Groove type cam folding and unfolding device for multiple seedling-taking end effectors

[0015] Such as figure 1 As shown, the overall structure of the present invention is composed of an expansion board, a synchronous belt guide rail, a linear guide rail, a square sliding block, a rotating shaft, a servo motor, a beam, and a mounting frame. The specific arrangement of each movement pair and parts is as follows: the expansion joint 6 is installed along the edge of the profile 4, and it is fixed on the square slider 2, 7 of the synchronous belt guide 1, 8 through the mounting frame 3, 10, and the servo motor 9 The main shaft is equipped with a rotating shaft 5 to drive the synchronous belt guides 1, 8 to pull the square sliders 2 and 7 to drive the exhibition plywood 6 to move. The exhibition plywood 6 has slide grooves with different inclination angles, and each chute is assembled and installed The top bar of the frame 12, the mounting frame 12 is equipped with square sliding blocks 14 on both sides, and the square sliding blocks 14 are installed on the linear guides 13. The mounting frame 12 can slide back and forth on the linear guides 13, and the lower part of the mounting frame 12 is fixed to the beam 15 , Both ends of the beam 15 are equipped with end effectors for removing seedlings, thereby forming a cam unfolding end effector mechanism for removing seedlings with a plurality of sliding groove structures.

[0016] Spreading plate is a key component of the unfolding mechanism of the end effector of seedling removal, which completes the unfolding or closing action of the end effector of seedling removal. Spreading board 6 is a flat plate with chutes with a certain regular inclination angle. For spreading board 6 that expands or closes the end effector of seedling removal at equal intervals, such as the spreading board with 6 chutes, the structure is as image 3 Shown. The center line of each chute is extended and converges to a point O, OB, OC, OD and OB′, OC′, OD′ are symmetrical along the line OA, that is, ∠BOA=∠B’OA, ∠COA=∠C′OA, ∠DOA=∠D′OA. When the end effector for removing seedlings is expanded or closed at equal intervals, it is satisfied that the ratio of the tangent value of the angle between the centerline of each chute outward from the axis of symmetry OA and the axis of symmetry OA is 1:3:5:7 :...(2n-1), the n is the law of symmetrical distribution of half of the number of chutes. In addition, n=3, the angle relationship satisfies: tan∠BOA:tan∠COA:tan∠DOA=1:3:5.

[0017] The working process of the unfolding mechanism of the seedling removal end effector is as follows: according to the size of the plug, the number of unfolding or closing of the seedling removal end effector and the sliding space of the extension plate 6 determine the number, inclination angle and length of the chute of the extension plate 6 , For the spreading board of the end effector for unfolding or closing seedlings at equal intervals, the tangent value of the included angle between the center line of each chute and the line of symmetry is an odd ratio, starting from the line of symmetry, the ratio is 1:3:5:7...(2n -1), n ​​is half of the number of chutes distributed symmetrically. When the spreading board 6 moves in the direction of the convergence point O, the spreading board 6 pushes away the mounting frame 12, thereby unfolding the end effector of seedling removal, such as figure 2 shown in a. When the expansion joint 6 moves toward the divergence direction of the convergence point O, the expansion joint 6 folds the mounting frame 12, thereby closing the seedling removal end effector, such as figure 2 Shown in b.

[0018] The display panel 6 of the present invention can be designed with slide grooves of different shapes and sizes to achieve equal intervals, unequal intervals, one hole space, multiple holes, etc. The degree of expansion depends on the shape of the slide groove and the sliding push of the display panel 6 the amount.