Mechanical seedling taking and feeding mechanism capable of slowly adjusting distance

Abstract

The invention relates to a mechanical slow distance adjusting seedling taking and feeding mechanism, and belongs to the technical field of seedling taking and feeding devices of transplanters, the mechanical slow distance adjusting seedling taking and feeding mechanism comprises two guide rails arranged at an included angle, a distance adjusting device slidably arranged between the two guide rails and a seedling taking device arranged on the distance adjusting device, the distance adjusting device comprises a multi-stage shear fork structure, and the shear fork structure comprises two long connecting rods hinged to each other; the seedling taking device comprises a steering engine mounting seat, a steering engine, a fixing seat and a clamping body, the clamping body comprises an incomplete gear I and an incomplete gear II which are in rotary driving connection with the steering engine, the seedling taking device further comprises a control system, a pressure sensor is used for measuring the clamping force of a clamping arm, a processor receives a signal and then compares the signal with a set standard value, and the control system controls the control system. And intelligent regulation and control are carried out. Through a special structure, longitudinal movement causes transverse movement, and the feedback direction and the excitation direction are changed by 90 degrees, so that the impact strength is greatly weakened, the stability in the seedling taking and feeding process and the seedling taking and feeding success rate are improved, and the damage to pot seedlings is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of a transplanter seedling picking and sending device, and in particular to a seedling sending mechanism which uses a mechanical method to slowly adjust the seedling picking and sending spacing to increase the adaptability, stability and safety of the seedling sending process, thereby reducing damage to potted seedlings. Background Art

[0002] The existing seedling picking and delivering device improves the working efficiency by picking up and delivering seedlings at a high frequency, but the high frequency of picking up and delivering seedlings is likely to cause a decrease in the success rate of picking up and delivering seedlings and an increase in damage to the seedlings in the pots. The main reasons are: the movement speed of each component of the seedling picking and delivering device increases, resulting in instability of the overall mechanical structure, and the success rate of picking up and delivering seedlings decreases accordingly, and the success rate of picking up and delivering seedlings is a key indicator for evaluating the quality of the seedling picking and delivering device; when the speed of picking up and delivering seedlings is too fast, it is easy to cause serious damage to the seedlings in the pot during the process of picking up and delivering seedlings. For example, the rapid clamping of the stem by the seedling clamp is likely to cause serious damage to the seedlings, and the large acceleration and deceleration of each component during the seedling delivery process causes damage to the seedlings in the pot due to inertia.

[0003] At the same time, the existing seedling taking and delivering device does not have a stable pressure adjustable mechanism, and the clamping of the seedlings cannot be appropriate. Some seedlings in pots with larger diameters may be injured, while some seedlings in pots with smaller diameters may be clamped unstably.

[0004] Therefore, it is a technical problem that technical personnel in this field urgently need to solve to improve the structure of the existing seedling picking and delivering device so that it has better stability during the seedling picking and delivering process, and has a stable and appropriate clamping force for different seedlings, thereby increasing the success rate of seedling picking and delivering and reducing damage to potted seedlings. Summary of the invention

[0005] In view of this, the object of the present invention is to provide a mechanical slow-distance-adjustable seedling-taking and delivering mechanism to solve the problems of inertial damage and clamping damage to seedlings in pots in the prior art.

[0006] The present invention is achieved through the following technical solutions:

