Sapling transplanting mechanical claw

Abstract

The invention provides a sapling transplanting mechanical gripper which comprises a rack used for supporting and installing all mechanisms of the device. The stepping mechanism is installed on the machine frame, a torque mechanism is connected to the stepping mechanism in a transmission mode, and the stepping mechanism is used for driving the torque mechanism to do up-down lifting motion; the torque support is installed at the bottom of the rack, and the torque support is used for limiting the torque mechanism to slide up and down to ascend and descend under the driving of the stepping mechanism; the shoveling claw mechanism is mounted on the torque bracket, and the shoveling claw mechanism is used for carrying out transplanting and clamping on the saplings; by arranging the stepping mechanism and the torque mechanism, the stepping mechanism drives the torque mechanism to slide up and down on the torque support so as to drive the shoveling claw mechanism to transplant saplings, the sapling transplanting mechanical claw is simple in structure and convenient to operate, the saplings can be rapidly and accurately clamped and released, and the sapling transplanting efficiency and quality are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of forestry equipment, and in particular to a mechanical claw for transplanting saplings. Background Art

[0002] Forestry refers to the production sector that protects the ecological environment and maintains ecological balance, cultivates and protects forests to obtain timber and other forest products, and utilizes the natural characteristics of forests to play a protective role. It is an important part of the national economy. Forestry is a basic industry and social welfare undertaking that cultivates, protects, and utilizes forest resources in the human and biosphere through advanced science and technology and management methods, fully utilizes the multiple benefits of forests, and can sustainably manage forest resources and promote the coordinated development of population, economy, society, environment, and resources.

[0003] In modern forestry production, transplanting seedlings is an important task. The traditional manual transplanting method is inefficient, labor-intensive, and difficult to ensure the survival rate of seedlings. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical claw for transplanting saplings, aiming to solve the problem that transplanting saplings is an important task in modern forestry production. The traditional manual transplanting method is inefficient, labor-intensive, and difficult to ensure the survival rate of saplings.

[0005] The present invention is realized through the following technical scheme: it includes: a frame, which is used for supporting and installing various mechanisms of the device; a stepping mechanism, which is installed on the frame, and the stepping mechanism is transmission-connected with a torque mechanism, and the stepping mechanism is used to drive the torque mechanism to perform up and down lifting movements; a torque bracket, which is installed at the bottom of the frame, and the torque bracket is used to limit the torque mechanism to slide up and down and lift under the drive of the stepping mechanism; a shovel claw mechanism, which is installed on the torque bracket, and the shovel claw mechanism is used to transplant and clamp saplings; a movable hinge, which is installed on the torque mechanism and slidably installed with the shovel claw mechanism, and the torque mechanism drives the shovel claw mechanism to perform a clamping action through the movable hinge.

[0006] In order to better implement the present invention, the stepping mechanism further includes: a stepping motor, the stepping motor is fixedly installed on the top of the frame, the output end of the stepping motor is fixedly connected to a transmission shaft, the transmission shaft passes through the frame and extends to the bottom of the frame.

[0007] The beneficial effect of adopting the above further solution is: driving the torque mechanism to perform up and down lifting movements.

[0008] In order to better realize the present invention, the torque mechanism further includes: a movable plate, the movable plate is sleeved on the transmission shaft, the movable plate is connected to the transmission shaft in transmission, a plurality of groups of hinged connecting ears are arranged on the movable plate, a sliding sleeve is arranged on both sides of the movable plate close to a group of hinged connecting ears, and a limited top column is installed on one side of the movable plate close to another group of hinged connecting ears.

[0009] The beneficial effect of adopting the above further solution is: driving the shovel claw mechanism to move, and by providing a sliding sleeve, it is convenient to be sleeved on the torque bracket to ensure that the movable plate slides up and down in the vertical direction.

[0010] In order to better realize the present invention, the torque bracket further includes: a sliding column, the sliding column is provided with several groups, and the several groups of sliding columns are vertically installed at the four corners of the bottom of the frame in sequence. The two groups of sliding sleeves are sequentially sleeved on the two groups of sliding columns on one side, and the two are slidably connected. The bottoms of the several groups of sliding columns are fixedly connected with a torque plate, and a bearing is installed on the torque plate. The transmission shaft is rotatably connected to the torque plate through the bearing.

