A soil separating and seedling taking integrated mechanism

Abstract

A kind of mechanism of separating soil and taking seedling integrally belongs to agricultural machinery field, mechanism is composed of moving module, electric gripper and end effector;Moving module is composed of guide rail, ball screw, mounting bracket, servo motor and sliding block;Guide rail is fixedly arranged between two mounting brackets, ball screw is rotatably arranged at one side of guide rail, the top of ball screw is drivingly connected with servo motor, sliding block forms screw transmission pair with ball screw and is connected with guide rail to form sliding pair.The electric gripper and end effector are driven by the moving module to reciprocate up and down, the opening and closing movement of seedling tray and soil separating tray is realized by the electric gripper, the separating soil operation and the clamping of seedling can be completed, and the operation efficiency is improved.The reverse idle stroke and climbing phenomenon are reduced, the transmission is more stable, after the seedling tray is closed, the hollow cylinder and hollow hemisphere with large space are formed inside, which can reduce the damage to seedling root system.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and relates to a seedling auxiliary mechanism, specifically an integrated grasping mechanism that enables convenient soil separation and seedling retrieval. Background Technology

[0002] With the further development of agriculture in my country, pot-planting technology has been widely used, enabling seedlings to effectively avoid the impact of severe weather such as low temperatures and strong winds, greatly improving the survival rate and yield. Currently, seedling collection still requires manual labor, and convenient seedling collection facilities are lacking.

[0003] Chinese patent application CN201821591013.0 discloses a seedling-grabbing device for a transplanter. This device uses a seedling-grabbing spindle to rotate the left and right frame discs, causing each seedling-grabbing guide shaft to rotate around the spindle. Simultaneously, a seedling shaft drive device drives the seedling shaft drive component and the seedling-grabbing guide shafts to deflect intermittently. This, combined with a pneumatic switch, activates the seedling claw cylinder to perform the grasping action of the seedlings in the pot. However, the above device has a problem: the grasping function requires the seedlings to be planted in the pot beforehand, thus it can only complete the seedling-grabbing task under specific conditions. For seedlings planted directly in the field soil, the mechanism lacks a soil-separating function and cannot directly grasp the seedlings. Manual soil separation and transplanting of the seedlings into the pot are required, resulting in a large workload and high labor intensity during the seedling-grabbing process. Therefore, it is necessary to design a convenient integrated soil-separating and seedling-grabbing mechanism that can directly grasp seedlings in the field soil. Summary of the Invention

[0004] The purpose of this invention is to address the problems of current seedling picking devices, which are only suitable for picking up seedlings in pots and cannot directly pick up seedlings in field soil, requiring manual soil separation. This invention proposes an integrated soil separation and seedling picking mechanism that can separate the soil, pick up the seedlings, and reduce damage to the seedling roots.

[0005] The integrated soil-separating and seedling-harvesting mechanism provided in this application adopts the following technical solution:

[0006] A soil-separating and seedling-collecting integrated mechanism, characterized in that: the mechanism consists of a moving module, an electric gripper, and an end effector;

[0007] The moving module consists of a guide rail, a ball screw, a mounting bracket, a servo motor, and a slider. The guide rail is fixedly disposed between two mounting brackets. The ball screw is rotatably disposed on one side of the guide rail. The top of the ball screw is connected to the servo motor for driving. The slider and the ball screw form a helical transmission pair and are connected to the guide rail to form a sliding pair.

[0008] The electric gripper is fixedly mounted on the side of the slider;

[0009] The end effector is composed of a mounting plate, a seedling tray and a soil separating tray; the mounting plate is fixedly connected to the fingers at the end of the electric clamping jaw, the seedling tray is fixedly arranged below the mounting plate, and the soil separating tray is fixedly connected to the outer side of the seedling tray.

[0010] The soil separating tray reciprocally moves up and down under the action of the moving module, and the seedling tray reciprocally opens and closes under the action of the electric clamping jaw.

[0011] According to the above technical scheme, the electric clamping jaw and the end effector are driven by the moving module to vertically reciprocate, the seedling tray on the end effector is opened by the electric clamping jaw, the end effector is driven by the moving module to move downward, the soil around the seedlings is separated by the soil separating tray, the end effector is driven by the moving module to move to a specified position, and the seedling tray is closed by the electric clamping jaw, so that the seedlings are gripped.

[0012] Further, the two ends of the ball screw are mounted on the mounting bracket through bearings.