[0007] A mechanical slow distance-adjusting seedling-taking and feeding mechanism comprises two guide rails arranged at an angle, a distance adjuster slidably arranged between the two guide rails and a seedling taker arranged on the distance adjuster, wherein the distance adjuster comprises a multi-stage scissor-fork structure, the scissor-fork structure comprises two long connecting rods hinged to each other, and the long connecting rod between two adjacent scissor-fork structures is hinged end to end, the ends of the long connecting rods of the frontmost and rearmost scissor-fork structures are hinged to a short connecting rod, and the two short connecting rods at the front end and the two short connecting rods at the rear end are hinged to a moving rod, and the other end of the moving rod is slidably connected to the side guide rail; the seedling taker is arranged in a one-to-one correspondence with the scissor-fork structure, and the seedling taker comprises a steering gear mounting seat, a steering gear fixed on the steering gear mounting seat, a fixed seat fixed on the steering gear and a clamping body rotatably fixed on the fixed seat, the clamping body comprises an incomplete gear I and an incomplete gear II connected to the steering gear rotation drive, and the The incomplete gear I and the incomplete gear II are symmetrically connected and each is provided with a clamping arm. The clamping arm is rotationally connected to the incomplete gear I or the incomplete gear II through the rotating shaft I. A connecting rod is also provided on the fixed seat. The connecting rod is rotationally connected to the clamping arm through the rotating shaft II, thereby realizing the opening and closing limit of the clamping arm. It also includes a control system, which includes a processor and a pressure sensor. The processor is electrically connected to the pressure sensor and the steering gear. The pressure sensor is arranged on the clamping surface of the two clamping arms, and is used to measure the clamping force of the clamping arm and transmit the clamping force signal to the processor. After receiving the signal, the processor compares it with the set standard value. When it is higher than the standard value, a pressure reduction command is issued to move the two clamping arms away from each other. When it is lower than the standard value, a pressure increase command is issued to move the two clamping arms closer to each other, thereby reaching the range specified by the standard value.

[0008] Furthermore, it also includes a machine base, on which two arc-shaped slide bars are symmetrically arranged, and slide bar supports are arranged on both sides of the two arc-shaped slide bars. One end of the guide rail is rotatably fixed to the machine base, and the other end is provided with a slider that slidably cooperates with the arc-shaped slide bar.

[0009] Furthermore, a locking screw is provided on the sliding block.

[0010] Furthermore, a rotating screw and a rotating motor arranged at the end of the rotating screw are arranged on the guide rail, and the moving rod is rotationally connected to the rotating screw through a guide slider, and an internal thread matching the rotating screw is arranged in the guide slider.

[0011] Furthermore, a support block is provided on the scissor structure, one end of the support block is hinged to the scissor structure, and the other end is slidably connected to the scissor structure, and the clamping body is fixed on the support block.

[0012] Furthermore, a flexible protective body is provided on the clamping surface of the clamping arm.

[0013] Furthermore, the distance between the two ends of the two guide rails is adjustable.

[0014] The beneficial effects of the present invention are:

[0015] The present invention uses guide rails arranged at an angle so that the distance between the guide rails is a variable value. When the seedling remover arranged on the guide rails moves parallel to the guide rails, the distance between the seedling remover and the guide rails on both sides changes simultaneously. Then, through the multi-stage scissor-fork structure, similar to a spring being stretched or compressed, corresponding changes occur between two adjacent scissor-fork structures, and a seedling remover is arranged on any scissor-fork structure, thereby realizing the adjustment of the distance between the seedling removers. By adjusting the angle between the two guide rails, the distance difference between the front and rear ends of the two guide rails is within the set value range, thereby adapting to any seedling trays and planting row spacings of different specifications, and the adaptability is significantly improved.

[0016] Since the above scheme causes the longitudinal movement to cause the lateral movement, the feedback direction and the excitation direction change by 90 degrees, thereby greatly reducing the impact force, achieving stability and success rate in the process of taking and delivering seedlings, and reducing damage to the seedlings in the pot.

[0017] The present invention can precisely control the rotation angle and the rotation speed through a special clamping body structure, thereby ensuring an accurate clamping amount and stem clamping rate, thereby reducing damage to the potted seedlings.

[0018] The present invention also provides real-time feedback and control of the pressure through the control system, and accurately adjusts the clamping force in real time, so that the seedlings in the pot will not fall off or be pinched, thereby realizing intelligent and safe control, which is more friendly to the transportation of the seedlings in the pot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view of the present invention;

[0020] Figure 2 is a schematic diagram of the guide rail of the present invention;

[0021] Figure 3 It is a schematic diagram of the combination of the distance adjuster and the seedling extractor of the present invention;

[0022] Figure 4 It is a schematic diagram of the seedling extractor of the present invention;

[0023] Figure 5 is a schematic diagram of a distance regulator of the present invention;

[0024] Figure 6 It is the relationship diagram between the longitudinal displacement and the lateral displacement of the present invention.

