A seedling raising sponge block splitting device

Abstract

The application discloses a kind of seedling sponge block splitting device, including seedling sponge block conveying mechanism, sponge block splitting mechanism;Whole seedling sponge block is placed on sponge block conveying mechanism and transports along sponge block conveying mechanism;Sponge block conveying mechanism top is equipped with sponge block splitting mechanism, and whole seedling sponge block can be split to the splitting mechanism of conveying in place.This device can split sponge at any position of splitting line, and can also split the interval seedling block simultaneously, with the advantages of simple structure, high splitting success rate, high operation efficiency, small seedling damage and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of greenhouse horticulture equipment, in particular to an automatic splitting device for seedling sponge blocks. BACKGROUND

[0002] Seedling sponge has become one of the main ways of greenhouse seedling, and the sponge block needs to be split down for transplanting operation when the seedling develops to a certain stage. This step usually adopts manual method, which is low in efficiency and high in labor cost, and lacks corresponding stable and reliable sponge block splitting equipment.

[0003] In summary, it is of great significance to develop a sponge block splitting device with high degree of mechanical automation for the mechanization development of greenhouse horticulture. SUMMARY

[0004] The main purpose of the present application is to provide a seedling sponge block splitting device, which aims to solve the problem of lack of mechanical equipment for manual separation of sponge blocks in the prior art.

[0005] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] The sponge block conveying mechanism can drive the sponge block to feed along the conveying direction;

[0007] The sponge block splitting mechanism is arranged on the sponge block conveying mechanism and can split any sponge block in the first row of sponge blocks;

[0008] The undivided whole sponge is a small cubic sponge block with a small connection between adjacent ones, and the undivided seedling sponge block is transported on the sponge block conveying mechanism along the sponge block conveying mechanism.

[0009] The sponge block conveying mechanism comprises synchronous pulleys, a synchronous belt, a sponge support plate, a sponge stop edge, a sponge push plate, a lead screw module, a sensor, a sensor bracket, a guide rail mounting seat, a linear guide rail and a conveyor bracket. The two inner sides of the conveyor bracket are provided with synchronous pulleys and a synchronous belt, the synchronous belt is wrapped around the synchronous pulleys to play a transmission power role, the sponge support plate is connected to the synchronous belt through a synchronous belt clamp, the two sides of the sponge support plate are provided with sponge stop edges for blocking the left and right movement of the whole seedling sponge block, one side of the sponge support plate is provided with a lead screw module of an execution mechanism for pushing the whole seedling sponge block to move, the sponge push plate is installed on the sliding block of the lead screw module to continue to push the seedling sponge to the splitting position after the first row of seedling sponge is split, the guide rail mounting seat is installed above the conveyor bracket, the linear guide rail for guiding and bearing is installed above the guide rail mounting seat, the sponge support plate is installed on the linear guide rail, the sensor bracket is installed on the front side of the guide rail mounting seat, and the sensor bracket is provided with a sensor for positioning the sponge.

[0010] The sponge support plate front side is provided with a plurality of opening grooves along the conveying direction, and the opening grooves (through the sponge support plate front side) are used for the sponge block splitting mechanism to easily penetrate the sponge block downward.

[0011] The sponge block splitting mechanism comprises a splitting mechanism support, a lifting linear bearing, a lifting linear guide shaft, a lifting cylinder, a lifting floating joint, a splitting paw support, a splitting paw, a sponge pressing block, a paw moving shaft, a paw moving linear bearing, a pressing block fixing plate, a pressing plate moving shaft, a pressing plate moving shaft linear bearing, a pressing plate moving shaft fixing shaft, a compression spring and a paw moving cylinder. The lifting linear bearing is installed on the two sides above the splitting mechanism support, one end of the lifting linear guide shaft is fixed to the splitting paw support, and the lifting linear guide shaft is guided through the lifting linear bearing. The lifting cylinder is installed on the upper side of the splitting mechanism support, the cylinder shaft is connected to the splitting paw support through the lifting floating joint, and the splitting paw support is lifted. The splitting paw is fixed to one end of the paw moving shaft, the paw moving shaft is moved through the paw moving linear bearing installed on the splitting paw support, a plurality of paw moving cylinders are installed on the rear side of the splitting paw support, the cylinder shaft is connected to the paw moving shaft through the floating joint, and the paw moving power is provided. A plurality of sponge pressing blocks are fixed on the pressing block fixing plate, and are used for fixing the rear sponge of the splitting sponge row. The upper side of the pressing block fixing plate is connected to the pressing plate moving shaft, the connecting pressing plate moving shaft is guided through the pressing plate moving shaft linear bearing, the middle position is provided with a plate moving shaft fixing ring, the downward movement is limited, the compression spring passes through the connecting pressing plate moving shaft, one end is close to the plate moving shaft fixing ring, and the other end is close to the splitting paw support. The position of the pressing plate moving shaft fixing shaft can be adjusted to adjust the contact force when the sponge pressing block presses the sponge.

