A radial curve spacing adjustment device for leafy vegetable hydroponic transplanter

Abstract

The present invention relates to a radial curve spacing adjustment device for a leaf vegetable hydroponic transplanter, comprising a transfer mechanism, a spacing adjustment mechanism, and a transplanting manipulator, wherein the spacing adjustment mechanism can reciprocate linearly on the transfer mechanism; the transplanting manipulator can reciprocate on the spacing adjustment mechanism; the transfer mechanism comprises a transfer cylinder, a transfer frame, a transfer joint, a transfer guide rail, and a transfer slider, wherein the transfer cylinder is fixed at the end of the transfer frame, the piston rod end of the transfer cylinder is connected to the spacing adjustment frame through the transfer joint, and mutually parallel transfer guide rails are fixed on the transfer frame, and the spacing adjustment frame is slidably connected to the transfer guide rails through the transfer slider. The advantages are: the transplanting spacing of the transplanting manipulator is adjusted by the transfer mechanism and the spacing adjustment mechanism, and the transplanting manipulator is sent to a designated transplanting position.

Description

Technical Field

[0001] The invention belongs to the field of transplanting machinery and relates to a radial curve spacing adjustment device for a leaf vegetable hydroponic transplanting machine. Background Art

[0002] my country is the country with the largest vegetable production in the world, with an annual vegetable output accounting for about 60% of the world's total annual production, of which leafy vegetables account for about 1 / 3 of the total annual vegetable production. The living environment of leafy vegetables plays a vital role in their growth, and it is widely believed that hydroponic leafy vegetables have a higher yield. However, when using mechanical automation devices to hydroponically transplant leafy vegetables, the spacing between each leafy vegetable in the plug tray is different from the spacing between the hydroponic tube culture holes. It is necessary to adjust the spacing between the transplanting manipulators to adapt to the changes in the spacing between the plug tray and the hydroponic tube. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter, which can realize the three functions of seedling extraction, seedling transfer and seedling spacing adjustment, and can realize the reciprocating rapid and efficient transplanting of leafy vegetable seedlings, reduce the cost of leafy vegetable hydroponic transplanting, and is conducive to the large-scale production of leafy vegetables.

[0004] To achieve the above object, the present invention is implemented through the following technical solutions:

[0005] A radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter comprises a transfer mechanism, a spacing adjustment mechanism, and a transplanting manipulator, wherein the spacing adjustment mechanism can reciprocate linearly on the transfer mechanism; and the transplanting manipulator can reciprocate on the spacing adjustment mechanism.

[0006] The transfer mechanism includes a transfer cylinder, a transfer frame, a transfer joint, a transfer guide rail, and a transfer slider. The transfer cylinder is fixed to the end of the transfer frame, and the end of the piston rod of the transfer cylinder is connected to the spacing adjustment frame through the transfer joint. The transfer frame is fixed with transfer guide rails parallel to each other, and the spacing adjustment frame is slidably connected to the transfer guide rails through the transfer slider.

[0007] The spacing adjustment mechanism includes a spacing adjustment cylinder, a spacing adjustment frame, a spacing adjustment guide rail, a spacing adjustment plate, a spacing adjustment slider, and a transplanting guide rail. The spacing adjustment cylinder is fixed to the end of the spacing adjustment frame, the piston rod of the spacing adjustment cylinder is connected to the spacing adjustment plate through a spacing adjustment cylinder joint, and the mutually parallel spacing adjustment guide rails are fixed to the spacing adjustment frame. The spacing adjustment guide rail and the transfer guide rail are arranged perpendicular to each other, the spacing adjustment plate is slidably connected to the spacing adjustment guide rail through the spacing adjustment slider, and the spacing adjustment cylinder drives the spacing adjustment plate to reciprocate on the spacing adjustment guide rail; two mutually parallel transplanting guide rails are fixed to the spacing adjustment frame, and a plurality of transplanting sliders are slidably connected to the transplanting guide rails, and the transplanting guide rail and the transfer guide rail are arranged parallel to each other;