[0025] Description of reference numerals:

[0026] 1-guide rail; 2-distance adjuster; 3-seedling extractor; 4-long connecting rod; 5-short connecting rod; 6-servo mounting seat; 7-servo; 8-fixed seat; 9-incomplete gear I; 10-incomplete gear II; 11-clamping arm; 12-rotating shaft I; 13-connecting rod; 14-rotating shaft II; 15-processor; 16-pressure sensor; 17-machine base; 18-arc slide bar; 19-slide bar support; 20-slider; 21-locking screw; 22-rotating screw rod; 23-rotating motor; 24-guide slide bar; 25-support block; 26-flexible protective body. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0030] In the above description of the present invention, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0031] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0032] like Figures 1 to 5As shown, the mechanical slow distance-adjusting seedling-taking and delivering mechanism of this embodiment comprises two guide rails 1, a distance adjuster 2 and a seedling taker 3. The two guide rails are arranged at an angle, i.e., an eight-shaped arrangement, so that there is a distance difference between the front and rear ends of the two guide rails. The difference between the spacing of the seedlings in the pots and the spacing of the seedlings is calculated, and then multiplied by the number of the seedling takers to obtain the distance difference.

[0033] The distance adjuster includes a multi-stage scissor structure, which includes two long connecting rods 4 hinged to each other, and the long connecting rods between two adjacent scissor structures are hinged end to end, so that the front and rear scissor structures are connected in sequence to form a retractable whole, similar to a spring, which can be extended or shortened. In order to achieve the connection with the guide rail, a short connecting rod 5 is hinged at the end of the two long connecting rods of the frontmost scissor structure, and then the two short connecting rods at the front end are hinged to a moving rod at the same time, so that the two can rotate relative to each other, and the other end of the moving rod extends outward to the guide rail on the same side, and a sliding connection is achieved through a slide. Similarly, a short connecting rod is hinged at the end of the two long connecting rods of the scissor structure at the rearmost end, and then the two short connecting rods at the rear end are hinged to another moving rod at the same time, so that the two can rotate relative to each other, and the other end of the moving rod extends outward to another guide rail, and a sliding connection is achieved through a slide. In this way, a horizontally movable moving mechanism is formed, which creates conditions for taking and separating seedlings.

[0034] At the same time, since the seedling pickers and the scissor-fork structures are arranged in a one-to-one correspondence, when the slider moves along the guide rail, the distances between adjacent seedling pickers also change, that is, the distances between the seedlings in the pots change. Therefore, during the movement, a change in state is achieved: when the seedling pickers are close to each other, it is seedling picking, and vice versa, it is seedling separation. Also, a change in distance is achieved, with a short distance for seedling picking and a long distance for seedling separation.

[0035] This process converts longitudinal movement into horizontal movement, and its movement impact is much smaller than that of traditional direct horizontal movement. When the longitudinal distance is set long enough or the guide rail angle is small enough, the improvement is more obvious.

[0036] like Figure 6 As shown, the width of the seedling tray is 280mm, so AB = 280mm; the seedling placement point is related to the diameter of the seedling cup. The diameter of the seedling cup is 90mm, the distance between the centers of the two seedling cups is 110mm, and there are 8 seedling cups in total. CF = 860mm, then CD = (860-280) / 2 = 290. If H is 900mm long, therefore, the longitudinal and lateral displacement ratio is:

[0037] H / S=900 / 290=3.18

[0038] When H further increases or decreases the angle α, this value can be further increased.

[0039] However, this comes at a price. It will increase the movement time, thus affecting the efficiency of seedling retrieval and also increase the cost of use. For this reason, the inventor conducted a series of experiments and believed that the ratio of longitudinal movement to lateral movement is relatively appropriate at 3 to 6. At this time, the clamping impact is relatively weak, and the movement speed can be relatively fast, which does not affect the operational efficiency of seedling retrieval.