[0012] The splitting paw comprises a splitting paw fixing block, a paw compression spring, a compression spring limiting shaft, a hinged mounting block, a clamping rod, a steel needle fixing rod, a steel needle and a clamping rod limiting block. The splitting paw fixing block is installed on the paw moving shaft, two compression spring limiting shafts are installed on the splitting paw fixing block and the clamping rod respectively, the paw compression spring is installed on the two compression spring limiting shafts, the hinged mounting block is installed on the splitting paw fixing block, the clamping rod is hinged on the hinged mounting block and can rotate relative to the hinged mounting block, is used for clamping the sponge, the clamping rod is provided with two steel needle fixing rod side branches for limiting, the steel needle fixing rod is installed on the hinged mounting block, two steel needles are installed on the steel needle fixing rod for inserting into the sponge, and the clamping rod limiting block is installed on the splitting paw support and is provided with a groove at the front end. The groove width is greater than that of the steel needle fixing rod, the groove front end contacts the steel needle fixing rod side branch, and the position of the clamping rod is limited.

[0013] The beneficial effects of the present application are as follows:

[0014] In the technical scheme of the present application, the steel needle enters the insertion point position of the sponge block from the side of the sponge block, and then is inserted into the sponge block to split the sponge block, so as to reduce the damage to the seedlings, the whole mechanism can split any sponge block in any split row, if multiple sponge blocks need to be split, only one sponge block needs to be split between the sponge blocks, and the present application has the advantages of simple structure, high splitting success rate, high operation efficiency and the like.

[0015] The splitting paw in the present application is used for the sponge block splitting device, the paw can not clamp the sponge during the process of inserting the sponge under the steel needle through the cooperation of the compression spring, the clamping rod and the clamping rod limiting block, and can clamp the sponge during the splitting movement, so as to improve the reliability of the splitting operation. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0017] Figure 1 The complete assembly structure diagram of the embodiment of the present application is shown in the figure.

[0018] Figure 2 The sponge block conveying mechanism assembly diagram of the embodiment of the present application is shown in the figure.

[0019] Figure 3 The sponge block support plate diagram of the embodiment of the present application is shown in the figure.

[0020] Figure 4 The sponge block splitting mechanism assembly diagram of the embodiment of the present application is shown in the figure.

[0021] Figure 5 The splitting paw assembly diagram of the embodiment of the present application is shown in the figure.

[0022] In the figure: 1, sponge block conveying mechanism, 2, sponge block splitting mechanism, 3, whole breeding sponge block, 1-1, synchronous pulley, 1-2, synchronous belt, 1-3, sponge support plate, 1-4, sponge stop edge, 1-5, sponge push plate, 1-6, screw module, 1-7, sensor, 1-8, sensor support, 1-9, guide rail mounting seat, 1-10, linear guide rail, 1-11, conveyor support, 1-3-1, open slot, 2-1, splitting mechanism support, 2-2, lifting linear bearing, 2-3, lifting linear guide shaft, 2-4, lifting air cylinder, 2-5, lifting floating joint, 2-6, splitting paw support, 2-7, splitting paw, 2-8, sponge pressing block, 2-9, splitting paw moving shaft, 2-10, paw moving linear bearing, 2-11, pressing block fixing plate, 2-12, pressing plate moving shaft, 2-13, pressing plate moving shaft linear bearing, 2-14, pressing plate moving shaft fixing shaft, 2-15, compression spring, 2-16, paw moving air cylinder, 2-7-1, splitting paw fixing block, 2-7-2, paw compression spring, 2-7-3, compression spring limiting shaft, 2-7-4, hinged mounting block, 2-7-5, clamping rod, 2-7-6, steel needle fixing rod, 2-7-7, steel needle, 2-7-8, clamping rod limiting block. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0024] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0025] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0026] The implementation of the present application, functional characteristics and advantages will be further described with reference to the embodiments in conjunction with the drawings.

