Sliding guide rail type long-seedling-age pot seedling taking mechanism and control method thereof

Abstract

The invention discloses a sliding guide rail type long-seedling-age pot seedling taking mechanism and a control method thereof, and belongs to the field of agricultural mechanization. Comprising a fixed support; the transverse linear guide rail is fixed below the fixed bracket; the sliding block is sleeved on the transverse linear guide rail and can slide back and forth along the transverse linear guide rail; the vertical guide block is fixed on the sliding block and is provided with a sliding chute; the seedling taking claw arm is arranged in the sliding groove in a sliding mode and can slide up and down in the sliding groove, and the driving shaft is connected with the upper portion of the seedling taking claw arm; the swing motor is mounted on the fixed bracket and is connected with the driving shaft through a connecting piece; the seedling taking claw comprises an upper fixing plate, a middle driving plate, a plurality of ear hanging rings and a plurality of seedling taking needles, one ends of the seedling taking needles are hinged to the upper fixing plate, the ear hanging rings are fixed to the edge of the middle driving plate, and the seedling taking needles penetrate through the ear hanging rings; and a seedling claw driving mechanism. The seedlings are accurately and efficiently grabbed without damage, and the survival rate and the transplanting efficiency are remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a sliding rail type long-age seedling pot seedling taking mechanism and a control method thereof. Background Art

[0002] In modern agricultural production, the application of transplanting machinery has greatly improved agricultural production efficiency. However, the current seedling picking mechanism generally has problems such as low grasping accuracy, easy damage to seedlings, slow operation speed, etc., resulting in low seedling survival rate and unsatisfactory operation efficiency. These defects seriously restrict the further development of agricultural automation.

[0003] Traditional seedling removal devices mostly use simple mechanical structures and complete the grabbing of seedlings through a single clamping or adsorption method. However, these devices are prone to mechanical damage to the seedlings during the grabbing process, or cause the seedlings to fall off due to insufficient grabbing force. At the same time, some equipment has problems such as unstable grabbing action, poor repeatability, and complex structure during operation, which makes it difficult to meet the modern agricultural demand for efficient and reliable automated transplanting.

[0004] Research on automated seedling retrieval technology has made certain progress at home and abroad. Some developed countries abroad started early in the field of agricultural mechanization, and their research focused on high-precision, multi-functional automated equipment. For example, the seedling retrieval technology combined with visual recognition and manipulators has achieved precise positioning and flexible grasping. However, its equipment cost is high, the structure is complex, and its promotion and application are limited. In recent years, China has also accelerated its research pace. Some research teams have developed automated seedling retrieval devices suitable for local needs. By combining pneumatic components and mechanical structures, the equipment cost is reduced while the grasping efficiency is improved. However, the overall technical maturity and application scale still need to be improved. Therefore, it is of great practical significance to develop a seedling retrieval mechanism with simple structure, stable performance, precise grasping and moderate cost. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a sliding rail type long-age pot seedling picking mechanism and a control method thereof, so as to solve the problems of inaccurate grasping, damage to seedlings, low efficiency, etc. existing in the seedling picking device in the prior art.

[0006] According to a first aspect of an embodiment of the present application, there is provided a sliding rail type long-age seedling pot seedling taking mechanism, comprising: Fixed bracket; A transverse linear guide rail fixed below the fixed bracket; A slider, which is mounted on the transverse linear guide rail and can slide back and forth along the transverse linear guide rail; A vertical guide block, fixed on the sliding block, and having a sliding groove thereon; The seedling picking claw arm is slidably arranged in the slide groove and can slide up and down in the slide groove. A driving shaft is connected to the upper part of the seedling picking claw arm; A swing motor is mounted on the fixed bracket and connected to the drive shaft through a connecting piece to realize the swinging action of the seedling picking claw arm; The seedling claw comprises an upper fixing plate, an intermediate driving plate, a plurality of hanging earrings and a plurality of seedling needles, one end of the seedling needle is hinged on the upper fixing plate, the hanging earring is fixed on the edge of the intermediate driving plate, and the seedling needle passes through the hanging earring; The seedling claw driving mechanism is used to drive the intermediate driving plate to move up and down, thereby realizing the opening and closing of the seedling claws.

[0007] Furthermore, the seedling claw driving mechanism includes an air pump, a solenoid valve, and a cylinder connected in sequence, the rod end of the cylinder is connected to the intermediate driving plate, and the flexible opening and closing of the seedling claw is achieved by controlling the cylinder.

[0008] Furthermore, the fixing bracket is made of corrosion-resistant material.

