couplings, motor mounts, linear guides. The spring piece is for the claws to grab the cutting seedlings. There are two spring pieces for each claw. This can not only realize the cutting of multiple flower seedlings at the same time, but also adjust the cutting state of the flower seedlings. While being consistent, it can also avoid damage to flower seedlings. At the same time, the mechanism has a simple and stable structure, a high degree of automation, and high use value.

Description

A variable-direction linkage plug seedling cutting hand claw

technical field

The invention relates to a variable direction linkage type plug seedling cutting hand claw capable of realizing plug seedling cutting, and belongs to the field of agricultural automatic seedling transplanting equipment.

Background technique

The working object of the reversible linkage type plug seedling cutting hand is the cutting seedlings with a certain scale that have been harvested. The cutting seedlings of flower seedlings have become the main production mode of flower seedling raising in the flower industry. At present, the cutting operation of flower seedlings in China It is mainly manual operation, and has the disadvantages of high labor intensity, low production efficiency, low economic benefit, and low survival rate of cuttings. Although some domestic research institutes or colleges and universities have carried out research on cutting claws, and there are many related products abroad, but the claws basically use a single mechanical claw to grab cuttings, and the flower seedlings cannot be grasped. The state of the plant is adjusted accordingly, the work efficiency is low and the flower seedlings are often damaged.

Contents of the invention

The technical problem to be solved by the present invention is to design a variable-direction linkage type plug seedling cutting hand claw. This device can not only realize the cutting of multiple flower seedlings at the same time, but also adjust the cutting state of the flower seedlings. While ensuring the consistency of cuttings, it can also avoid damage to flower seedlings. At the same time, the mechanism has a simple and stable structure, a high degree of automation, and high use value.

The present invention mainly adopts the following technical solutions to realize: a variable-direction linkage type plug seedling cutting hand claw, which includes a spring piece, a spring piece installation block, a hand claw clamping block, and a hand claw support plate, taking seven claws as an example. Ejector, claw support plate mounting frame, rod claw mounting block, rotating shaft, top plate, lower cylinder, seedling transport plate mounting block, ejector rod mounting block, seedling transporting plate, cylinder-seedling transporting plate mounting block, sleeve, upper cylinder , Linear bearings, bearings, bearing mounts, rotating motors, couplings, motor mounts, linear guides. The spring sheet is used to grab the cutting seedlings with the claws. Each claw has two spring sheets. There are seven claws in total. There are 14 spring sheets in total. The spring sheets are fixed on the spring mounting block through rivet connections. It is a symmetrical structure, which is fixed on the claw clamping block through bolt connection, and the claw clamping block is respectively hinged with the claw support plate and the rod claw mounting block. At the same time, the claw support plate is fixed on the claw support plate mounting frame by bolts On the top, the pole claw mounting block is threaded and fixed on the ejector rod, the upper end of the ejector rod is connected to the top plate by bolts, the middle of the top plate and the lower cylinder is connected by the ejector rod mounting block and fastened by bolts, and the lower cylinder is fixed on the rotating shaft by bolts. When the lower cylinder is pushed upwards, the top plate is lifted by the ejector rod installation block, and the top plate drives the ejector rod to move vertically upwards, and the ejector rod drives the spring sheet to perform clamping action through the rod claw installation block, hand claw clamping block, and spring leaf installation block. , Conversely, when the lower cylinder shrinks, the spring leaves open. The ejector rod is installed in the sleeve and supported by linear bearings. At the same time, the sleeve is fixed on the rotating shaft. The rotating shaft is supported by the bearings at both ends, and the end of one end of the rotating shaft is connected with the rotating motor. The bearing is supported by the bearing mount, and the rotating motor is mounted on the motor mount by bolts. On the seedling plate, the seedling transporting plate and the upper cylinder are connected through the cylinder-seedling transporting plate mounting block, the upper cylinder is fixed on the seedling transporting plate mounting plate, and the seedling transporting plate and the seedling transporting plate mounting plate are connected by a linear guide rail. Under the premise that the lower cylinder is propelled and the spring piece is grasping, the rotating motor is driven to drive the rotating shaft to rotate, and at the same time drive the overall rotation of the claws. At this time, the state of the flower seedlings is adjusted, and the cutting seedlings in the horizontal state are transformed into cuttings in the vertical state. Seedlings, under these prerequisites, the upper cylinder pushes down, drives the seedling transportation plate to push down, and at the same time drives the lower part to push down as a whole, and performs cutting action. After the action is completed, the lower cylinder shrinks, the spring leaf is loosened, and the cuttings are cut After the cutting is completed, the action reset is finally performed.