[0027] Embodiment one

[0028] The main purpose of the present application is to provide a seedling sponge block automatic splitting device, aiming at solving the problem of lack of mechanical equipment in sponge block separation in the prior art.

[0029] As Figure 1 shown, the overall assembly schematic diagram of the seedling sponge block splitting device provided by the embodiment of the present application is specifically comprises a sponge block conveying mechanism 1, a sponge block splitting mechanism 2, and an intact seedling sponge block 3. The intact seedling sponge block 3 is the operation object of the entire device, and is placed on the sponge block conveying mechanism 1 and transported along the sponge block conveying mechanism; the sponge block splitting mechanism 2 is arranged above the sponge block conveying mechanism 1, and can split the intact seedling sponge block conveyed to the position.

[0030] The intact seedling sponge block is placed on the sponge block conveying mechanism 1, and after being conveyed to the position where the steel needle 2-7-7 is inserted, the lifting cylinder 2-4 of the sponge block splitting mechanism moves downward, driving the steel needle 2-7-7 to insert into the sponge block to be split, the sponge pressing block 2-8 presses the sponge block behind the split sponge block downward, the claw moving cylinder 2-16 moves forward, driving the steel needle to move forward, thereby splitting the sponge block.

[0031] As Figure 2 shown, the assembly schematic diagram of the sponge block conveying mechanism 1, the sponge block conveying mechanism 1 comprises a synchronous belt pulley 1-1, a synchronous belt 1-2, a sponge support plate 1-3, a sponge blocking edge 1-4, a sponge push plate 1-5, a lead screw module 1-6, a sensor 1-7, a sensor support 1-8, a guide rail mounting seat 1-9, a linear guide rail 1-10, and a conveyor support 1-11, the two inner sides of the conveyor support 1-11 are provided with the synchronous belt pulley 1-1 and the synchronous belt 1-2, the synchronous belt 1-2 is wound around the synchronous belt pulley 1-1 to play a transmission power role, the sponge support plate 1-3 is connected to the synchronous belt 1-2 through a synchronous belt clamp, the sponge support plate 1-3 is provided with the sponge blocking edge 1-4 on both sides to block the left and right movement of the intact seedling sponge block 3, one side of the sponge support plate 1-3 is provided with the lead screw module 1-6 as an execution mechanism to push the intact seedling sponge block 3 to move, the sponge push plate 1-5 is installed on the sliding block of the lead screw module 1-6 to continue to push the seedling sponge to the splitting position after the first row of seedling sponge is split, the guide rail mounting seat 1-9 is installed above the conveyor support 1-11, the linear guide rail 1-10 for guiding and bearing is installed above the guide rail mounting seat 1-9, the sponge support plate 1-3 is installed on the linear guide rail 1-10, the guide rail mounting seat 1-9 is provided with a threaded hole on the front side surface, and the sensor support 1-8 is installed, the sensor support 1-8 is provided with the sensor for positioning the sponge, which can detect whether the seedling sponge reaches the splitting position.

[0032] First, the entire seedling sponge 3 is placed on the sponge support plate 1-3 behind the sponge block conveyor 1 and conveyed by the synchronous belt 1-2. When the sensor 1-7 receives the signal and sends the instruction to the control unit, the synchronous belt 1-2 stops moving and the seedling sponge reaches the splitting position.

[0033] like Figure 3 The diagram shows the structure of the sponge support plate 1-3. Multiple sets of opening slots 1-3-1 parallel to the conveying direction are opened on the front side of the sponge support plate 1-3. The opening slots 1-3-1 penetrate the front side of the sponge support plate 1-3. The opening slots 1-3-1 allow the steel needles 2-7-7 of the sponge block splitting mechanism 2 to easily penetrate the sponge block downwards, thus enabling forward movement and sponge splitting. The diagram also shows the number of opening slots 1-3-1 and the steel needles 2-7-7 in the sponge block splitting mechanism 2.

[0034] Furthermore, the sponge support plate 1-3 is provided with threaded holes for connecting the linear guide rail 1-10, the sponge baffle 1-4, the lead screw module 1-6, and the timing belt 1-2.