[0008] The transplanting manipulator comprises a sleeve fixing plate, a mounting plate, a manipulator cylinder, a pointer fixing plate, a pointer, and a sleeve. The manipulator cylinder is fixedly connected to a plurality of pointers through the pointer fixing plate. The piston rod of the manipulator cylinder is fixedly connected to the sleeve fixing plate. The bottom of the sleeve fixing plate is fixedly connected with a sleeve. The pointer can be inserted into the corresponding sleeve under the drive of the manipulator cylinder; the sleeve fixing plate is fixed with a mounting plate. The sleeve fixing plate and the mounting plate are respectively fixedly connected to two transplanting sliders. The two transplanting sliders are respectively slidably connected to two transplanting guide rails; the top of the sleeve fixing plate is fixed with a spacing adjustment column fixing plate. The spacing adjustment column is fixed on the spacing adjustment column fixing plate. The top of the spacing adjustment column cooperates with the spacing adjustment plate through a spacing adjustment bearing;

[0009] The spacing adjustment plate is provided with a plurality of radial curved spacing adjustment grooves, and the lateral spacing between the lowermost and uppermost positions of two adjacent spacing adjustment grooves is equal; the spacing adjustment bearing can slide in the spacing adjustment groove.

[0010] The plane tracks of the radial curved spacing adjustment grooves are all 1 / 6 to 1 / 4 elliptical.

[0011] The transfer cylinder is fixed to the end of the transfer frame through a transfer fixing plate.

[0012] A transfer connection block is fixed to the end of the spacing adjustment frame, and the transfer connection block is connected to the transfer joint.

[0013] A spacing adjustment fixing plate is fixed at the bottom of the spacing adjustment frame, and the spacing adjustment fixing plate is fixedly connected to the transfer sliding block.

[0014] A spacing adjustment cylinder fixing plate is fixed to the end of the spacing adjustment frame, and the spacing adjustment cylinder is fixed to the spacing adjustment frame through the spacing adjustment cylinder fixing plate.

[0015] The bottoms of both ends of the spacing adjustment plate are fixedly connected to the spacing adjustment sliding blocks.

[0016] The transplanting guide rail is fixed in the spacing adjustment frame through the spacing adjustment beam.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The radial curve spacing adjustment device of the leafy vegetable hydroponic transplanter adjusts the transplanting spacing of the transplanting manipulator through the transfer mechanism and the spacing adjustment mechanism, and sends the transplanting manipulator to the designated transplanting position; the present invention is the core device of the leafy vegetable hydroponic transplanter, which can ensure the efficient, stable and continuous operation of the hydroponic transplanter and increase the yield of leafy vegetables. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a top view of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the present invention.

[0021] Figure 3 It is a three-dimensional structural schematic diagram of the transfer mechanism.

[0022] Figure 4 It is a structural schematic diagram of the spacing adjustment mechanism.

[0023] Figure 5 This is a schematic diagram of the structure of the transplanting robot.

[0024] Figure 6 It is a structural schematic diagram of the spacing adjustment plate.

[0025] Figure 7 Schematic diagram of the spacing adjustment process of the present invention Figure 1 .

[0026] Figure 8 Schematic diagram of the spacing adjustment process of the present invention Figure 2 .

[0027] Fig. 9 Schematic diagram of the working process of the transplanting robot Figure 1 .

[0028] Fig.10 Schematic diagram of the working process of the transplanting robot Figure 2 .

[0029] In the figure: 1-transfer mechanism 2-distance adjustment mechanism 3-transplanting manipulator 4-hydroponic tube 5-hole tray

[0030] 11-transfer cylinder 12-transfer fixed plate 13-transfer frame 14-transfer joint 15-transfer connection block 16-transfer guide rail 17-transfer slider 18-spacing adjustment fixed plate

[0031] 21- Spacing adjustment cylinder 22- Spacing adjustment cylinder fixing plate 23- Spacing adjustment frame 24- Spacing adjustment cylinder joint 25- Spacing adjustment plate 26- Spacing adjustment guide rail 28- Spacing adjustment beam 29- Transplanting guide rail 210- Transplanting slide block 211- Spacing adjustment groove

[0032] 31 - manipulator cylinder 32 - pointer fixing plate 33 - pointer 34 - sleeve 35 - sleeve fixing plate 36 - mounting plate 37 - spacing adjustment column fixing plate 38 - spacing adjustment column 39 - spacing adjustment bearing 310 - gasket. DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with the accompanying drawings, but it should be noted that the implementation of the present invention is not limited to the following embodiments.