[0009] Furthermore, a circular hole is formed at one end of the connecting piece, and a key slot is formed at the other end. One end of the circular hole is sleeved on the driving shaft, and one end of the key slot is fixedly connected to the rotating shaft of the swing motor.

[0010] Furthermore, the end of the seedling retrieval needle is provided with an arc-shaped design.

[0011] According to a second aspect of an embodiment of the present application, a long-age pot seedling retrieval machine is provided, characterized in that it includes the sliding guide rail type long-age pot seedling retrieval mechanism described in the first aspect.

[0012] According to a third aspect of the embodiment of the present application, there is provided a control method for the sliding rail type long-age seedling pot seedling taking mechanism as described in the first aspect, comprising: Positioning and sliding: The swing motor drives the driving shaft to swing through the connecting piece, and the driving shaft drives the seedling picking arm to move up and down and the slider to move forward and backward along the transverse linear guide rail, thereby driving the seedling picking claw to move forward along the transverse linear guide rail until the seedling picking claw is aligned with the seedling pot body; Open the claw arm: the middle driving plate moves downward under the action of the cylinder, driving the seedling claw to open; Grabbing the seedlings: the seedling claws fall into the seedling pot, and the cylinder drives the middle driving plate to move upward, so that the seedling needles close and grab the seedlings; Transferring seedlings: The slider drives the grabbed seedlings to move backwards, and at the same time, the seedling grabbing claw arm completes the swinging action driven by the swing motor; Placing seedlings: The cylinder drives the middle driving plate to move downward, and the seedling claws open to release the seedlings, completing the seedling taking and transplanting actions.

[0013] The technical solution provided by the embodiments of the present application may have the following beneficial effects: As can be seen from the above embodiments, the present application adopts the matching design of the sliding guide rail and the slider, and the forward and backward sliding of the seedling claw arm can be accurately controlled, thereby overcoming the problems of unstable operation and inaccurate grasping in traditional equipment, ensuring the stability and continuity of the seedling operation, and thus improving the operation efficiency. At the same time, the drive shaft is connected to the swing motor through a connecting piece, so that the swing control of the seedling claw arm is more accurate, avoiding the problem of seedling damage caused by unstable driving in the traditional method. In addition, the opening and closing of the seedling claw is achieved by driving the intermediate drive plate by an air pump. This pneumatic drive method has the advantages of faster response and smoother action compared to the traditional mechanical method, further improving the efficiency and accuracy of the seedling operation. On the whole, the present invention solves the technical problems of low efficiency, inaccurate operation, and large seedling damage in the traditional seedling seedling picking mechanism through the optimization of the above technical means, and realizes efficient and accurate seedling picking operations.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0016] Figure 1 The present invention is a schematic front view of a sliding rail type seedling taking mechanism for long-age pot seedlings shown in an embodiment of the present invention.

[0017] Figure 2 The present invention is a schematic diagram of the three-dimensional structure of a sliding guide rail type seedling taking mechanism for long-age pot seedlings in an embodiment of the present invention.

[0018] Figure 3 It is a schematic diagram of the three-dimensional structure of the transverse linear guide rail and the slider in an embodiment of the present invention.

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the slide groove and the seedling picking claw arm in an embodiment of the present invention.

[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of the seedling removal claw in an embodiment of the present invention.

[0021] Figure 6 It is a schematic diagram of opening the seedling picking claws and falling to pick up the seedlings in an embodiment of the present invention.

[0022] Figure 7 It is a schematic diagram of accelerating seedling removal with the seedling removal claws in an embodiment of the present invention.

[0023] Figure 8It is a schematic diagram of opening the seedling claws and dropping the seedlings in an embodiment of the present invention.

[0024] Fig. 9 It is a schematic diagram of the three-dimensional structure of the swing motor and the connecting member in the embodiment of the present invention.

