CN109743936B - Probing type end effector for rapidly taking and pushing bowls - Google Patents

Abstract

A probing-out type quick pot taking and pushing end effector belongs to agricultural machinery; the device comprises a planting arm shell and a supporting base fixedly arranged at the upper end of the planting arm shell, wherein a bowl pushing mechanism consisting of a planting arm slide bar, a shift fork slide way, a bowl pushing shift fork, a pin shaft, a left bowl pushing shaft, a right bowl pushing shaft and a bowl pushing plate and a bowl taking mechanism consisting of a drive plate slide bar, a trough plate, a seedling needle drive plate, a seedling needle push-pull seat plate, a left seedling needle, a right seedling needle, a left vertical shaft, a right support are arranged on the planting arm shell and the supporting base in a driving way and are driven and controlled by a cam, a torsion spring, a shift fork shaft and the shift fork, and the bowl taking mechanism consisting of the drive plate slide bar, the trough plate, the seedling needle drive plate, the seedling needle push-pull seat plate, the left seedling needle, the right vertical shaft and the left support and the right support.

Description

Probing type end effector for rapidly taking and pushing bowls

Technical Field

The invention belongs to agricultural machinery, and particularly relates to a tail end executing mechanism which is used for a transplanting seedling taking machine and can quickly take and push a pot.

Background

The end executing mechanism is one of the key parts of the pot seedling transplanting and seedling taking machine, and the operational performance of the end executing mechanism directly influences and determines the efficiency and quality of pot taking and pot pushing. At present, an end actuating mechanism for clamping a pot body on an automatic seedling taking mechanism for pot seedling transplantation mainly comprises three structures of a clamping piece clamping type structure, a push-out type structure and a sliding needle type structure. The clamping piece clamping type tail end executing mechanism controls the opening and closing of the seedling taking claw by means of a cam and a crank to complete clamping and releasing of seedlings, the action is single, the seedling taking efficiency is low, and the seedling pushing speed is low; the ejecting type tail end executing mechanism has the defects that the ejecting pot seedlings are not consistent in overturning result due to the fact that the overturning process of the ejected pot seedlings in the overturning device is complex, the uprightness of the seedlings cannot be guaranteed, and the planting effect is poor; the mechanism vibration is larger when the sliding pin type end executing mechanism works at high speed, the effect is not good, and the sliding pin type end executing mechanism is only applied to flower transplanting in a greenhouse at present. In addition, most of the existing end effectors are applied to a transplanting mechanism, the seedling pushing speed is not considered, and if the existing end effectors are used for a seedling taking mechanism matched with the transplanting mechanism, the existing end effectors cannot meet and adapt to the requirement of matching with the transplanting mechanism to realize accurate and rapid seedling throwing operation.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a probing-out type quick pot taking and pushing end effector which is combined with the actual needs of agricultural production operation and achieves the purposes of good pot body clamping quality, no seedling damage, no soil pot damage, good planting effect and high pot pushing speed.

The invention aims to realize the following technical scheme that the probing type rapid bowl taking and pushing end effector comprises a planting arm shell, a supporting base is fixedly arranged at the upper end part of the planting arm shell, a cam is rotatably assembled in the lower side of the planting arm shell, slide rod guide slide way grooves are respectively arranged on the inner wall surfaces of two opposite vertical side walls at the upper side of the planting arm shell, a bowl pushing shifting fork is arranged in the upper side of the planting arm shell and is positioned above the slide rod guide slide way grooves in a swingable hinged manner through a pin shaft, a left bowl pushing shaft and a right bowl pushing shaft are arranged on the lower part of the inner side of the supporting base in parallel and can axially move, a bowl pushing plate is fixedly arranged on the outer end parts of the left bowl pushing shaft and the right bowl pushing shaft, a left support and a right support are respectively and rotatably arranged on the left side part and the right side part of the upper end of the supporting base through a left vertical shaft and a right vertical shaft, a seedling needle pushing and pulling seat plate is movably assembled on the upper end part of the supporting base, left and right seedling needles which are integrally and conically configured can be axially moved and are respectively inserted into holes of a left support and a right support, the left and right seedling needles are respectively hinged with a seedling needle push-pull seat plate, the left and right seedling needles are in insertion fit with strip-shaped through holes on a bowl pushing plate, a seedling needle drive plate is fixedly mounted on the seedling needle push-pull seat plate, a slot plate is sleeved on the bottom end of the seedling needle drive plate and can be pulled up and down, a drive plate slide bar is fixedly mounted on the slot plate, the upper side of the bowl pushing shift fork can be pulled and moved and is hinged with the bowl pushing plate, a bowl pushing shift fork slide way is hinged and mounted on the lower side part of the bowl pushing shift fork and can be pushed and pulled, a shift fork slide way fixedly matched with a planting arm slide bar is fixedly mounted on the bowl pushing shift fork slide way, and two ends of the drive plate slide bar and the planting arm slide bar are respectively inserted into slide way guide grooves on the inner wall surfaces of two side walls of the planting arm shell, the shifting fork shaft is arranged outside the cam, the driving shifting fork is rotatably sleeved on the shifting fork shaft, the torsion spring is sleeved on the shifting fork shaft, two ends of the torsion spring are fixedly connected with the shifting fork shaft and the driving shifting fork respectively, the upper end of the driving shifting fork is in contact fit with the shifting fork slide rail and the groove plate, and the lower end of the driving shifting fork is in close contact fit with the cam.