The present invention can obtain following beneficial effect:

①According to the current situation of inconsistent growth of cutting seedlings in the existing manual cutting operation, through the seven-claw linkage mechanism, the whole row of cuttings is innovatively adopted to ensure the uniform growth of cutting seedlings after the cutting is completed.

② The present invention has a compact structure, and includes cutting seedling grasping, handling and cutting integration. It has high stability, and at the same time, the mechanism can adjust the cutting angle of flower seedlings while cutting, and the mechanism has high coordination.

③ The present invention cuts 7 cutting seedlings at the same time after each action is completed, the cutting efficiency is high, the angle parameter of the spring piece is variable, it can be used for automatic cutting operation of various cutting seedlings, and has strong versatility.

Description of drawings

Fig. 1 overall structure Fig. 1 of the present invention

Figure 2 Partial enlarged view of the claw structure of the manipulator

Fig. 3 overall structure Fig. 2 of the present invention

Figure 4 Structural diagram of the manipulator's claw and a schematic diagram of the initial position of the grasp

Figure 5 Schematic diagram of the structure of the end position of grabbing

Figure 6 Schematic diagram of adjusting the initial position structure

Figure 7 Schematic diagram of the structure of the final position of adjustment

Fig. 8 Schematic diagram of cutting initial position structure

Figure 9 Schematic diagram of the position and structure of the cutting end

In the figure: 1. Spring piece, 2. Spring piece installation block, 3. Claw clamping block, 4. Claw support plate, 5. Ejector rod, 6. Claw support plate installation frame, 7. Rod claw installation block , 8, shaft block, 9, top plate, 10, lower cylinder, 11, seedling transport plate installation block, 12, ejector pin installation block, 13, seedling transport plate, 14, cylinder-seedling transport plate installation block, 15, sleeve , 16, upper cylinder, 17, linear bearing, 18, bearing, 19, bearing mounting seat, 20, rotating motor, 21, coupling, 22, motor mounting seat, 23, linear guide rail.

Detailed ways

The present invention will be further described in conjunction with accompanying drawing:

As shown in Figures 1 to 9, a variable-direction linkage-type plug seedling cutting hand claw includes a spring piece 1, a spring piece installation block 2, a claw clamping block 3, a claw support plate 4, Ejector rod 5, claw support plate mounting frame 6, rod claw mounting block 7, rotating shaft block 8, top plate 9, lower cylinder 10, seedling transporting plate mounting block 11, ejector rod mounting block 12, seedling transporting plate 13, cylinder-transportation Seedling plate mounting block 14, sleeve 15, upper cylinder 16, linear bearing 17, bearing 18, bearing mounting seat 19, rotating motor 20, shaft coupling 21, motor mounting seat 22, linear guide rail 23; Arranged side by side in the vertical direction, the claw structure is a clamping structure for grabbing cutting seedlings. Each claw structure is composed of two spring pieces 1 symmetrically connected from left to right. The spring piece 1 has a large elasticity and is symmetrical between the two spring pieces 1. The reverse elastic clamping force formed by the connection is very small, which can effectively avoid damage to the cutting seedlings during the process of grabbing the cutting seedlings. The claw structure is fixed on the spring leaf mounting block 2, which is a symmetrical structure, and the spring leaf The installation block 2 is fixed on the claw clamping block 3, and the claw clamping block 3 is hinged with the claw support plate 4 and the rod claw mounting block 7 through a hinge mechanism. At the same time, each claw support plate 4 arranged side by side is fixed on the On the claw support plate mounting frame 6; each claw mounting block 7 is fixed on each ejector rod 5, and the upper end of each ejector rod 5 is uniformly installed on the top plate 9, and the top plate 9 and the lower cylinder 10 are installed through the ejector rod in the middle of the lower cylinder 10 The block 12 is connected, and the lower cylinder 10 drives the ejector rod installation block 12, the top plate 9, the ejector rod 5, the rod claw installation block 7, the claw support plate 4, the claw clamping block 3, and the spring leaf installation block 2 to move in turn, and controls The opening or closing of the spring leaf 1 of the claw structure.