[0025] In the figure, 1. fixed bracket; 2. horizontal linear guide rail; 3. slider; 4. vertical guide block; 5. seedling picking claw arm; 6. driving shaft; 7. swing motor; 8. connecting piece; 9. seedling picking claw; 10. seedling claw driving mechanism; 11. slide groove; 12. upper fixed plate; 13. middle driving plate; 14. earrings; 15. seedling picking needle; 16. cylinder. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0027] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0028] refer to Figure 1-Figure 9The embodiment of the present invention provides a sliding guide type long-age seedling pot seedling taking mechanism, comprising: a fixed bracket 1, a transverse linear guide rail 2, a slider 3, a vertical guide block 4, a seedling taking claw arm 5, a driving shaft 6, a swing motor 7, a seedling taking claw 9, and a seedling claw driving mechanism 10. The transverse linear guide rail 2 is fixed below the fixed bracket 1; the slider 3 is sleeved on the transverse linear guide rail 2 and can slide back and forth along the transverse linear guide rail 2; the vertical guide block 4 is fixed on the slider 3 and has a slide groove 11 thereon; the seedling taking claw arm 5 is slidably arranged in the slide groove 11 and can slide up and down in the slide groove 11; the driving mechanism 10 is actuated by a plurality of motors, wherein the plurality of motors are driven by a plurality of motors, and the plurality of motors are driven by a plurality of motors. The moving shaft 6 is connected to the top of the seedling claw arm 5; the swing motor 7 is installed on the fixed bracket 1, and is connected to the driving shaft 6 through the connecting piece 8 to realize the swinging action of the seedling claw arm 5; the seedling claw 9 includes an upper fixed plate 12, an intermediate driving plate 13, a plurality of hanging ear rings 14 and a plurality of seedling needles 15, one end of the seedling needle 15 is hinged on the upper fixed plate 12, the hanging ear ring 14 is fixed to the edge of the intermediate driving plate 13, and the seedling needle 15 passes through the hanging ear ring 14; the seedling claw driving mechanism 10 is used to drive the intermediate driving plate 13 to move up and down, thereby realizing the opening and closing of the seedling claw 9.

[0029] The present application effectively solves the problems of inaccurate seedling picking, serious seedling damage and low work efficiency in traditional seedling picking equipment by optimizing the design of the sliding guide rail and the slider 3, and accurately controlling the swing motor 7 and the seedling claw driving mechanism 10. By accurately controlling the opening and closing force of the seedling claw 9, mechanical damage to the seedlings is avoided, and the survival rate of the seedlings is significantly improved; and the efficient coordination of the sliding guide rail and the pneumatic drive improves the operating efficiency and realizes the continuous and efficient operation of the equipment. In addition, the system simplifies the structure, enhances the stability and reliability of the equipment, achieves an efficient, accurate and stable seedling picking effect, and significantly improves the transplanting efficiency.

[0030] In one embodiment, the transverse linear guide rail 2 is fixed below the fixed bracket 1, and the fixed bracket 1 is used to fix and support the entire mechanism. The slider 3 is mounted on the transverse linear guide rail 2 and can slide forward and backward along the guide rail. Figure 3-4 As shown, Figure 3 The structure of the horizontal linear guide 2 and the slider 3 is shown. Figure 4 The structure of the slide groove 11 and the seedling claw arm 5 is shown. Under the drive of the drive shaft 6, the slider 3 is installed on the transverse linear guide rail 2 and can slide forward and backward along the guide rail. The left side of the slider 3 is connected to the slide groove 11, and the seedling claw arm 5 can slide up and down through the slide groove 11. Such a design ensures that the seedling claw 9 can be accurately positioned.

[0031] In one embodiment, the vertical guide block 4 is fixed on the slide block 3, which is provided with a slide groove 11. The seedling claw arm 5 is slidably arranged in the slide groove 11, and can slide up and down in the slide groove 11. This up and down sliding design ensures the stability of the seedlings during the grabbing process.

[0032] In one embodiment, if Fig. 9 As shown, the connecting member 8 has a circular hole at one end and a key slot at the other end. One end of the circular hole is sleeved on the driving shaft 6, and one end of the key slot is fixedly connected to the rotating shaft of the swing motor 7 for transmitting rotational power, thereby realizing the swinging action of the seedling claw arm 5.

[0033] Further, such as Figure 5 As shown, the seedling claw driving mechanism 10 includes an air pump, an air cylinder 16, and an electromagnetic valve, and the flexible opening and closing of the seedling claw 9 is achieved by controlling the pressure of the air pump. The intermediate driving plate 13 is driven up and down by the air pump to achieve the opening and closing action of the seedling claw 9. The end of the seedling needle 15 is designed to be arc-shaped to avoid mechanical damage to the root of the seedling. The flexible control of the intermediate driving plate 13 is provided by the air pump to provide precise air pressure adjustment, so as to achieve precise control of the force during the seedling action, thereby avoiding damage to the seedling.