[0040] The seedling remover includes a servo engine mounting seat 6, a servo engine 7 fixed on the servo engine mounting seat, a fixed seat 8 fixed on the servo engine and a clamping body rotatably fixed on the fixed seat, the clamping body includes an incomplete gear I9 and an incomplete gear II10 connected to the servo engine rotation drive, the incomplete gear I and the incomplete gear II are symmetrically connected and each is provided with a clamping arm 11, the clamping arm is rotationally connected to the incomplete gear I or the incomplete gear II through a rotating shaft I12, and a connecting rod 13 is also provided on the fixed seat, the connecting rod is rotationally connected to the clamping arm through a rotating shaft II14, thereby realizing the opening and closing restriction of the clamping arm, and through this reverse restriction, the clamping is relatively powerful and will not be deformed too much, resulting in the front end being unable to reach the predetermined clamping amount.

[0041] In this embodiment, a control system is also included, which includes a processor 15 and a pressure sensor 16. The processor is electrically connected to the pressure sensor and the steering gear. The pressure sensor is arranged on the clamping surfaces of the two clamping arms to measure the clamping force of the clamping arms and transmit the clamping force signal to the processor. After receiving the signal, the processor compares it with the set standard value. When it is higher than the standard value, a pressure reduction command is issued to move the two clamping arms away from each other. When it is lower than the standard value, a pressure increase command is issued to move the two clamping arms closer together, thereby reaching the range specified by the standard value.

[0042] In this embodiment, guide rails are arranged at an angle so that the distance between the guide rails is a variable value. When the seedling picker arranged on the guide rails moves parallel to the guide rails, the distance between the seedling picker and the guide rails on both sides changes simultaneously. A multi-stage scissor structure is then used, and a seedling picker is arranged on any scissor structure, so as to adjust the distance between the seedling pickers. By adjusting the angle between the two guide rails, the distance difference between the front and rear ends of the two is within the set value range, so that it is adaptable to seedling trays and planting row spacings and plant spacings of any specifications, and the adaptability is significantly improved.

[0043] Since the above scheme drives the change of the lateral distance through the longitudinal movement, which is an indirect change process, the movement is smooth and the impact is weakened, thereby avoiding inertial damage to the pot seedlings.

[0044] This embodiment uses a special clamping body structure to accurately control the rotation angle, rotation speed and stability level, ensuring accurate clamping amount and stem clamping rate, thereby reducing damage to potted seedlings.

[0045] This embodiment also uses the real-time feedback and control of the pressure by the control system to accurately adjust the clamping force in real time, so that the seedlings in the pot will not fall off or be pinched, thereby realizing intelligent and safe control.

[0046] In this embodiment, a machine base 17 is also included, on which two arc-shaped slide bars 18 are symmetrically arranged, and slide bar supports 19 are arranged on both sides of the two arc-shaped slide bars. One end of the guide rail is fixed to the machine base for rotation, and the other end is provided with a slider 20 that slides with the arc-shaped slide bar, and a locking screw 21 is arranged on the slider. When in use, the slider can be manually slid to move along the arc-shaped slide bar, thereby driving the proximal end of the guide rail to move, and the other end rotates along the machine base, thereby rotating the guide rail. Similarly, the rotation of the other guide rail is adjusted, and finally the angle of the guide rail is adjusted. When the adjustment is completed, it can be fixed with the locking screw 21.

[0047] In this embodiment, a rotating screw 22 and a rotating motor 23 arranged at the end of the rotating screw are arranged on the guide rail, and the moving rod is rotatably connected with the rotating screw through a guide slider 24, and an internal thread matched with the rotating screw is arranged in the guide slider. When in use, the rotating motor rotates, thereby driving the rotating screw to rotate, and through the matching thread, the guide slider is driven to rotate, and the guide slider is arranged in the slide groove of the guide rail, thereby limiting its rotation. In order to offset the displacement change caused by the rotation, the guide slider can only move along the slide groove, thereby driving the movement of the moving rod and the entire seedling taking mechanism, thereby realizing the drive.