The invention can quickly complete the bowl body taking and pushing operation, has the characteristics of novel structure, high bowl taking efficiency, high bowl pushing speed, no damage to the root system of the bowl seedlings and complete soil bowl, realizes accurate and quick bowl pushing and seedling throwing on the seedling taking mechanism matched with the planting mechanism, and provides technical support for the popularization of agricultural technology for transplanting crops in China, particularly for transplanting dry field crops.

Drawings

FIG. 1 is a two-dimensional schematic diagram of the overall structure of a probing-out type quick bowl taking and pushing end effector;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a three-dimensional schematic diagram of the overall structure of the probing-out type quick bowl taking and pushing end effector;

FIG. 4 is a schematic structural view of the probing-out type quick pot taking and pushing end effector after the shell of the planting arm is removed;

fig. 5 is a schematic view of the assembling structure of the bowl pushing plate and the bowl pushing fork.

Description of part numbers in the figures:

1. planting arm shell, 2, drive plate slide bar, 3, seedling needle drive plate, 4, slide bar guide slideway slot, 5, push bowl shift fork, 6, left push bowl shaft, 7, push bowl plate, 8, left vertical shaft, 9, left support, 10, left seedling needle, 11, seedling needle push-pull seat plate, 12, support base, 13, right seedling needle, 14, right support, 15, right vertical shaft, 16, cam, 17, shift fork slideway, 18, torsion spring, 19, shift fork shaft, 20, push bowl shift fork slideway, 21, planting arm slide bar, 22, drive shift fork, 23, right push bowl shaft, 24, pin shaft, 25, and slotted plate.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. A probing type quick pot taking and pushing end effector comprises a planting arm shell 1, a supporting base 12 is fixedly arranged at the upper end part of the planting arm shell 1, a cam 16 is rotatably assembled in the lower inside of the planting arm shell 1, slide rod guide slide way grooves 4 are respectively arranged on the inner wall surfaces of two opposite vertical side walls at the upper side of the planting arm shell 1, a pot pushing shifting fork 5 is arranged in the upper inside of the planting arm shell 1 and positioned above the slide rod guide slide way grooves 4 through a hinge pin 24 and can swing, a left pot pushing shaft 6 and a right pot pushing shaft 23 are arranged on the lower part of the inner side of the supporting base 12 in parallel and can axially move, a seedling pushing plate 7 is fixedly arranged on the outer end parts of the left pot pushing shaft 6 and the right pot pushing shaft 23, a left support 9 and a right support 14 are respectively rotatably arranged on the left side part and the right side part of the upper end of the supporting base 12 through a left vertical shaft 8 and a right vertical shaft 15, a needle push-pull seat plate 11 is movably assembled on the upper end part of the supporting base 12, a left seedling needle 10 and a right seedling needle 13 which are integrally and conically configured can be axially moved and are respectively inserted into holes of a left support 9 and a right support 14, the left seedling needle 10 and the right seedling needle 13 are respectively hinged with a seedling needle push-pull seat plate 11, the left seedling needle 10 and the right seedling needle 13 are in insertion fit with strip-shaped through holes on a bowl pushing plate 7, a seedling needle drive plate 3 is fixedly arranged on the seedling needle push-pull seat plate 11, a slot plate 25 which can be pulled up and down and moved is sleeved on the bottom end of the seedling needle drive plate 3, a drive plate slide bar 2 is fixedly arranged on the slot plate 25, the upper side of the bowl pushing fork 5 can be pulled and moved and is hinged with the bowl pushing plate 7, a bowl pushing fork slide rail 20 is hinged on the lower side part of the bowl pushing fork 5 and can be pushed and moved, a shift rail 17 fixedly arranged on the bowl pushing fork slide rail 20 is fixedly arranged on the bowl pushing fork slide rail 21, two ends of the drive plate slide bar 2 and the arm slide bar 21 are respectively inserted into guide slide grooves 4 on the inner wall surfaces of two side walls of the planting arm shell 1, the shifting fork shaft 19 is arranged outside the cam 16, the driving shifting fork 22 is rotatably sleeved on the shifting fork shaft 19, the torsion spring 18 is sleeved on the shifting fork shaft 19, two ends of the torsion spring 18 are fixedly connected with the shifting fork shaft 19 and the driving shifting fork 22 respectively, the upper end of the driving shifting fork 22 is in contact fit with the shifting fork slide way 17 and the groove plate 25, and the lower end of the driving shifting fork 22 is in close contact fit with the cam 16.