[0034] like Figure 6-8 As shown, the control method of the sliding rail type long-age seedling pot seedling taking mechanism comprises: Positioning and sliding: The swing motor 7 drives the driving shaft 6 to swing through the connecting piece 8, and the driving shaft 6 drives the up and down movement of the seedling picking arm and the front and back movement of the slider 3 along the transverse linear guide rail 2, thereby driving the seedling picking claw 9 to move forward along the transverse linear guide rail 2 until the seedling picking claw 9 is aligned with the seedling pot body; Open the claw arm: the middle driving plate 13 moves downward under the action of the cylinder 16, driving the seedling claw 9 to open; Grab the seedlings: Figure 7 As shown, the seedling claw 9 falls into the seedling pot, and the cylinder 16 drives the intermediate driving plate 13 to move upward, so that the seedling needle 15 closes and grabs the seedling; Transferring the seedlings: The slider 3 drives the grabbed seedlings to move backwards, and at the same time, the seedling claw arm 5 completes the swinging action driven by the swing motor 7; Place the seedlings: Figure 8 As shown, the cylinder 16 drives the intermediate driving plate 13 to move downward, and the seedling claws 9 open to release the seedlings, completing the seedling taking and transplanting actions.

[0035] The sliding rail type long-age seedling pot seedling picking mechanism of the present invention is suitable for seedling pots of various specifications. Its efficient and stable working mode significantly improves the level of agricultural automation. The present invention not only solves the deficiencies in the prior art through the detailed design of the above embodiments, but also significantly improves the efficiency and quality of agricultural seedling picking and transplanting.

[0036] An embodiment of the present invention provides a long-age pot seedling picking machine, comprising the above-mentioned sliding guide rail type long-age pot seedling picking mechanism.

[0037] Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0038] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A sliding rail type long-age seedling pot seedling taking mechanism, characterized in that: include: Fixed bracket; A transverse linear guide rail fixed below the fixed bracket; A slider, which is mounted on the transverse linear guide rail and can slide back and forth along the transverse linear guide rail; A vertical guide block, fixed on the sliding block, and having a sliding groove thereon; The seedling picking claw arm is slidably arranged in the slide groove and can slide up and down in the slide groove. A driving shaft is connected to the upper part of the seedling picking claw arm; A swing motor is mounted on the fixed bracket and connected to the drive shaft through a connecting piece to realize the swinging action of the seedling picking claw arm; The seedling claw comprises an upper fixing plate, an intermediate driving plate, a plurality of hanging earrings and a plurality of seedling needles, one end of the seedling needle is hinged on the upper fixing plate, the hanging earring is fixed on the edge of the intermediate driving plate, and the seedling needle passes through the hanging earring; The seedling claw driving mechanism is used to drive the intermediate driving plate to move up and down, thereby realizing the opening and closing of the seedling claws.

2. The sliding rail type long-age seedling pot seedling taking mechanism according to claim 1, characterized in that: The seedling claw driving mechanism includes an air pump, a solenoid valve, and a cylinder which are connected in sequence. The rod end of the cylinder is connected to the intermediate driving plate. The flexible opening and closing of the seedling claw is achieved by controlling the cylinder.

3. The sliding rail type long-age seedling pot seedling taking mechanism according to claim 1, characterized in that: The fixing bracket is made of corrosion-resistant material.

4. The sliding rail type long-age seedling pot seedling taking mechanism according to claim 1, characterized in that: A circular hole is formed at one end of the connecting piece, and a key slot is formed at the other end. One end of the circular hole is sleeved on the driving shaft, and one end of the key slot is fixedly connected to the rotating shaft of the swing motor.

5. The sliding rail type long-age seedling pot seedling taking mechanism according to claim 1, characterized in that: The end of the seedling taking needle is provided with an arc-shaped design.

6. A long-age seedling pot seedling machine, characterized in that: It comprises the sliding rail type long-age pot seedling taking mechanism as described in claim 1.

7. A control method for a sliding rail type long-age seedling pot seedling taking mechanism as claimed in claim 1, characterized in that: include: Positioning and sliding: The swing motor drives the driving shaft to swing through the connecting piece, and the driving shaft drives the seedling picking arm to move up and down and the slider to move forward and backward along the transverse linear guide rail, thereby driving the seedling picking claw to move forward along the transverse linear guide rail until the seedling picking claw is aligned with the seedling pot body; Open the claw arm: the middle driving plate moves downward under the action of the cylinder, driving the seedling claw to open; Grabbing the seedlings: the seedling claws fall into the seedling pot, and the cylinder drives the middle driving plate to move upward, so that the seedling needles close and grab the seedlings; Transferring seedlings: The slider drives the grabbed seedlings to move backwards, and at the same time, the seedling grabbing claw arm completes the swinging action driven by the swinging motor; Placing seedlings: The cylinder drives the middle driving plate to move downward, and the seedling claws open to release the seedlings, completing the seedling taking and transplanting actions.

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