[0011] The beneficial effect of adopting the above further solution is that the movable plate can slide up and down on the sliding column under the drive of the transmission shaft, wherein the bottom of the transmission shaft is rotationally connected to the torque plate through the bearing, thereby ensuring the stable rotation of the transmission shaft.

[0012] In order to better realize the present invention, the shovel claw mechanism is further provided with several groups, and the several groups of shovel claw mechanisms are sequentially installed around the torque plate. One group of the shovel claw mechanisms includes: a fixed hinge, the fixed hinge base is fixedly installed on the torque plate, the fixed hinge is fixedly connected to a sliding rod, and a shovel blade is installed at the bottom of the sliding rod.

[0013] The beneficial effect of adopting the above further scheme is that multiple groups of shovels are driven by the movable plate to clamp the saplings around the saplings, wherein the inner side of the shovel is V-shaped, which is convenient for clamping and ensures the stability of clamping.

[0014] In order to better implement the present invention, the number of the movable hinge, the shovel claw mechanism and the hinged connecting ears is the same, and the three correspond to each other one by one.

[0015] In order to better realize the present invention, the movable hinge further includes: a movable hinge plate, one end of the movable hinge plate is rotatably connected to the hinge connecting ear through a rotating shaft, a sliding shaft is installed on the movable hinge plate, and two groups of cam followers are installed on one side of the sliding shaft of the movable hinge plate, one end of the sliding rod is located between the sliding shaft and the two groups of cam followers, and the sliding rod is evenly adapted to the sliding shaft and the cam follower.

[0016] The beneficial effect of adopting the above further scheme is that when the movable plate slides up and down, it can drive the sliding shaft and two sets of cam followers to slide on the sliding rod, thereby applying a force to swing inwards and outwards to the shovel claw mechanism, and the cooperation of multiple sets of shovel claw mechanisms can achieve the clamping of seedlings.

[0017] In order to better implement the present invention, it further includes: a limit switch, which is installed on the frame and is located just above the limit top column.

[0018] The beneficial effect of adopting the above further solution is that when the movable plate rises to a certain height, the limit top column contacts the contact block of the micro switch, thereby triggering the limit switch to start.

[0019] In order to better implement the present invention, a mounting plate is further installed on the top of the rack.

[0020] The beneficial effect of adopting the above further solution is that it is convenient to connect and install with external transplanting equipment through the mounting plate 8.

[0021] The beneficial effects of the present invention are as follows: by providing a stepping mechanism and a torque mechanism, the stepping mechanism drives the torque mechanism to slide up and down on the torque bracket, thereby driving the shovel claw mechanism to transplant the seedlings. The seedling transplanting mechanical claw has a simple structure and is easy to operate. It can clamp and release the seedlings quickly and accurately, greatly improving the efficiency and quality of seedling transplanting. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the present invention will be briefly introduced below. It should be understood that the following accompanying drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 A diagram of a mechanical claw for transplanting saplings provided by the present invention;

[0024] Figure 2 for Figure 1 A side view structural schematic diagram of;

[0025] Figure 3 for Figure 1 Another side view of the structure schematic diagram;

[0026] Figure 4 for Figure 3 Schematic diagram of the structure of the middle movable plate;

[0027] Figure 5 for Figure 1 Schematic diagram of the structure of the middle shovel claw mechanism and the movable hinge.

[0028] Icons: 1. Frame; 2. Stepping mechanism; 21. Stepping motor; 22. Drive shaft; 3. Torque mechanism; 31. Movable plate; 32. Articulated connecting ear; 33. Sliding sleeve; 34. Limiting top column; 4. Torque bracket; 41. Sliding column; 42. Torque plate; 5. Shovel claw mechanism; 51. Fixed hinge; 52. Sliding rod; 53. Shovel blade; 6. Movable hinge; 61. Movable hinge plate; 62. Sliding shaft; 63. Cam follower; 7. Limit switch; 8. Mounting plate. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be described below in conjunction with the accompanying drawings of the present invention.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] Please see Figure 1-5 , Figure 1 A sapling transplanting mechanical claw provided by the present invention. The sapling transplanting mechanical claw comprises:

[0032] Frame 1, frame 1 is used for supporting and installing various mechanisms of the device;

[0033] A stepping mechanism 2 is installed on the frame 1. The stepping mechanism 2 is connected to a torque mechanism 3 in a transmission manner. The stepping mechanism 2 is used to drive the torque mechanism 3 to move up and down.