[0035] like Figure 4As shown, it is a schematic diagram of the assembly of the sponge block splitting mechanism 2, which includes splitting mechanism support 2-1, lifting linear bearing 2-2, lifting linear guide shaft 2-3, lifting cylinder 2-4, lifting floating joint 2-5, splitting paw support 2-6, splitting paw 2-7, sponge pressing block 2-8, splitting paw moving shaft 2-9, paw moving linear bearing 2-10, pressing block fixing plate 2-11, pressing plate moving shaft 2-12, pressing plate moving shaft linear bearing 2-13, pressing plate moving shaft fixing ring 2-14, compression spring 2-15 and paw moving cylinder 2-16. The splitting mechanism support 2-1 is installed on both sides of the conveying support 1-11, the lifting linear bearing 2-2 is installed on both sides above the splitting mechanism support 2-1, one end of the lifting linear guide shaft 2-3 is fixed to the splitting paw support 2-6 and realizes the guiding effect through the lifting linear bearing 2-2, the lifting cylinder 2-4 is installed on the upper side of the splitting mechanism support 2-1, the cylinder shaft is connected to the splitting paw support 2-6 through the lifting floating joint 2-5 to lift the splitting paw support 2-6, the splitting paw 2-7 is fixed to one end of the splitting paw moving shaft 2-9, the splitting paw moving shaft 2-9 realizes the movement of the splitting paw 2-7 through the paw moving linear bearing 2-10 installed on the splitting paw support 2-6, a plurality of paw moving cylinders 2-16 are installed on the back side of the splitting paw support 2-6, the cylinder shaft is connected to the splitting paw moving shaft 2-9 through the floating joint to provide the moving power, a plurality of sponge pressing blocks 2-8 are fixed on the pressing block fixing plate 2-11 to fix the sponge behind the splitting sponge row, the pressing block fixing plate 2-11 is connected to the pressing plate moving shaft 2-12 on the upper side, the connecting pressing plate moving shaft 2-12 is provided with the plate moving shaft fixing ring 2-14 at the middle position through the pressing plate moving shaft linear bearing 2-13 to limit the downward movement, the compression spring 2-15 passes through the connecting pressing plate moving shaft 2-12, one end of which is close to the plate moving shaft fixing shaft 2-14 and the other end is close to the splitting paw support 2-6, the position of the plate moving shaft fixing ring 2-14 can be adjusted to realize the adjustment of the contact force when the sponge pressing block 2-8 presses the sponge.

[0036] When the sponge block conveying mechanism 1 conveys the whole sponge block 3 to the splitting position, the lifting cylinder 2-4 of the sponge block splitting mechanism moves downward, the paw steel needle 2-7-7 is inserted into the sponge block to be split, the sponge pressing block 2-8 presses the sponge block behind the splitting sponge, the paw moving cylinder 2-16 moves forward to move the paw steel needle forward, thereby splitting the sponge block. When splitting, the sponge blocks adjacent to the splitting sponge block can be fixed by the inserted steel needle, so that the sponge block splitting mechanism can split any sponge in the splitting row, and the non-adjacent sponges can also be split at the same time.

[0037] As Figure 5As shown, the assembly schematic diagram of the split gripper 2-7 includes a split gripper fixing block 2-7-1, a gripper compression spring 2-7-2, a compression spring limiting shaft 2-7-3, a hinged mounting block 2-7-4, a clamping rod 2-7-5, a steel needle fixing rod 2-7-6, a steel needle 2-7-7, and a clamping rod limiting block 2-7-8. The split gripper fixing block 2-7-1 is mounted on the split gripper moving shaft 2-9, two compression spring limiting shafts 2-7-3 are respectively mounted on the split gripper fixing block 2-7-1 and the clamping rod 2-7-5, the two compression spring limiting shafts 2-7-3 are provided with the gripper compression spring 2-7-2, the hinged mounting block 2-7-4 is mounted on the split gripper fixing block 2-7-1, the clamping rod 2-7-5 is hinged on the hinged mounting block 2-7-4 and can rotate relative to the hinged mounting block 2-7-4, and is used for clamping the sponge. The clamping rod 2-7-5 is provided with two steel needle fixing rod side branches 2-7-5-1 for limiting. The steel needle fixing rod 2-7-6 is mounted on the hinged mounting block 2-7-4, and two steel needles 2-7-7 are mounted on the steel needle fixing rod 2-7-6 and are used for inserting into the sponge. The clamping rod limiting block 2-7-8 is mounted on the split gripper support 2-6 and is provided with a groove 2-7-8-1 at the front end. The groove width is greater than that of the steel needle fixing rod 2-7-6. The groove front end contacts the steel needle fixing rod side branch 2-7-5-1, and the position of the clamping rod 2-7-5 is limited.