[0034] See Figure 1-Figure 10 A radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter comprises a transfer mechanism 1, a spacing adjustment mechanism 2, and a transplanting manipulator 3. The spacing adjustment mechanism 2 can reciprocate linearly on the transfer mechanism 1; the transplanting manipulator 3 ( Figure 1 Shown are six transplanting robots 3) that can reciprocate on the spacing adjustment mechanism 2.

[0035] See Figure 1-Figure 3 The transfer mechanism 1 includes a transfer cylinder 11, a transfer frame 13, a transfer joint 14, a transfer guide rail 16, and a transfer slider 17. The transfer cylinder 11 is fixed to the end of the transfer frame 13. The piston rod end of the transfer cylinder 11 is connected to the spacing adjustment frame 23 through the transfer joint 14. The transfer frame 13 is fixed with transfer guide rails 16 parallel to each other. The spacing adjustment frame 23 is slidably connected to the transfer guide rails 16 through the transfer slider 17. The transfer cylinder 11 is fixed to the end of the transfer frame 13 through the transfer fixing plate 12. A transfer connection block 15 is fixed to the end of the spacing adjustment frame 23, and the transfer connection block 15 is connected to the transfer joint 14. A spacing adjustment fixing plate 18 is fixed to the bottom of the spacing adjustment frame 23, and the spacing adjustment fixing plate 18 is fixedly connected to the transfer slider 17.

[0036] See Figure 4 , Figure 6The spacing adjustment mechanism 2 includes a spacing adjustment cylinder 21, a spacing adjustment frame 23, a spacing adjustment guide rail 26, a spacing adjustment plate 25, a spacing adjustment slider 27, and a transplanting guide rail 29. The spacing adjustment cylinder 21 is fixed to the end of the spacing adjustment frame 23. The piston rod of the spacing adjustment cylinder 21 is connected to the spacing adjustment plate 25 through a spacing adjustment cylinder joint 24. The mutually parallel spacing adjustment guide rails are fixed to the spacing adjustment frame 23. The spacing adjustment guide rail and the transfer guide rail 16 are arranged perpendicular to each other. The spacing adjustment plate 25 is slidably connected to the spacing adjustment guide rail 26 through the spacing adjustment slider 27. The spacing adjustment cylinder 21 drives the spacing adjustment plate 25 to reciprocate on the spacing adjustment guide rail 26; two mutually parallel transplanting guide rails 29 are fixed to the spacing adjustment frame 23, and a plurality of transplanting sliders 210 are slidably connected to the transplanting guide rail 29 ( Figure 4 Six transplanting slide blocks 210 are shown, and the transplanting guide rails 29 and the transfer guide rails 16 are arranged parallel to each other; a spacing adjustment cylinder fixing plate 22 is fixed to the end of the spacing adjustment frame 23, and the spacing adjustment cylinder 21 is fixed to the spacing adjustment frame 23 through the spacing adjustment cylinder fixing plate 22. The transplanting guide rails 29 are fixed in the spacing adjustment frame 23 through the spacing adjustment beams 28. The bottoms of both ends of the spacing adjustment plate 25 are fixedly connected to the spacing adjustment slide blocks 27.

