A robot transplanting mechanism

Abstract

The invention discloses a robot transplanting mechanism, including a robot, a transplanting gripper and a locking and screwing mechanism; the gripper frame of the transplanting gripper part is fixed to the robot flange connecting plate, the linear guide and the electric cylinder are installed on the gripper frame, the dragging bracket is connected to the electric cylinder through a connecting rod, each group of clamping jaw mounting plates are connected into one body through the dragging bracket and the connecting plate, the clamping jaw is installed on the clamping jaw mounting plate, and each clamping jaw mounting plate is installed on the slider of the linear guide; the connecting seat of the locking and screwing mechanism is fixed on the mounting plate, the lower part of the connecting seat is connected to the locking shaft, and the upper end is connected to the reducer, the reducer and the locking servo motor are fixed to the mounting plate through the connecting plate, the mounting plate is fixed to the mounting plate of the cylinder, and the cylinder is installed on the fixed bracket. The invention is easy to operate and has high work efficiency.

Description

Technical Field

[0001] The invention relates to a crop transplanting mechanism. Background Art

[0002] In the existing crop planting, crop transplanting generally adopts the manual transplanting method, which has a large workload and low work efficiency. It needs to be further improved. Summary of the invention

[0003] The object of the present invention is to provide a robot transplanting mechanism which is easy to operate and has high working efficiency.

[0004] The technical solution of the present invention is:

[0005] A robot transplanting mechanism, characterized in that it comprises a robot, a transplanting gripper and a locking and screwing mechanism; the transplanting gripper part comprises a robot flange connecting plate connected to the robot, a gripper frame is fixed to the robot flange connecting plate, a linear guide rail and an electric cylinder are mounted on the gripper frame, a dragging bracket is connected to the electric cylinder through a connecting rod, each group of clamping jaw mounting plates are connected into one body through the dragging bracket and the connecting plate, the clamping jaws are mounted on the clamping jaw mounting plates, and each clamping jaw mounting plate is mounted on a slider of the linear guide rail;

[0006] The locking and screwing mechanism includes a connecting seat, which is fixed on a mounting plate. The lower end of the connecting seat is connected to a locking shaft and the upper end is connected to a reducer. The reducer and a locking servo motor are fixed to the mounting plate through a connecting plate. The mounting plate is fixed to a mounting plate of a cylinder, and the cylinder is mounted on a fixed bracket. The locking shaft is locked and connected with the transmission shaft under the drive of the locking servo motor. After the locking is completed, the screwing servo motor simultaneously drives the locking shaft and the transmission shaft to complete forward and reverse rotation, thereby transmitting the rotation through the transmission shaft.

[0007] The gripper frame is fixed to the robot flange connecting plate through a spacer.

[0008] The clamping jaw mounting plates are divided into 4 groups according to the rules of (1, 5, 9, 13), (2, 6, 10, 14), (3, 7, 11, 15), and (4, 8, 12, 16).

[0009] Working method: During operation, the initial state of the clamps and the clamp mounting plates is that the two adjacent clamp mounting plates are staggered left and right, so that the two clamps of each set of clamps are in an unfolded state; when the gripper takes the seedlings, the clamps are directly above the seedling pot, and when the seedlings are pushed out of the seedling pot, the clamps will close together and wrap the seedlings. After the seedlings are taken out, each set of clamps will wrap the seedlings. Before the gripper plants the seedlings, the electric cylinder will work and will stagger the two adjacent rows of seedlings according to the set program, and finally complete the planting after the seedlings are placed in the planting hole.

[0010] The invention has the advantages of convenient operation and high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0012] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0013] Figure 2 It is a structural schematic diagram of a transplanting gripper.

[0014] Figure 3 It is a structural diagram of the locking and screwing mechanism.

[0015] Figure 4 , Figure 5 , Figure 6 Schematic diagram of the gripper and the gripper mounting plate in different states.

[0016] Figure 7 , Figure 8 It is a schematic diagram of different states of the clamp and the seedling pot. Implementation

[0017] A robot transplanting mechanism includes a six-axis robot 43, a transplanting gripper 44 and a locking and screwing mechanism 45.