During operation, under the control of the cam 16 and the torsion spring 18, the driving fork 22 reciprocates on the fork shaft 19 to swing circumferentially: firstly, when the upper end of a driving shifting fork 22 swings to the left side, under the control and driving of a planting arm slide bar 21, a slide bar guide slide way groove 4, a shifting fork slide way 17 and a bowl pushing shifting fork slide way 20, the upper end of a bowl pushing shifting fork 5 moves a bowl pushing plate 7 to the right side on a supporting base 12 through a left bowl pushing shaft 6 and a right bowl pushing shaft 23, and in synchronization with the movement, under the drive of a drive plate slide bar 2, a groove plate 25, a seedling needle drive plate 3 and a seedling needle push-pull seat plate 11, a left seedling needle 10 and a right seedling needle 13 move to the left side through strip-shaped through holes in the bowl pushing plate 7 under the guide and control of a left support 9 and a right support 9 and a 14 respectively, and the left seedling needle 10 and the right seedling needle 13 complete bowl taking movement; secondly, when the upper end of the driving shifting fork 22 swings to the right side, through the reverse driving process, the bowl pushing plate 7 moves to the left side, the left and right seedling needles 10 and 13 for clamping the bowl body move to the right side, and in the relative reverse movement of the bowl pushing plate 7 and the left and right seedling needles 10 and 13, the bowl body clamped on the left and right seedling needles 10 and 13 is quickly pushed away by the bowl pushing plate 7, so that the bowl pushing operation is completed.

The tail end actuator adopts the combined design of two mechanisms of bowl taking and bowl pushing, and the relative motion during bowl pushing improves the rapid bowl pushing-off operation.

Claims (1)

1. The utility model provides a visit out formula and get alms bowl fast and push away alms bowl end effector, includes planting arm casing (1), its characterized in that: a supporting base (12) is fixedly arranged at the upper end part of the planting arm shell (1), a cam (16) is rotatably assembled inside the lower side of the planting arm shell (1), slide rod guide slide way grooves (4) are respectively arranged on the inner wall surfaces of the two side walls at the opposite vertical sides of the upper side of the planting arm shell (1), a bowl pushing shifting fork (5) is arranged inside the upper side of the planting arm shell (1) and positioned above the slide rod guide slide way grooves (4) through a pin shaft (24) in a swingable hinged manner, a left bowl pushing shaft (6) and a right bowl pushing shaft (23) are arranged on the lower part of the inner side of the supporting base (12) in parallel and can axially move, a bowl pushing plate (7) is fixedly arranged on the outer end parts of the left bowl pushing shaft (6) and the right bowl pushing shaft (23), a left supporting seat (9) and a right supporting seat (14) are respectively rotatably arranged on the left side part and the right side part of the upper end of the supporting base (12) through a left vertical shaft (8) and a right vertical shaft (15), a seedling needle push-pull seat plate (11) is movably assembled on the upper end part of a supporting base (12), a left seedling needle (10) and a right seedling needle (13) which are integrally and conically configured can be axially and respectively inserted into holes of a left support (9) and a right support (14), the left seedling needle (10) and the right seedling needle (13) are respectively hinged with the seedling needle push-pull seat plate (11), the left seedling needle (10) and the right seedling needle (13) are in insertion fit with a strip-shaped through hole on a bowl pushing plate (7), a seedling needle drive plate (3) is fixedly installed on the seedling needle push-pull seat plate (11), a groove plate (25) can be vertically pulled and moved is sleeved on the bottom end of the seedling needle drive plate (3), a drive plate slide rod (2) is fixedly installed on the groove plate (25), a push-pull movable bowl (5) at the upper side part is hinged with the push plate (7), a push-pull fork (20) is fixedly installed on the lower side part of the push-pull fork (5), the shift fork slide way (17) of solidly joining in marriage planting arm slide bar (21) is adorned on pushing away alms bowl shift fork slide way (20) admittedly, the both ends of drive plate slide bar (2), planting arm slide bar (21) are inserted respectively in slide bar direction slide way groove (4) on planting arm casing (1) both sides wall internal face, shift fork axle (19) configuration is in cam (16) outside, and rotatable suit of drive shift fork (22) is on shift fork axle (19), and torque spring (18) suit is on shift fork axle (19), the both ends of torque spring (18) link firmly with shift fork axle (19) and drive shift fork (22) respectively, the upper end and the shift fork slide way (17) and the trough plate (25) of drive shift fork (22) are the contact fit, and the lower extreme and the cam (16) close contact fit of drive shift fork (22).

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