[0048] In this embodiment, a support block 25 is further arranged on the scissor structure, one end of the support block is hinged to the scissor structure, and the other end is slidably connected to the scissor structure, and the clamping body is fixed on the support block.

[0049] In this embodiment, a flexible protective body 26 is provided on the clamping surface of the clamping arm, which can provide better protection for the seedlings in the pot.

[0050] As a possibility, the distance between the two ends of the two guide rails can be adjusted, thereby achieving a wider range of adjustment and further improving adaptability.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. Mechanical slow distance adjustment seedling feeding mechanism, characterized by: The invention comprises two guide rails arranged at an angle, a distance adjuster slidably arranged between the two guide rails and a seedling extractor arranged on the distance adjuster, wherein the distance adjuster comprises a multi-stage scissor-fork structure, the scissor-fork structure comprises two long connecting rods hinged to each other, and the long connecting rod between two adjacent scissor-fork structures is hinged end to end, the ends of the long connecting rods of the frontmost and rearmost scissor-fork structures are hinged to a short connecting rod, and the two short connecting rods at the front end and the two short connecting rods at the rear end are hinged to a moving rod, and the other end of the moving rod is slidably connected to the side guide rail; the seedling extractor is arranged in a one-to-one correspondence with the scissor-fork structure, and comprises a steering gear mounting seat, a steering gear fixed on the steering gear mounting seat, a fixed seat fixed on the steering gear and a clamping body rotatably fixed on the fixed seat, the clamping body comprises an incomplete gear I and an incomplete gear II connected to the steering gear for rotation driving, the incomplete gear I and the incomplete gear II are connected to the incomplete gear I and the incomplete gear II. The complete gears II are symmetrically connected and each is provided with a clamping arm, and the clamping arm is rotationally connected to the incomplete gear I or the incomplete gear II through the rotating shaft I. A connecting rod is also provided on the fixed seat, and the connecting rod is rotationally connected to the clamping arm through the rotating shaft II, thereby realizing the opening and closing limit of the clamping arm. It also includes a control system, which includes a processor and a pressure sensor. The processor is electrically connected to the pressure sensor and the steering gear. The pressure sensor is arranged on the clamping surface of the two clamping arms, and is used to measure the clamping force of the clamping arm and transmit the clamping force signal to the processor. After receiving the signal, the processor compares it with the set standard value. When it is higher than the standard value, a pressure reduction command is issued to move the two clamping arms away from each other. When it is lower than the standard value, a pressure increase command is issued to move the two clamping arms closer to each other, thereby reaching the range specified by the standard value.

2. The mechanical slow-adjustable seedling taking and delivering mechanism according to claim 1 is characterized in that: It also includes a machine base, on which two arc-shaped slide bars are symmetrically arranged, and slide bar supports are arranged on both sides of the two arc-shaped slide bars. One end of the guide rail is rotatably fixed to the machine base, and the other end is provided with a slider that slidably cooperates with the arc-shaped slide bar.

3. The mechanical slow-adjustable seedling taking and delivering mechanism according to claim 2 is characterized in that: The sliding block is provided with a locking screw.

4. The mechanical slow-adjustable seedling taking and delivering mechanism according to claim 3 is characterized in that: The guide rail is provided with a rotating screw and a rotating motor arranged at the end of the rotating screw. The moving rod is rotatably connected to the rotating screw through a guide slider. The guide slider is provided with an internal thread that matches the rotating screw.

5. The mechanical slow-distance-adjusting seedling-taking and delivering mechanism according to any one of claims 1 to 4, characterized in that: The scissor structure is also provided with a support block, one end of the support block is hinged to the scissor structure, and the other end is slidably connected to the scissor structure, and the clamping body is fixed on the support block.

6. The mechanical slow-distance-adjusting seedling-taking and delivering mechanism according to any one of claims 1 to 4, characterized in that: A flexible protective body is arranged on the clamping surface of the clamping arm.

7. The mechanical slow-distance-adjusting seedling-taking and delivering mechanism according to claim 1 is characterized in that: The distance between the two ends of the two guide rails is adjustable.

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