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

Abstract

The application discloses a sliding guide rail type long seedling pot seedling taking mechanism and a control method thereof and belongs to the field of agricultural mechanization. The mechanism comprises a fixed support, a horizontal linear guide rail fixed below the fixed support, a sliding block sleeved on the horizontal linear guide rail and capable of sliding back and forth along the horizontal linear guide rail, a vertical guide block fixed on the sliding block and provided with a sliding groove, a seedling taking claw arm slidably arranged in the sliding groove and capable of sliding up and down in the sliding groove, a driving shaft connected with the upper portion of the seedling taking claw arm, a swing motor installed on the fixed support and connected with the driving shaft through a connecting piece, a seedling taking claw comprising an upper fixed plate, a middle driving plate, a plurality of ear rings and a plurality of seedling taking needles, one end of the seedling taking needle being hingedly connected to the upper fixed plate, the ear ring being fixed to the edge of the middle driving plate and the seedling taking needle penetrating through the ear ring, and a seedling taking claw driving mechanism. The mechanism has the advantages of precise and efficient seedling taking without damaging seedlings and significantly improving the survival rate and transplanting efficiency.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to a sliding guide rail type long-aged seedling pot seedling picking mechanism and its control method. Background Technology

[0002] In modern agricultural production, the application of transplanting machinery has greatly improved agricultural production efficiency. However, current seedling-grabbing mechanisms generally suffer from problems such as low grasping accuracy, easy damage to seedlings, and slow operating speed, resulting in low seedling survival rates and unsatisfactory operational efficiency. These shortcomings seriously restrict the further development of agricultural automation.

[0003] Traditional seedling picking devices mostly employ simple mechanical structures, using a single clamping or suction method to grasp seedlings. However, these devices are prone to mechanical damage to seedlings during the grasping process, or cause seedlings to fall off due to insufficient gripping force. Furthermore, some devices suffer from unstable grasping actions, poor repeatability, and complex structures, making it difficult to meet the demands of modern agriculture for efficient and reliable automated transplanting.

[0004] Research on automated seedling-picking technology has made some progress both domestically and internationally. Some developed countries started earlier in agricultural mechanization, focusing their research on high-precision, multi-functional automated equipment. For example, seedling-picking technology combining visual recognition and robotic arms achieves precise positioning and flexible grasping. However, these devices are costly, complex in structure, and their widespread application is limited. In recent years, China has also accelerated its research pace, with some research teams developing automated seedling-picking devices suitable for local needs. These devices utilize a combination of pneumatic components and mechanical structures to reduce equipment costs while improving grasping efficiency; however, the overall technological maturity and application scale still need improvement. Therefore, developing a seedling-picking mechanism that is simple in structure, stable in performance, accurate in grasping, and moderately cost-effective is of significant practical importance. Summary of the Invention

[0005] The purpose of this application is to provide a sliding guide rail type long-seedling pot seedling picking mechanism and its control method to solve the problems of inaccurate grasping, seedling damage, and low efficiency in the existing seedling picking devices.

[0006] According to a first aspect of the embodiments of this application, a sliding guide rail type long-aged seedling pot seedling picking mechanism is provided, comprising:

[0007] Fixed bracket;

[0008] A transverse linear guide rail is fixed below the fixed bracket;

[0009] The slider is fitted onto the transverse linear guide rail and can slide back and forth along the transverse linear guide rail.

[0010] A vertical guide block is fixed on the sliding block and has a sliding groove on it;

[0011] A seedling taking arm is slidably arranged in the sliding groove and can slide up and down in the sliding groove,

[0012] A driving shaft is connected to the upper part of the seedling taking arm;

[0013] A swing motor is installed on the fixed support and connected to the driving shaft through a connecting piece to realize the swing action of the seedling taking arm;

[0014] The seedling taking arm comprises an upper fixed plate, a middle driving plate, a plurality of ear rings and a plurality of seedling taking needles, one end of the seedling taking needle is hinged to the upper fixed plate, the ear ring is fixed to the edge of the middle driving plate, and the seedling taking needle passes through the ear ring;

[0015] A seedling taking arm driving mechanism is used to drive the middle driving plate to move up and down, so as to realize the opening and closing of the seedling taking arm.

[0016] Further, the seedling taking arm driving mechanism comprises a gas pump, an electromagnetic valve and a gas cylinder connected in sequence, the rod end of the gas cylinder is connected to the middle driving plate, and the flexible opening and closing of the seedling taking arm are realized by controlling the gas cylinder.

[0017] Further, the fixed support is made of a corrosion-resistant material.

[0018] Further, a round hole is opened at one end of the connecting piece, a key groove is opened at the other end, the round hole is sleeved on the driving shaft, and the key groove is fixedly connected to the rotating shaft of the swing motor.

[0019] Further, the end of the seedling taking needle is designed in a circular arc shape.

[0020] According to a second aspect of the embodiment of the present application, a long seedling age pot seedling taking machine is provided, characterized in that it comprises the sliding guide rail type long seedling age pot seedling taking mechanism of the first aspect.