[0013] According to the above technical scheme, the ball screw is stably supported by the bearings at the two ends and forms rotary motion relative to the mounting bracket, thereby reducing the friction resistance of the ball screw during rotation, and ensuring the motion accuracy and stability of the ball screw.

[0014] Further, the output shaft of the servo motor is drivingly connected to the ball screw through a coupling.

[0015] According to the above technical scheme, the ball screw is directly driven by the servo motor to form forward and reverse rotation, so that the transmission efficiency and accuracy are high, there is no idle stroke in reverse rotation, the motion is stable, and the crawling phenomenon is reduced.

[0016] Further, the number of the mounting plates, the seedling trays and the soil separating trays on the end effector is two, and they are symmetrically arranged on the two fingers of the electric clamping jaw.

[0017] According to the above technical scheme, the symmetrically arranged seedling trays can be opened and closed, which is beneficial to the gripping of the seedlings, and the symmetrically arranged soil separating trays can be opened and closed, which is beneficial to the soil separating operation.

[0018] Further, each seedling tray is a combination structure of a 1 / 2 hollow cylindrical body and a 1 / 4 hollow spherical body, and the hollow spherical body is fixed to the bottom of the hollow cylindrical body.

[0019] According to the above technical scheme, a hollow cylindrical body and a hollow hemisphere are formed inside the seedling tray after the seedling tray is closed, and the large internal space can reduce the damage to the root system of the seedlings.

[0020] Further, each soil separating tray is a 1 / 2 inverted conical cylindrical structure, and a gap is left between the two soil separating trays after the seedling tray is closed.

[0021] By adopting the technical scheme, the soil separating disc with the inverted conical cylinder structure is easier to be inserted into the soil, and a gap is left between the two soil separating discs after the seedling disc is closed, so that the seedling disc can avoid the seedlings during the soil separating operation, and the seedling damage can be effectively prevented.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] 1. The present application has simple structure and clear movement working principle. The structure combining the ball screw and the servo motor reduces the reverse idle stroke and the climbing phenomenon, and the transmission is more stable, so that the end effector can obtain higher transmission efficiency and transmission accuracy.

[0024] 2. In the present application, the movable module drives the electric clamping jaw and the end effector to move up and down reciprocally, and the electric clamping jaw realizes the opening and closing movement of the seedling disc and the soil separating disc. The soil separating operation and the clamping of the seedlings can be completed, and the seedlings in the field soil can be directly clamped without manual soil separating, so that the operation efficiency is improved.

[0025] 3. In the present application, the hollow cylinder and the hollow hemisphere formed in the seedling disc after the seedling disc is closed can reduce the damage to the seedling roots. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0027] Figure 2 It is a schematic diagram of the movable module structure in the present application.

[0028] Figure 3 It is a schematic diagram of the electric clamping jaw structure in the present application.

[0029] Figure 4 It is a schematic diagram of the end effector structure in the present application.

[0030] In the figure: movable module 100, electric clamping jaw 200, end effector 300, guide rail 101, ball screw 102, mounting bracket 103, servo motor 104, sliding block 105, mounting plate 301, seedling disc 302, soil separating disc 303. DETAILED DESCRIPTION

[0031] The present application will be further illustrated below in combination with the drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present application and are not used to limit the scope of the present application. After reading the present application, those skilled in the art can make various equivalent modifications to the present application, which all fall within the scope defined by the claims attached to the present application.

[0032] Example 1

[0033] As Figures 1-4As shown, a soil-separating and seedling-harvesting integrated mechanism comprises a moving module 100, an electric gripper 200, and an end effector 300. The moving module 100 consists of a guide rail 101, a ball screw 102, a mounting bracket 103, a servo motor 104, and a slider 105. The guide rail 101 is fixedly disposed between two mounting brackets 103. The ball screw 102 is rotatably disposed on one side of the guide rail 101, and its top is connected to the servo motor 104 for driving. The slider 105 forms a helical transmission pair with the ball screw 102 and a sliding pair with the guide rail 101. The electric gripper 200 is fixedly disposed on the slider 105. Side view; the end effector 300 consists of a mounting plate 301, a seedling tray 302, and a soil separating plate 303; the mounting plate 301 is connected and fixed to the gripping fingers at the end of the electric gripper 200, the seedling tray 302 is fixedly set below the mounting plate 301, and the soil separating plate 303 is connected and fixed to the outside of the seedling tray 302; the end effector 300 has two mounting plates 301, seedling trays 302, and soil separating plates 303, which are symmetrically arranged on the gripping fingers on both sides of the electric gripper 200; the soil separating plate 303 performs a reciprocating up-and-down soil separating motion under the action of the moving module 100, and the seedling tray 302 performs a reciprocating opening and closing gripping motion under the action of the electric gripper 200.