[0038] In the process that the lifting cylinder 2-4 of the sponge block splitting mechanism 2 moves downward and drives the gripper steel needle 2-7-7 to insert into the sponge block to be split, the clamping rod 2-7-5 is not clamped with the sponge because the clamping rod 2-7-5 is limited by the clamping rod limiting block 2-7-8. In the process that the gripper moving cylinder 2-16 moves forward and drives the gripper steel needle to move forward, the clamping rod 2-7-5 is separated from the clamping rod limiting block 2-7-8, and rotates under the action of the gripper compression spring 2-7-2 to achieve the clamping effect on the split sponge and prevent the split sponge from falling.

[0039] In the embodiment, one split gripper 2-7 includes two steel needles 2-7-7, which are needle-shaped. The steel needles 2-7-7 are inserted into the sponge at positions on both sides of the front position of the sponge block. Considering that the performance of different batches of sponge blocks is different, the insertion position, diameter, and insertion depth of the steel needles can be changed according to the operation effect.

[0040] In the example, the actions of the cylinders can be controlled by electromagnetic valves. Each cylinder is provided with a position detection switch to facilitate the controller to perform corresponding logical control according to the action position of the cylinder. The controller can select an embedded controller or a PLC according to the actual situation.

[0041] In the example, all the cylinders are in the retracted state.

[0042] The specific working process of the whole device of the present application when starting to run is as follows:

[0043] (1) The sponge support plate 1-3 of the sponge block conveying mechanism 1 carries the whole seedling sponge 3 to be conveyed forward, and the sponge block conveying mechanism 1 stops moving when the sensor 1-7 detects the sponge block;

[0044] (2) The lifting cylinder 2-4 of the sponge block splitting mechanism 2 moves downward, the pawl steel needle 2-7-7 is inserted into the sponge block to be split downward, the sponge pressing block 2-8 presses the sponge block behind the split sponge downward, the pawl moving cylinder 2-16 moves forward, and the pawl steel needle moves forward, so as to split the sponge block. When splitting, the sponge blocks adjacent to the split sponge block can be fixed by the inserted steel needle, so that the sponge block splitting mechanism can split any sponge in the split row, and the non-adjacent sponges can also be split at the same time.

[0045] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like within the concept of the present application, using the content of the present application specification and drawings, is included in the patent protection scope of the present application.