[0018] The transplanting gripper part includes a robot flange connecting plate 21, a spacer 22, a gripper frame 23, a linear guide rail 24, a clamping jaw mounting plate 25, a clamping jaw 26, an electric cylinder 27, a connecting rod 28, a dragging bracket 29, and a connecting plate 30; the clamping jaw 26 is mounted on the clamping jaw mounting plate 25, and each clamping jaw mounting plate 25 is mounted on the sliders of the three linear guide rails 24, such as Figure 4 The gripper mounting plates 25 are divided into 4 groups according to the rules of (1, 5, 9, 13) (2, 6, 10, 14) (3, 7, 11, 15) (4, 8, 12, 16). The gripper mounting plates 25 of each group are connected into one by a dragging bracket 29 and a connecting plate 30. The dragging bracket 29 is connected to the electric cylinder 27 through a connecting rod 28. The linear guide rail 24 and the electric cylinder 27 are both installed on the gripper frame 23. The gripper frame 23 is fixed to the robot flange connecting plate 21 through a spacer 22.

[0019] The locking and screwing mechanism includes a fixed bracket 31, a cylinder 32, a mounting plate 33, a connecting plate 34, a reducer 35, a locking servo motor 36, a connecting seat 37, a screwing servo motor 38, and a locking shaft 39; the connecting seat 37 is fixed on the mounting plate 33, the lower end of the connecting seat 37 is connected to the locking shaft 39, and the upper end is connected to the reducer 35, the reducer 35 and the locking servo motor are fixed to the mounting plate 33 through the connecting plate 34, the mounting plate 33 is fixed to the mounting plate of the cylinder 32, and the cylinder 32 is installed on the fixed bracket 31.

[0020] During operation, the state of the clamping jaw 26 and the clamping jaw mounting plate 25 is as follows: Figure 4 As shown, two adjacent clamping jaw mounting plates 25 are staggered left and right, so that the two clamping jaws of each set of clamping jaws 26 are in an unfolded state. Figure 7 As shown, when the gripper takes the seedling, the clamping claw 26 will be directly above the seedling pot 42. When the seedling is pushed out of the seedling pot, the clamping claw 26 will close together and wrap the seedling. Figure 8 As shown, this state is the state after the seedlings are taken. Each set of grippers 26 will wrap the seedlings. Before the gripper plants the seedlings, the electric cylinder will interlace the seedlings of two adjacent rows according to the set program. Figure 6 As shown, the planting is finally completed by placing the seedlings into the planting holes.

[0021] The locking shaft 39 is driven by the locking servo motor 36 to realize locking connection with the transmission shaft 41 . After the locking is completed, the servo motor 38 is turned to drive the locking shaft 39 and the transmission shaft 41 to complete forward and reverse rotation at the same time, thereby transmitting the rotation through the transmission shaft 41 .

Claims

1. A robot transplanting mechanism, characterized by: It includes a robot, a transplanting gripper and a locking and screwing mechanism; the transplanting gripper includes a robot flange connecting plate connected to the robot, a gripper frame is fixed to the robot flange connecting plate, a linear guide rail and an electric cylinder are installed on the gripper frame, a dragging bracket is connected to the electric cylinder through a connecting rod, each group of clamping jaw mounting plates are connected into one body through the dragging bracket and the connecting plate, the clamping jaws are installed on the clamping jaw mounting plates, and each clamping jaw mounting plate is installed on a slider of the linear guide rail; The locking and screwing mechanism is fixed on the gripper frame; the locking and screwing mechanism includes a connecting seat, the connecting seat is fixed on the mounting plate, the lower end of the connecting seat is connected to the locking shaft, the upper end is connected to the reducer, the reducer and the locking servo motor are fixed to the mounting plate through the connecting plate, the mounting plate is fixed to the mounting plate of the cylinder, and the cylinder is installed on the fixed bracket; the locking shaft is driven by the locking servo motor to realize the locking connection with the transmission shaft, and after the locking is completed, the screwing servo motor simultaneously drives the locking shaft and the transmission shaft to complete the forward and reverse rotation, so that the rotation is transmitted through the transmission shaft; Working method: During operation, the initial state of the clamps and the clamp mounting plates is that the two adjacent clamp mounting plates are staggered left and right, so that the two clamps of each set of clamps are in an unfolded state; when the gripper takes the seedlings, the clamps are directly above the seedling pot, and when the seedlings are pushed out of the seedling pot, the clamps will close together and wrap the seedlings. After the seedlings are taken out, each set of clamps will wrap the seedlings. Before the gripper plants the seedlings, the electric cylinder will work and will stagger the two adjacent rows of seedlings according to the set program, and finally complete the planting after the seedlings are placed in the planting hole.

2. A robot transplanting mechanism according to claim 1, characterized in that: The gripper frame is fixed to the robot flange connecting plate through a spacer.

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