[0034] The torque bracket 4 is installed at the bottom of the frame 1, and is used to limit the torque mechanism 3 to slide up and down under the drive of the stepping mechanism 2;

[0035] A shovel claw mechanism 5, which is mounted on the torque bracket 4 and is used for clamping and transplanting saplings;

[0036] The movable hinge 6 is installed on the torque mechanism 3 and is slidably installed with the shovel claw mechanism 5. The torque mechanism 3 drives the shovel claw mechanism 5 to perform a clamping action through the movable hinge 6.

[0037] In this embodiment, a stepping mechanism 2 and a torque mechanism 3 are provided, and the stepping mechanism 2 drives the torque mechanism 3 to slide up and down on the torque bracket 4, thereby driving the shovel claw mechanism 5 to transplant the seedlings. The seedling transplanting mechanical claw has a simple structure and is easy to operate. It can clamp and release the seedlings quickly and accurately, greatly improving the efficiency and quality of seedling transplanting.

[0038] Further, the stepping mechanism 2 comprises: a stepping motor 21, the stepping motor 21 is fixedly mounted on the top of the frame 1, the output end of the stepping motor 21 is fixedly connected to the transmission shaft 22, the transmission shaft 22 passes through the frame 1, and extends to the bottom of the frame 1.

[0039] In this embodiment, a stepping mechanism 2 is provided to drive the torque mechanism 3 to move up and down; wherein the stepping mechanism 2 includes a stepping motor 21, which can drive the transmission shaft 22 to rotate under the drive of the stepping motor 21, thereby driving the torque mechanism 3 installed on the transmission shaft 22 to follow the transmission and slide up and down on the torque bracket 4.

[0040] Typically, the torque mechanism 3 comprises: a movable plate 31, which is sleeved on the transmission shaft 22, and the movable plate 31 is transmission-connected to the transmission shaft 22, and a plurality of groups of hinged connecting ears 32 are arranged on the movable plate 31, and a sliding sleeve 33 is arranged on both sides of the movable plate 31 close to a group of hinged connecting ears 32, and a limiting top column 34 is installed on one side of the movable plate 31 close to another group of hinged connecting ears 32.

[0041] In this embodiment, a torque mechanism 3 is provided including a movable plate 31, wherein the movable plate 31 is sleeved on the transmission shaft 22, and the two are connected by threaded transmission. A plurality of sets of hinged connecting ears 32 are provided on the movable plate 31, which are rotatably connected to the movable hinge 6 through the connecting ears, thereby driving the shovel claw mechanism 5 to move. A sliding sleeve 33 is provided to facilitate sleeve installation on the torque bracket 4, thereby ensuring that the movable plate 31 slides up and down in the vertical direction.

[0042] Specifically, the torque bracket 4 includes: a sliding column 41, which is provided with several groups. The several groups of sliding columns 41 are vertically installed at the four corners of the bottom of the frame 1 in sequence. Two groups of sliding sleeves 33 are sequentially sleeved on the two groups of sliding columns 41 on one side, and the two are slidably connected. The bottom of the several groups of sliding columns 41 is fixedly connected with a torque plate 42, and a bearing is installed on the torque plate 42. The transmission shaft 22 is rotatably connected to the torque plate 42 through the bearing.

[0043] In this embodiment, a torque bracket 4 is provided to limit the torque mechanism 3 to slide up and down under the drive of the stepping mechanism 2, wherein the torque bracket 4 includes a slide post 41 and a torque plate 42, and the sliding sleeve 33 on the movable plate 31 is sleeved on the slide post 41 parallel to the same side, so that the movable plate 41 can slide up and down on the slide post 41 under the drive of the transmission shaft 22, wherein the bottom of the transmission shaft 22 is rotatably connected to the torque plate 42 through a bearing, thereby ensuring the stable rotation of the transmission shaft 22.

[0044] Furthermore, the shovel claw mechanism 5 is provided with several groups, and the several groups of shovel claw mechanisms 5 are sequentially installed around the torque plate 42. One group of shovel claw mechanisms 5 includes: a fixed hinge 51, the base of the fixed hinge 51 is fixedly installed on the torque plate 42, the fixed hinge 51 is fixedly connected to a slide rod 52, and a shovel blade 53 is installed at the bottom of the slide rod 52.

