[0035] Below in conjunction with embodiment, the present invention is further described.
[0036] Referring to the drawings, the present invention includes a base 1, a push rod assembly is provided on the base 1, one end of the push rod assembly is provided with a push rod mechanism that drives the push rod assembly to move, and the other end of the push rod assembly is provided with a push rod mechanism. Two sliding blocks 2 that can slide along the longitudinal direction of the base, one side of each sliding block 2 is in contact with one end of the corner component that transmits the force, and the other end of each corner component is connected to the longitudinal direction of the base 1 . The sliding guide groove block 4 is in contact, one end of the guide groove block 4 is provided with a seedling fixing assembly 20, the outer sides of the two sliding blocks 2 are provided with a reset mechanism 1, and a reset mechanism is provided between the two guide groove blocks 4. Mechanism 2, between the two sliding blocks 2 and between the two guide groove blocks 4 are provided with a channel 5 that cooperates with the ingress and egress of the push rod assembly.
[0037] The push rod assembly includes two push rod seats 6, both of which are fixed on the base 1, each of the push rod seats 6 is provided with a through slot 7, and two of the through slots are provided. A push rod main body 8 is provided between one and 7, the front end of the push rod main body 8 is provided with a push rod head 9, the push rod head 9 is provided with a groove 10, and the rear end of the push rod main body 8 is provided with a push rod head 9. Push rod attachment 11.
[0038] The slider 2 is provided with a slideway 12 and a trapezoidal block 1 13 , and the trapezoidal block 1 13 is located in the dovetail groove 1 14 of the base 1 and can slide back and forth along the dovetail groove 1 14 .
[0039] The guide groove block 4 includes a second through groove 15 and a second trapezoidal block 16 . The second trapezoidal block 16 is located in the second dovetail groove 17 of the base and can slide back and forth along the second dovetail groove 17 .
[0040] The corner assembly includes a corner 3, the corner 3 is fixed on the base 1 by a fixing bolt 18 and can rotate along the fixing bolt 18, and the two ends of the corner 3 are respectively provided with bearings 19.
[0041] The seedling fixing assembly includes a biaxial cylinder 1 21, a biaxial cylinder 2 22, a biaxial cylinder 3 23 and a biaxial cylinder 4 24, which are arranged on the angle frame. The biaxial cylinder 1 21 is connected to the biaxial cylinder 4 24, so the The two-axis cylinder 22 is connected to the two-axis cylinder three 23, one side of the angle frame 25 is provided with two seedling mechanical claws 26, one end of each fixed seedling mechanical claws 26 is connected with a rubber pad 27, each of the A notch 28 is provided on the rubber pad 27 .
[0042]The push rod mechanism adopts a uniaxial cylinder 29 , the uniaxial cylinder 29 is fixed on the base 1 through a cylinder bracket 30 , and the push rod of the uniaxial cylinder 29 is connected to the push rod attachment 11 .
[0043] The lower end of the base 1 is provided with a frame 31 .
[0044] The reset mechanism 1 includes a reset spring 1 32 and a baffle plate 33 fixed on the base 1 , and the reset mechanism 2 adopts a reset spring 2 34 .
[0045] The grafting clip includes a wire ring 35 , a grafting clip head 36 and a grafting clip tail 37 .