[0037] See Figure 2 , Figure 5 , Fig. 9 , Fig.10The transplanting manipulator 3 includes a sleeve fixing plate 35, a mounting plate 36, a manipulator cylinder 31, a pointer fixing plate 32, a pointer 33, and a sleeve 34. The manipulator cylinder 31 is fixedly connected to a plurality of pointers 33 through the pointer fixing plate 32. The piston rod of the manipulator cylinder 31 is fixedly connected to the sleeve fixing plate 35. The sleeve fixing plate 35 is fixedly connected to the bottom with a sleeve 34. The pointer 33 can be inserted into the corresponding sleeve 34 under the drive of the manipulator cylinder 31. The mounting plate 36 is fixed on the sleeve fixing plate 35. The sleeve fixing plate 35 and the mounting plate 36 are respectively fixedly connected to the two transplanting sliders 210. The two transplanting sliders 210 are respectively connected to the two transplanting guide rails 2 9 sliding connection; a spacing adjustment column 38 fixing plate 37 is fixed on the top of the sleeve fixing plate 35, and a spacing adjustment column 38 is fixed on the spacing adjustment column 38 fixing plate 37, and the top of the spacing adjustment column 38 cooperates with the spacing adjustment plate 25 through the spacing adjustment bearing 39; a plurality of radial curved spacing adjustment grooves 211 are provided on the spacing adjustment plate 25 (the spacing adjustment grooves 211 correspond to the number of the transplanting manipulator 3, which is 6 grooves), and the spacing between the spacing adjustment grooves 211 gradually changes from the smallest at the top to the largest at the bottom, and the lateral spacing between the bottom and top positions of two adjacent spacing adjustment grooves 211 is equal; the spacing adjustment bearing 39 can slide in the spacing adjustment groove 211. The spacing adjustment bearing 39 can drive the transplanting manipulator 3 to reciprocate along the trajectory of the spacing adjustment groove 211. The plane trajectory of the radial curved spacing adjustment groove 211 is 1 / 6 to 1 / 4 elliptical.

[0038] like Figure 7 As shown, the radial curve spacing adjustment device of the leafy vegetable hydroponic transplanter is in an initial state, the transplanting manipulator 3 is at the end with a larger spacing of the spacing adjustment groove 211, the initial spacing between adjacent transplanting manipulators 3 is equal and larger, and the spacing is equal to the center distance between two adjacent hydroponic tubes 4, and the transplanting manipulator 3 is aligned with the culture holes on the hydroponic tube 4; when the device takes seedlings from the plug tray 5 and needs to adjust the spacing between the transplanting manipulators 3, the spacing adjustment cylinder 21 is actuated to push the spacing adjustment plate 25 forward, and at the same time, the radial curve spacing adjustment groove 211 on the spacing adjustment plate 25 moves the transplanting manipulator 3 along the trajectory of the spacing adjustment groove 211 in the left and right directions through the spacing adjustment bearing 39, and the transplanting manipulator 3 is adjusted to Figure 8 At the position shown, the spacing between adjacent transplanting manipulators 3 is equal and small, and the spacing is equal to the center distance between two adjacent culture holes in the hole tray 5, and the transplanting manipulator 3 is aligned with the culture holes on the hole tray 5. Since the plane trajectory equations of the six radial curved spacing adjustment grooves 211 are all The constant a is the major axis radius of the ellipse, and the constant b is the minor axis radius of the ellipse. The constants a and b can be set according to the design size of the device. The pressure angle between the spacing adjustment bearing 39 and the radial curve spacing adjustment groove 211 during the movement is small, the friction force on the spacing adjustment bearing 39 is small, and the acceleration mutation is small, which can ensure that the spacing adjustment bearing 39 has a long service life and effectively suppress the vibration problem during the transplanting process.

[0039] In the above process, the initial state of the transplanting robot 3 is as follows: Fig. 9 As shown, the transplanting cylinder is in working state, at this time, the four pointers 33 present a large angle, and the transplanting robot 3 is in an open state; when the transplanting robot 3 takes seedlings from the hole tray 5, the transplanting cylinder returns to its original position, at this time, the four pointers 33 present a smaller angle under the restriction of the sleeve, and the transplanting robot 3 is in a seedling taking state.

[0040] The present invention is a core device of a leaf vegetable hydroponic transplanter, which can ensure that the hydroponic transplanter operates efficiently, stably and continuously, thereby increasing the yield of leaf vegetables.