The lower cylinder 10 is fixed on the rotating shaft block 8 , the push rod 5 is supported by a linear bearing 17 and installed in the sleeve 15 , and the sleeve 15 is fixed on the rotating shaft block 8 . The rotating shaft block 8 is supported by two symmetrical bearings 18 at the ends, and the rotating shaft block 8 is connected with the output shaft of the rotating electrical machine 20 at the same time. The rotating shaft block 8 is driven by the rotating motor 20 to change the action position of the sleeve 15 .

Bearing mounting seat 19 and motor mounting seat 22 are fixed on the seedling transporting plate 13, and the seedling transporting plate 13 and the upper cylinder 16 are connected by the cylinder-seedling transporting plate mounting block 14, and the upper cylinder 16 is fixed on the seedling transporting plate mounting block 11 , Simultaneously in the middle of the seedling transportation plate 13 and the seedling transportation plate mounting block 11, the linear guide rail 23 is connected.

Under the premise that the lower cylinder 10 is propelled and the spring leaf 1 performs the grabbing action, the rotating motor 20 drives the rotating shaft block 8 to rotate, and at the same time drives the whole hand claw structure to rotate. At this time, the state of the flower seedlings is adjusted, and the cutting seedlings in the horizontal state are transformed. For cutting seedlings in a vertical state, the upper cylinder 16 pushes down, drives the seedling transportation plate 13 to push down, and simultaneously drives the lower part to push down as a whole, and performs the cutting action. After the action is completed, the lower cylinder 10 shrinks, and the spring leaf 1 loosens. Open, the cutting seedling cutting is completed, and finally reset the action.

When the lower cylinder 10 is pushed upwards, the top plate 9 is lifted by the ejector rod installation block 12, and the top plate 9 drives the ejector rod 5 to move vertically upwards, and the ejector rod passes through the rod claw installation block 7, the claw clamping block 3, and the spring leaf installation block 2 Drive the spring leaf to carry out the clamping action, on the contrary, when the lower cylinder 10 shrinks, the spring leaf 1 performs the opening action.

Under the premise that spring sheet 1 carries out grasping action, rotating motor 20 drives rotating shaft block 8 to rotate, drives hand pawl to rotate as a whole at the same time, carries out flower seedling state adjustment at this moment, the cutting seedling of horizontal state is transformed into the cutting seedling of vertical state.

Under the premise that the grasping and adjustment actions are completed, the upper cylinder 16 pushes down, driving the seedling transportation plate 13 to push down, and at the same time drives the lower part to push down as a whole to perform the cutting action. After the action is completed, the lower cylinder 10 shrinks, Spring leaf 1 is unclamped, and cutting seedling cutting is finished.

Claims (5)