[0034] Example 2

[0035] like Figures 1-2 As shown, to reduce the frictional resistance of the ball screw rotation and ensure the accuracy and stability of the ball screw movement, in this embodiment, both ends of the ball screw 102 are connected to the mounting bracket 103 via bearings. The ball screw is stably supported by the bearings at both ends and rotates relative to the mounting bracket. To improve transmission efficiency and accuracy and reduce idle travel and crawling during reverse movement, in this embodiment, the output shaft of the servo motor 104 is directly connected to the ball screw 102 via a coupling. To further reduce damage to the seedling roots caused by the grippers, the seedling trays 302 in this embodiment are all composed of a 1 / 2 hollow cylinder and a 1 / 4 hollow sphere stacked together, with the hollow spheres located at the bottom of the hollow cylinder. Because the seedling tray forms a hollow cylinder and a hollow hemisphere inside after closing, the larger internal space can reduce damage to the seedling roots. In order to avoid damaging the seedlings when the soil dividing trays are used, in this embodiment, each soil dividing tray 303 is a 1 / 2 inverted conical cylinder structure. After the seedling tray 302 is closed, there is still a gap between the two soil dividing trays, so as to facilitate the soil dividing trays to be inserted into the soil around the seedlings for soil dividing.

[0036] like Figures 1-4As shown, the use principle of the integrated soil separating and seedling taking mechanism is as follows: the servo motor 104 drives the ball screw 102 to rotate in place in the mounting bracket 103, the rotation of the ball screw 102 drives the sliding block 105 to move on the ball screw 102, the sliding block 105 is guided by the guide rail 101, and the electric clamping jaw 200 and the end effector 300 are vertically reciprocated by the sliding block 105. When operating, the end effector 300 is driven downward by the moving module 100, the soil separating disc 303 is inserted into the soil around the seedling, the soil separating disc 303 is opened and closed by the fingers of the electric clamping jaw 200 to perform the soil separating operation, the seedling tray 302 is closed by the fingers of the electric clamping jaw 200 to perform the seedling taking operation, and finally the servo motor 104 is reversed to drive the electric clamping jaw 200 and the end effector 300 to move upward.

Claims

1. A soil-separating and seedling-harvesting integrated mechanism, characterized in that: The mechanism is composed of a moving module (100), an electric clamp jaw (200) and an end effector (300); The moving module (100) is composed of a guide rail (101), a ball screw (102), a mounting bracket (103), a servo motor (104) and a sliding block (105); the guide rail (101) is fixedly arranged between the two mounting brackets (103), the ball screw (102) is rotatably arranged on one side of the guide rail (101), the top of the ball screw (102) is drivingly connected with the servo motor (104), the sliding block (105) is in screw transmission with the ball screw (102) and is connected with the guide rail (101) to form a sliding pair; The electric clamp jaw (200) is fixedly arranged on the side of the sliding block (105); The end effector (300) is composed of a mounting plate (301), a seedling tray (302) and a soil dividing tray (303); the mounting plate (301) is fixedly connected on the clamping fingers at the end of the electric clamp jaw (200), the seedling tray (302) is fixedly arranged below the mounting plate (301), and the soil dividing tray (303) is fixedly connected on the outer side of the seedling tray (302); each seedling tray (302) is a 1 / 2 hollow cylindrical structure superimposed with a 1 / 4 hollow spherical structure, and the hollow spherical structure is arranged at the bottom of the hollow cylindrical structure; each soil dividing tray (303) is a 1 / 2 inverted conical cylindrical structure, and a gap is left between the two soil dividing trays (303) after the seedling tray (302) is closed. The soil dividing tray (303) reciprocally moves up and down under the action of the moving module (100), and the seedling tray (302) reciprocally opens and closes under the action of the electric clamp jaw (200).

2. The integrated soil separating and seedling taking mechanism according to claim 1, characterized in that: The two ends of the ball screw (102) are connected to the mounting bracket (103) through bearings.

3. The integrated soil taking and seedling taking mechanism according to claim 1, characterized in that: The output shaft of the servo motor (104) is drivingly connected with the ball screw (102) through a shaft coupling.

4. The integrated soil taking and seedling taking mechanism according to claim 1, characterized in that: The mounting plate (301), the seedling tray (302) and the soil dividing tray (303) on the end effector (300) are two in number and are symmetrically arranged on the two clamping fingers of the electric clamp jaw (200).

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