Claims

1. A radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter, characterized in that: It includes a transfer mechanism, a spacing adjustment mechanism, and a transplanting manipulator, wherein the spacing adjustment mechanism can reciprocate linearly on the transfer mechanism; and the transplanting manipulator can reciprocate on the spacing adjustment mechanism; The transfer mechanism includes a transfer cylinder, a transfer frame, a transfer joint, a transfer guide rail, and a transfer slider. The transfer cylinder is fixed to the end of the transfer frame, and the end of the piston rod of the transfer cylinder is connected to the spacing adjustment frame through the transfer joint. The transfer frame is fixed with transfer guide rails parallel to each other, and the spacing adjustment frame is slidably connected to the transfer guide rails through the transfer slider. The spacing adjustment mechanism includes a spacing adjustment cylinder, a spacing adjustment frame, a spacing adjustment guide rail, a spacing adjustment plate, a spacing adjustment slider, and a transplanting guide rail. The spacing adjustment cylinder is fixed to the end of the spacing adjustment frame, the piston rod of the spacing adjustment cylinder is connected to the spacing adjustment plate through a spacing adjustment cylinder joint, and the mutually parallel spacing adjustment guide rails are fixed to the spacing adjustment frame. The spacing adjustment guide rail and the transfer guide rail are arranged perpendicular to each other, the spacing adjustment plate is slidably connected to the spacing adjustment guide rail through the spacing adjustment slider, and the spacing adjustment cylinder drives the spacing adjustment plate to reciprocate on the spacing adjustment guide rail; two mutually parallel transplanting guide rails are fixed to the spacing adjustment frame, and a plurality of transplanting sliders are slidably connected to the transplanting guide rails, and the transplanting guide rail and the transfer guide rail are arranged parallel to each other; The transplanting manipulator comprises a sleeve fixing plate, a mounting plate, a manipulator cylinder, a pointer fixing plate, a pointer, and a sleeve. The manipulator cylinder is fixedly connected to a plurality of pointers through the pointer fixing plate. The piston rod of the manipulator cylinder is fixedly connected to the sleeve fixing plate. The bottom of the sleeve fixing plate is fixedly connected with a sleeve. The pointer can be inserted into the corresponding sleeve under the drive of the manipulator cylinder; the sleeve fixing plate is fixed with a mounting plate. The sleeve fixing plate and the mounting plate are respectively fixedly connected to two transplanting sliders. The two transplanting sliders are respectively slidably connected to two transplanting guide rails; the top of the sleeve fixing plate is fixed with a spacing adjustment column fixing plate. The spacing adjustment column is fixed on the spacing adjustment column fixing plate. The top of the spacing adjustment column cooperates with the spacing adjustment plate through a spacing adjustment bearing; The spacing adjustment plate is provided with a plurality of radial curved spacing adjustment grooves, and the lateral spacing between the lower and upper ends of two adjacent spacing adjustment grooves is equal; the spacing adjustment bearing can slide in the spacing adjustment groove.

2. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: The plane tracks of the radial curved spacing adjustment grooves are all 1 / 6 to 1 / 4 elliptical.

3. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: The transfer cylinder is fixed to the end of the transfer frame through a transfer fixing plate.

4. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: A transfer connection block is fixed to the end of the spacing adjustment frame, and the transfer connection block is connected to the transfer joint.

5. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: A spacing adjustment fixing plate is fixed at the bottom of the spacing adjustment frame, and the spacing adjustment fixing plate is fixedly connected to the transfer sliding block.

6. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: A spacing adjustment cylinder fixing plate is fixed to the end of the spacing adjustment frame, and the spacing adjustment cylinder is fixed to the spacing adjustment frame through the spacing adjustment cylinder fixing plate.

7. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: The bottoms of both ends of the spacing adjustment plate are fixedly connected to the spacing adjustment sliding blocks.

8. The radial curve spacing adjustment device for a leafy vegetable hydroponic transplanter according to claim 1, characterized in that: The transplanting guide rail is fixed in the spacing adjustment frame through the spacing adjustment beam.

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