[0045] In this embodiment, a plurality of groups of shovel claw mechanisms 5 are provided to enable the shovel claws to clamp the saplings from all sides, wherein one group of shovel claw mechanisms 5 includes a fixed hinge 51, the base of which is fixedly mounted on the torque plate 42, a slide bar 52 is mounted on the movable end of the fixed hinge 51, and the slide bar 52 can swing inwards and outwards on the torque plate 42 under the action of the fixed hinge 51, wherein a shovel blade 53 is fixedly mounted on the bottom of the slide bar 52 through a fixed sheet metal, and the plurality of groups of shovel blades 53 are driven by the movable plate 31 to clamp the saplings from all sides, wherein the inner side of the shovel blade 53 is V-shaped, which is convenient for clamping and ensures the stability of clamping.

[0046] In addition, the number of movable hinges 6, shovel claw mechanisms 5 and articulated connecting ears 32 is the same, and the three correspond one to one; the movable hinge 6 includes: a movable hinge plate 61, one end of the movable hinge plate 61 is rotatably connected to the articulated connecting ear 32 through a rotating shaft, a sliding shaft 62 is installed on the movable hinge plate 61, and two groups of cam followers 63 are installed on one side of the movable hinge plate 61 located on the sliding shaft 62, one end of the sliding rod 52 is located between the sliding shaft 62 and the two groups of cam followers 63, and the sliding rod 52, the sliding shaft 62 and the cam followers 63 are adapted to each other.

[0047] In this embodiment, the same number of movable hinges 6, shovel claw mechanisms 5 and articulated connecting ears 32 are provided, wherein a group of movable hinges 6 and shovel claw mechanisms 5 are installed on the articulated connecting ears 32, and the movable hinge 6 includes a movable hinge plate 61, one end of the movable hinge plate 61 is rotatably connected to the articulated connecting ear 32 through a rotating shaft, and one end of the sliding rod 52 is located between the sliding shaft 62 and the two groups of cam followers 63. When the movable plate 31 slides up and down, the sliding shaft 62 and the two groups of cam followers 63 can be driven to slide on the sliding rod 52, thereby applying a force to swing inwards and outwards to the shovel claw mechanism 5, and the cooperation of multiple groups of shovel claw mechanisms 5 can achieve the purpose of clamping saplings.

[0048] In addition; a limit switch 7 is mounted on the frame 1, and the limit switch 7 is located directly above the limit top column 34.

[0049] In this embodiment, a limit switch 7 is provided to limit the rising height of the movable plate 31, thereby preventing the structure from exceeding the limit and ensuring the normal use of the device. The limit top column 34 on the sliding plate 31 is installed directly below the limit switch 7, and the microswitch contact block of the limit switch 7 cooperates with the limit top column 34. When the movable plate 31 rises to a certain height, the limit top column 34 contacts the contact block of the microswitch, thereby triggering the limit switch 7 to start.

[0050] It should be noted that a mounting plate 8 is installed on the top of the rack 1 .

[0051] In this embodiment, a mounting plate 8 is provided on the top of the frame 1, so that the mounting plate 8 can be conveniently connected and installed with an external transplanting device.

[0052] The working principle and use process of the present invention are as follows: after the present invention is installed, it is connected to the external transplanting equipment through the mounting plate 8, and the operation of each mechanism is controlled by the external controller to ensure the normal operation of the device. The external transplanting equipment is moved to the sapling, and the transmission shaft 3 is driven to rotate by the stepper motor 21, driving the movable plate 31 to slide upward on the torque bracket 4, and the slide bar 52 is pressed upward by the movable hinge 6, so that the shovel blade 53 at the bottom is opened outward, and the sapling is clamped from all sides by the shovel blade 53. At the same time, the external transplanting equipment presses down the mechanical claw, and synchronously controls the stepper motor 21 to drive the movable plate 31 to slide downward under the torque bracket, and retracts the shovel blade 53 inward. After clamping to a certain depth, the external transplanting equipment lifts the mechanical claw, digs out the sapling, and moves to the designated location. The movable plate 31 is driven by the stepper motor 21 to slide upward under the torque bracket again, so that the shovel blade 53 at the bottom is opened outward to release the sapling. The above completes the use process of a sapling transplanting mechanical claw.