1. A variable-direction linkage type plug seedling cutting claw, characterized in that: the claw includes a spring piece (1), a spring piece installation block (2), a claw clamping block (3), and a claw support Plate (4), ejector rod (5), claw support plate mounting frame (6), rod claw mounting block (7), rotating shaft block (8), top plate (9), lower cylinder (10), seedling transportation plate installation Block (11), push rod mounting block (12), seedling transportation plate (13), cylinder-seedling transportation plate mounting block (14), sleeve (15), upper cylinder (16), linear bearing (17), bearing (18), bearing mounting base (19), rotating motor (20), coupling (21), motor mounting base (22), linear guide rail (23); each claw structure is arranged side by side along the vertical direction, and the claw The structure is a clamping structure for grabbing cutting seedlings. Each claw structure is composed of two spring pieces (1) symmetrically connected on the left and right. The spring piece (1) has relatively high elasticity, and the two spring pieces (1) are symmetrically connected. The reverse elastic clamping force formed is very small, which can effectively avoid damage to the cutting seedlings during the process of grasping the cutting seedlings. The claw structure is fixed on the spring leaf mounting block (2), and the spring leaf mounting block (2) is a symmetrical structure , the spring leaf mounting block (2) is fixed on the claw clamping block (3), and the claw clamping block (3) is hinged with the claw support plate (4) and the rod claw mounting block (7) through a hinge mechanism, and at the same time , each claw support plate (4) arranged side by side is fixed on the claw support plate mounting frame (6); each claw mounting block (7) is fixed on each ejector rod (5), and each ejector rod (5) The upper end is uniformly installed on the top plate (9), the top plate (9) and the lower cylinder (10) are connected through the ejector rod installation block (12) in the middle of the lower cylinder (10), and the lower cylinder (10) drives the ejector rod installation block (12) in turn ), the top plate (9), the ejector rod (5), the claw mounting block (7), the claw support plate (4), the claw clamping block (3), the spring leaf mounting block (2) movement, and control the movement of the hand The opening or closing of the spring leaf (1) of the claw structure; The lower cylinder (10) is fixed on the shaft block (8), the ejector rod (5) is supported by a linear bearing (17) and installed in the sleeve (15), and the sleeve (15) is fixed on the shaft block (8); The rotating shaft block (8) is supported by two symmetrical bearings (18) at the ends, while the rotating shaft block (8) is connected with the output shaft of the rotating motor (20), the bearing (18) is supported by the bearing mount (19), and the rotating motor (20) is fixed by the motor mount (22); the rotating shaft block (8) is driven by the rotating motor (20), thereby changing the action position of the sleeve (15); Bearing mounting seat (19) and motor mounting seat (22) are fixed on the seedling transporting plate (13), and are connected by cylinder-seedling transporting plate mounting block (14) between the seedling transporting plate (13) and the upper cylinder (16), Upper cylinder (16) is fixed on the seedling transport plate installation block (11), and the seedling transport plate (13) and the seedling transport plate installation block (11) middle are connected by linear guide rail (23) simultaneously. 2. A reversible linkage type plug seedling cutting hand claw according to claim 1, characterized in that: under the premise that the lower cylinder (10) is pushed forward and the spring leaf (1) performs the grabbing action, the rotating motor (20) Drive the rotating shaft block (8) to rotate, and drive the whole body of the claw structure to rotate at the same time. At this time, the cutting seedling state is adjusted, and the cutting seedling in the horizontal state is transformed into the cutting seedling in the vertical state. Push down to drive the seedling transportation plate (13) to push down, and at the same time drive the lower part to push down as a whole to perform the cutting action. After the action is completed, the lower cylinder (10) shrinks, the spring leaf (1) is released, and the cutting of the cutting seedlings is completed. , and finally reset the action. 3. A reversible linkage type plug seedling cutting hand claw according to claim 1, characterized in that when the lower cylinder (10) is pushed upward, the top plate (9) is pushed up by the push rod installation block (12). Lift up, the top plate (9) drives the ejector rod (5) to move vertically upwards, and the ejector rod is clamped by the claw mounting block (7), the claw clamping block (3), and the spring leaf mounting block (2) action, otherwise, when the lower cylinder (10) shrinks, the leaf spring (1) carries out the action of opening. 4. A variable-direction linkage type plug seedling cutting hand claw according to claim 1, characterized in that: on the premise that the spring piece (1) performs the grabbing action, the rotating motor (20) drives the rotating shaft block (8 ) rotation, and at the same time drive the claw structure to rotate, at this time, the state of the cutting seedlings is adjusted, and the cutting seedlings in the horizontal state are transformed into the cutting seedlings in the vertical state. 5. A variable-direction linkage type plug seedling cutting hand claw according to claim 1, characterized in that: under the premise that the grasping and adjustment actions are completed, the upper cylinder (16) pushes down to drive the movement The seedling plate (13) advances downwards, and simultaneously drives the lower part to advance downwards to carry out the cutting action. After the action is completed, the lower cylinder (10) shrinks, the leaf spring (1) unclamps, and the cuttage cutting is completed.