[0046] The invention also discloses a method for automatically pushing a circular arc grafting clip, comprising the following steps:
[0047] (1) Manually place the arc-shaped grafting clip on the slideway 12 of the slider 2, the wire ring 35 of the grafting clip is supported on the plane of the slideway 12, and the lower half of the grafting clip head 36 falls into the between the two sliders 2;
[0048] (2) The seedling fixing assembly 20 is actuated first, the biaxial cylinder 1 21 and the biaxial cylinder 2 22 shrink to align the two rubber pads 27, and then the biaxial cylinder 3 23 and the biaxial cylinder 4 24 shrink to make the notches on the two rubber pads 27 28 is docked to complete the action of fixing seedlings, and then the first, second, third, and fourth double-axis cylinders are reset respectively, and the seedling mechanical claws 26 are separated;
[0049] (3) The push rod assembly moves forward under the push of the uniaxial air cylinder 29, the groove 10 on the push rod head 9 of the push rod assembly pushes the wire ring 35 of the grafting clip, and the slopes on both sides of the push rod main body 8 are the same as the described The slider 2 interacts to push the slider 2 to move left and right. At this time, under the action of the corner 3, the slider 2 transmits the force to the guide groove block 4, so that the guide groove block 4 and the slider 2 move in the opposite direction. Block 4 clamps the tail of the grafting clip to realize the opening of the grafting clip;
[0050] (4) The grafting clamp continues to move forward, and its wire ring 35 enters the through groove 15 of the guide groove block (requires the upper surface of the slideway of the slider, the upper surface of the through groove and the center of the working position of the rubber pad on the Dingmiao Machinery to be in the same horizontal position) until it reaches the front end, that is, the grafting position. At this time, the grafting clip is in an open state and the center of the opening of the grafting clip coincides with the center of the working position of the rubber pad being grasped by the Dingmiao Machinery;
[0051] (5) The uniaxial cylinder 29 drives the slider 2 to shrink, the slider 2 and the guide groove block 4 are reset under the action of the reset spring one 32 and the reset spring two 34, and the grafting clip clamps the grafted seedlings, thus completing a pushing action.
[0052] The frame 31 includes 12 3030 aluminum profiles with four and four equal lengths, which are fastened by 3030 aluminum profiles and special bolts, and the whole is in the shape of a rectangular parallelepiped. The four 3030 corner pieces at the upper end are connected with the base 1 through screws.
[0053] The base 1 is the main carrier of the entire clip feeding mechanism, and various round holes and slot holes are machined on the base 1 for installing the key mechanism of the clip feeding. The base 1 is machined with a dovetail groove 1 14 and a dovetail groove 2 17, and two return springs are provided in the dovetail grooves 1 and 2 to assist the movement of the slider 2 and the guide groove block 4 to complete the clip feeding action; A baffle plate 33 is installed at each end of the slot 1 14. The baffle plate 33 is a 90-degree bending baffle plate. The non-working surface is machined with a round hole, which is fastened to the slot hole of the base 1 by screws. The working face assists the reset spring 1 32 to realize the reset action for the sliding block 2 .
[0054] The push rod seats 6 work in pairs on the left and right. The two push rod seats 6 are machined with slot holes, which are fastened to the slot holes of the base 1 by screws. The working surface of the push rod seats 6 is machined with a slot hole. The through slot one 7 is used to carry and restrict the push rod body 8 so that it can slide back and forth in the desired position. The position of the push rod seat 6 can be adjusted by the size of the push rod body 8, so that the gap between the push rod body 8 and the push rod seat is appropriate to ensure that the push rod body 8 can slide flexibly in the push rod seat through slot 1 7 without left and right shaking.
[0055] The push rod main body 8 is the main part of the push rod assembly. The two wings of the push rod main body 8 slide in the slideway 12 of the slider. The transformation of the left and right sliding of the slider 2. The push rod head 9 is a component connected to the front end of the push rod main body to realize the push-clamping action. A groove 10 is left at the foremost end of the push-rod, 9, which can restrict the grafting clip in it so that the push-clamping action can be completed smoothly. The push rod attachment 11 is a component used to transmit motion between the single-axis cylinder 29 and the push rod main body 8. Specifically, the push rod attachment is a U-shaped iron block with a width of about 15MM, and its rear end has a round hole. The push rods of the uniaxial cylinders 29 can be rigidly connected.
[0056] The single-axis cylinder 29 is a single-cycle double-acting cylinder, which is the power source of the clip feeding mechanism, and provides a power source for the push rod main body 8 to drive the push rod to move back and forth. The cylinder bracket 30 is used to fix the cylinder on the base 1 . Specifically, the cylinder bracket is an L aluminum profile with a width of 40MM, and its lower end is connected to the slot hole of the base through screws.