[0053] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A mechanical claw for transplanting saplings, characterized in that: include: A frame (1), the frame (1) being used for supporting and installing various mechanisms of the device; A stepping mechanism (2), the stepping mechanism (2) being mounted on the frame (1), the stepping mechanism (2) being transmission-connected to a torque mechanism (3), the stepping mechanism (2) being used to drive the torque mechanism (3) to perform up and down lifting movements; A torque bracket (4), the torque bracket (4) being mounted on the bottom of the frame (1), and the torque bracket (4) being used to limit the torque mechanism (3) to slide up and down under the drive of the stepping mechanism (2); A shovel claw mechanism (5), the shovel claw mechanism (5) is installed on the torque bracket (4), and the shovel claw mechanism (5) is used to clamp and transplant saplings; A movable hinge (6) is installed on the torque mechanism (3) and is slidably installed with the shovel claw mechanism (5). The torque mechanism (3) drives the shovel claw mechanism (5) to perform a clamping action through the movable hinge (6).

2. The sapling transplanting mechanical claw according to claim 1, characterized in that: The stepping mechanism (2) comprises: a stepping motor (21), the stepping motor (21) being fixedly mounted on the top of the frame (1), the output end of the stepping motor (21) being fixedly connected to a transmission shaft (22), the transmission shaft (22) penetrating the frame (1) and extending toward the bottom of the frame (1).

3. The sapling transplanting mechanical claw according to claim 2, characterized in that: The torque mechanism (3) comprises: a movable plate (31), the movable plate (31) is sleeved on the transmission shaft (22), the movable plate (31) is transmission-connected to the transmission shaft (22), a plurality of groups of hinged connection ears (32) are arranged on the movable plate (31), a sliding sleeve (33) is arranged on both sides of the movable plate (31) close to a group of hinged connection ears (32), and a limiting top column (34) is installed on one side of the movable plate (31) close to another group of hinged connection ears (32).

4. The sapling transplanting mechanical claw according to claim 3, characterized in that: The torque bracket (4) comprises: a sliding column (41), wherein the sliding column (41) is provided with a plurality of groups, wherein the plurality of groups of sliding columns (41) are vertically mounted at the four corners of the bottom of the frame (1) in sequence, and the two groups of sliding sleeves (33) are sleeved on the two groups of sliding columns (41) on one side in sequence, and the two are slidably connected, and the bottoms of the plurality of groups of sliding columns (41) are fixedly connected with a torque plate (42), and a bearing is installed on the torque plate (42), and the transmission shaft (22) is rotatably connected with the torque plate (42) through the bearing.

5. The sapling transplanting mechanical claw according to claim 4, characterized in that: The shovel claw mechanism (5) is provided with a plurality of groups, and the plurality of groups of shovel claw mechanisms (5) are sequentially installed around the torque plate (42). One group of the shovel claw mechanism (5) comprises: a fixed hinge (51), the base of the fixed hinge (51) is fixedly installed on the torque plate (42), a sliding rod (52) is fixedly connected to the fixed hinge (51), and a shovel blade (53) is installed at the bottom of the sliding rod (52).

6. The sapling transplanting mechanical claw according to claim 5, characterized in that: The movable hinge (6), the shovel claw mechanism (5) and the hinged connection ears (32) are of the same number and correspond to each other one by one.

7. The sapling transplanting mechanical claw according to claim 6, characterized in that: The movable hinge (6) comprises: a movable hinge plate (61), one end of the movable hinge plate (61) is rotatably connected to the hinge connection ear (32) via a rotating shaft, a sliding shaft (62) is installed on the movable hinge plate (61), two groups of cam followers (63) are installed on one side of the sliding shaft (62) of the movable hinge plate (61), one end of the sliding rod (52) is located between the sliding shaft (62) and the two groups of cam followers (63), and the sliding rod (52) is evenly adapted to the sliding shaft (62) and the cam followers (63) to each other.

8. The sapling transplanting mechanical claw according to claim 3, characterized in that: Also includes: A limit switch (7), wherein the limit switch (7) is mounted on the frame (1), and the limit switch (7) is located directly above the limit top column (34).

9. The sapling transplanting mechanical claw according to claim 1, characterized in that: A mounting plate (8) is mounted on the top of the frame (1).

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