Claims

1. A seedling sponge block splitting device, characterized in that: Specifically, it includes a sponge block conveying mechanism (1) and a sponge block splitting mechanism (2); the whole seedling sponge block (3) is placed on the sponge block conveying mechanism (1) and transported along the sponge block conveying mechanism; the sponge block splitting mechanism (2) is provided above the sponge block conveying mechanism (1), and the sponge block splitting mechanism (2) can split the whole seedling sponge block that has been transported to the position; The sponge block conveying mechanism (1) includes a synchronous pulley (1-1), a synchronous belt (1-2), a sponge support plate (1-3), a sponge sidewall (1-4), a sponge pusher plate (1-5), a screw module (1-6), a sensor (1-7), a sensor bracket (1-8), a guide rail mounting base (1-9), a linear guide rail (1-10), and a conveyor bracket (1-11). The conveyor bracket (1-11) has synchronous pulleys (1-1) and a synchronous belt (1-2) on its two inner sides. The synchronous belt (1-2) surrounds the synchronous pulley (1-1) and transmits power. The sponge support plate (1-3) is connected to the synchronous belt (1-2) via a synchronous belt clamp. The sponge support plate (1-3) has two sides equipped with barriers to prevent the entire seedling sponge block (3). The sponge sidewall (1-4) moves left and right. The sponge support plate (1-3) is provided with an actuator screw module (1-6) on one side to push the whole seedling sponge block (3) to move. The sponge push plate (1-5) is installed on the slider of the screw module (1-6) to continue pushing the seedling sponge to the splitting position after the first row of seedling sponge is split. The guide rail mounting seat (1-9) is installed above the conveyor bracket (1-11). The guide rail mounting seat (1-9) is installed with a guide and load-bearing linear guide rail (1-10). The sponge support plate (1-3) is installed on the linear guide rail (1-10). The guide rail mounting seat (1-9) is installed with a sensor bracket (1-8) on the front side of the conveyor. The sensor bracket (1-8) is provided with a sensor for positioning the sponge. The sponge support plate (1-3) has multiple sets of opening slots (1-3-1) parallel to the conveying direction on its front side, and the opening slots (1-3-1) penetrate the front side of the sponge support plate (1-3). The opening slots (1-3-1) are used to make it easier for the sponge block splitting mechanism (2) to penetrate the sponge block downwards. The sponge block splitting mechanism (2) includes a splitting mechanism bracket (2-1), a lifting linear bearing (2-2), a lifting linear guide shaft (2-3), a lifting cylinder (2-4), a lifting floating joint (2-5), a splitting gripper bracket (2-6), a splitting gripper (2-7), a sponge pressing block (2-8), a splitting gripper moving shaft (2-9), a gripper moving linear bearing (2-10), a pressing block fixing plate (2-11), a pressing plate moving shaft (2-12), a pressing plate moving shaft linear bearing (2-13), and a pressing plate moving shaft fixing shaft (2-14). 2-14), compression spring (2-15) and gripper moving cylinder (2-16); the splitting mechanism bracket (2-1) is installed on both sides of the conveying bracket (1-11), the lifting linear bearing (2-2) is installed on both sides above the splitting mechanism bracket (2-1), one end of the lifting linear guide shaft (2-3) is fixed to the splitting gripper bracket (2-6), and the lifting linear bearing (2-2) realizes the guiding function, the lifting cylinder (2-4) is installed on the upper side of the splitting mechanism bracket (2-1), and the cylinder shaft is connected to the splitting gripper bracket (2-6) through the lifting floating joint (2-5). A splitting gripper support (2-6) is used to lift the splitting gripper support (2-6). The splitting gripper (2-7) is fixed to one end of the splitting gripper moving shaft (2-9). The splitting gripper moving shaft (2-9) moves the splitting gripper (2-7) via a gripper moving linear bearing (2-10) installed on the splitting gripper support (2-6). Multiple gripper moving cylinders (2-16) are installed on the rear side of the splitting gripper support (2-6). The cylinder shafts are connected to the splitting gripper moving shaft (2-9) via floating joints to provide moving power. Multiple sponge presses... Block (2-8) is fixed on the pressure block fixing plate (2-11) to fix the back sponge of the split sponge row. The upper side of the pressure block fixing plate (2-11) is connected to the pressure plate moving shaft (2-12). The pressure plate moving shaft (2-12) is connected through the pressure plate moving shaft linear bearing (2-13). A plate moving shaft fixing ring (2-14) is provided in the middle position to restrict downward movement. A compression spring (2-15) passes through the pressure plate moving shaft (2-12), with one end next to the plate moving shaft fixing ring (2-14) and the other end next to the splitting gripper bracket (2-6). The disassembly gripper (2-7) includes a disassembly gripper fixing block (2-7-1), a gripper compression spring (2-7-2), a compression spring limiting shaft (2-7-3), a hinge mounting block (2-7-4), a clamping rod (2-7-5), a steel needle fixing rod (2-7-6), a steel needle (2-7-7), and a clamping rod limiting block (2-7-8). The disassembly gripper fixing block (2-7-1) is mounted on the disassembly gripper moving shaft (2-9). Two compression spring limiting shafts (2-7-3) are respectively mounted on the disassembly gripper fixing block (2-7-1) and the clamping rod (2-7-5). Gripper compression springs (2-7-2) are mounted on the two compression spring limiting shafts (2-7-3). The hinge mounting block (2-7-4) is mounted on the disassembly gripper fixing block (2-7-1). The clamping rod (2-7-5) is hinged to the hinge mounting block (2-7-4) and can rotate relative to the hinge mounting block (2-7-4) to clamp the sponge. The clamping rod (2-7-5) is provided with two steel needle fixing rod side branches (2-7-5-1) for limiting the position. The steel needle fixing rod (2-7-6) is installed on the hinge mounting block (2-7-4), and two steel needles (2-7-7) are installed on the steel needle fixing rod (2-7-6) for insertion into the sponge. The clamping rod limiting block (2-7-8) is installed on the splitting gripper bracket (2-6) and has a groove (2-7-8-1) at the front end. The groove width is greater than that of the steel needle fixing rod (2-7-6). The front end of the groove contacts the steel needle fixing rod side branch (2-7-5-1) to limit the position of the clamping rod (2-7-5).

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