[0057] The sliders 2 are distributed in pairs on the left and right, and a trapezoidal block 13 is processed at the lower part of the slider 2, which can slide in the dovetail groove 14 of the base 1 and ensure that it does not detach from the base 1, so that the entire slider 2. The main body 8 of the push rod can move left and right on the base 1, and is reset under the action of the return spring-32 in the dovetail groove-14 of the base 1. In the upper part of the slider 2, according to the shape and characteristics of the grafting clip, a special structure is designed to accept the grafting clip and make the grafting clip open to a certain angle under the pressure of the slider 2 while moving forward, so that it can passed smoothly to the next position.
[0058] The guide groove blocks 4 are distributed in pairs on the left and right, and a trapezoidal block 2 16 is machined at the lower part of the guide groove block 4, which can slide in the dovetail groove 2 17 of the base and ensure that it does not detach from the base 1, so that the entire guide block 2 can slide. The groove block 4 can move left and right on the base 1 . The guide groove block 4 is machined with a second through groove 15, which can receive the grafting clip transmitted by the sliding block 2 so that the front end is opened and transmitted to the grafting position.
[0059] The corners 3 are distributed in pairs on the left and right, the corners 3 are fixed on the round holes of the base 1 by screws, and a bearing 19 is installed at each end of the corners 3 . The groove blocks 4 are in contact to achieve force transmission between the slider 2 and the guide groove blocks 4 . Under the action of the corner 2, the movement directions of the slider 2 and the guide groove block 4 are always opposite, which can meet the requirements of feeding clips.
[0060] The seedling fixing assembly 20 includes a 3030 angle frame 25 for supporting, a double-acting double-axis cylinder 3 23 for controlling the left-right movement of the seedling mechanical grasper, a double-axis cylinder four 24, and a double-acting double-axis cylinder 1 21 for controlling the vertical movement of the seedling mechanical grasping mechanism. , Two-axis cylinder 22, Dingmiao mechanical claw 26. The double-axis cylinder 3 23 and the double-axis cylinder 4 24 are fixed on the angle frame 25, the angle frame 25 is fixed on the base 1, the lower end of the double-axis cylinder 22 is connected to the fixed seedling mechanical grip 26, and the upper end of the double-axis cylinder 1 21 is also connected to the fixed seedling. The mechanical grip 26, specifically, the 3030 angle frame 25 can fasten the two-axis cylinder three 23 and the two-axis cylinder four 24, which control the left and right movement of the fixed seedling mechanical grip 26, under the front part of the base 1 by screws, so as to control the fixed seedling mechanical grip. The two-axis cylinder one 21 and the two-axis cylinder two 22 that move up and down are fastened to both ends of the two-axis cylinder three 23 and two-axis cylinder four 24 by screws, so that the two-axis cylinder one 21 and the two-axis cylinder two 22 are in the two-axis cylinder three. 23. The two-axis cylinder moves left and right under the driving of the four-24 piston; the left and right parts of the Dingmiao mechanical gripper 26 are respectively fastened on the pistons of the double-acting dual-axis cylinder one 21 and the two-axis cylinder two 22 that control the up and down movement of the Dingmiao mechanical gripper. The lower end of the two-axis cylinder 22 is connected to the right part of the Dingmiao mechanical grip 26, and the upper end of the double-axis cylinder 1 21 is connected to the left part of the Dingmiao mechanical grip 26, so that the Dingmiao mechanical grip 26 is connected between the double-acting double-axis cylinder 1 21 and the double-axis cylinder. The two 22 pistons move up and down under the driving of the piston (the specific structure is as follows: Figure 10 shown). Rubber pads 27 with a semi-cylindrical surface are respectively fixed at the ends of the mechanical grip for seedlings to prevent the grafted seedlings from being crushed. The seedling-fixing component 20 can achieve the function of righting and positioning the seedling to be grafted before the grafting clamp supports the seedling.
[0061] Finally, it should be noted that the above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features therein. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