[0021] According to a third aspect of the embodiment of the present application, a control method of the sliding guide rail type long seedling age pot seedling taking mechanism of the first aspect is provided, comprising:

[0022] Positioning and sliding: the swing motor drives the driving shaft to swing through the connecting piece, the driving shaft drives the seedling taking arm to move up and down and the sliding block to move back and forth along the horizontal linear guide rail, and then drives the seedling taking arm to move forward along the horizontal linear guide rail until the seedling taking arm is aligned with the seedling pot body;

[0023] Opening the arm: the middle driving plate moves downward under the action of the gas cylinder, and drives the seedling taking arm to open;

[0024] Grabbing seedlings: the seedling taking claw falls into the seedling pot body, the middle driving plate is driven by the air cylinder to move upward, and the seedling taking needle is closed to grab the seedlings;

[0025] Transferring seedlings: the sliding block drives the grabbed seedlings to move backward, and the seedling taking claw arm completes the swing action under the drive of the swing motor;

[0026] Placing seedlings: the middle driving plate is driven by the air cylinder to move downward, the seedling taking claw is opened to release the seedlings, and the seedling taking and transplanting actions are completed.

[0027] The technical scheme provided by the embodiment of the application can include the following beneficial effects:

[0028] As known from the above embodiment, the application adopts the cooperation design of sliding guide rail and sliding block, the forward and backward sliding of the seedling taking claw arm is accurately controlled, thereby overcoming the problems of unstable operation and inaccurate grabbing in the traditional equipment, ensuring the stability and continuity of the seedling taking operation, and further improving the operation efficiency. Meanwhile, the driving shaft is connected with the swing motor through the connecting piece, so that the swing control of the seedling taking claw arm is more accurate, and the seedling damage problem caused by unstable driving in the traditional way is avoided. In addition, the opening and closing of the seedling taking claw is realized by driving the middle driving plate by the air pump. This kind of pneumatic driving mode has the advantages of faster response and more stable action compared with the traditional mechanical mode, further improving the efficiency and precision of the seedling taking operation. In summary, through the optimization of the above technical means, the application solves the technical problems of low efficiency, inaccurate operation and large seedling damage of the traditional pot seedling seedling taking mechanism, and realizes efficient and accurate seedling taking operation.

[0029] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0030] The drawings herein are incorporated into the specification and form part of the specification, show embodiments consistent with the application, and together with the specification serve to explain the principles of the application.

[0031] Figure 1 is a main view schematic diagram of a sliding guide rail type long seedling age pot seedling taking mechanism.

[0032] Figure 2 is a perspective structure schematic diagram of a sliding guide rail type long seedling age pot seedling taking mechanism.

[0033] Figure 3 is a perspective structure schematic diagram of a sliding guide rail type long seedling age pot seedling taking mechanism.

[0034] Figure 4 is a perspective structure schematic diagram of a sliding guide rail type long seedling age pot seedling taking mechanism.

[0035] Figure 5 Fig. 1 is a perspective view of a seedling taking claw according to an embodiment of the present application.

[0036] Figure 6 Fig. 2 is a schematic view of a seedling taking claw opening and falling according to an embodiment of the present application.

[0037] Figure 7 Fig. 3 is a schematic view of a seedling taking claw tightening according to an embodiment of the present application.

[0038] Figure 8 Fig. 4 is a schematic view of a seedling taking claw opening and falling according to an embodiment of the present application.

[0039] Figure 9 Fig. 5 is a perspective view of a swing motor and connecting piece according to an embodiment of the present application.

[0040] In the figure, 1 is a fixed support, 2 is a horizontal linear guide rail, 3 is a sliding block, 4 is a vertical guide block, 5 is a seedling taking claw arm, 6 is a driving shaft, 7 is a swing motor, 8 is a connecting piece, 9 is a seedling taking claw, 10 is a seedling taking claw driving mechanism, 11 is a sliding groove, 12 is an upper fixed plate, 13 is a middle driving plate, 14 is a hanging ear ring, 15 is a seedling taking needle, and 16 is a pneumatic cylinder. DETAILED DESCRIPTION

[0041] The exemplary embodiments will be described in detail herein below with reference to the accompanying drawings. In the following description, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments are not representative of all embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0042] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0043] Reference Figures 1-9The embodiment of the present application provides a sliding guide type long seedling pot seedling taking mechanism, which comprises a fixed support 1, a transverse linear guide rail 2, a sliding block 3, a vertical guide block 4, a seedling taking claw arm 5, a driving shaft 6, an oscillating motor 7, a seedling taking claw 9, a seedling claw driving mechanism 10, the transverse linear guide rail 2 is fixed below the fixed support 1, the sliding block 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 sliding block 3 and is provided with a sliding groove 11, the seedling taking claw arm 5 is slidably arranged in the sliding groove 11 and can slide up and down in the sliding groove 11, the driving shaft 6 is connected with the upper part of the seedling taking claw arm 5, the oscillating motor 7 is installed on the fixed support 1 and is connected with the driving shaft 6 through a connecting piece 8, so that the oscillating action of the seedling taking claw arm 5 is realized, the seedling taking claw 9 comprises an upper fixed plate 12, an intermediate driving plate 13, a plurality of ear rings 14 and a plurality of seedling taking needles 15, one end of the seedling taking needle 15 is hingedly connected to the upper fixed plate 12, the ear ring 14 is fixed to the edge of the intermediate driving plate 13, and the seedling taking needle 15 penetrates through the ear ring 14, and the seedling claw driving mechanism 10 is used for driving the intermediate driving plate 13 to move up and down, so that the seedling taking claw 9 is opened and closed.

[0044] The present application optimizes the design of the sliding guide rail and the sliding block 3, accurately controls the oscillating motor 7 and the seedling claw driving mechanism 10, effectively solves the problems of inaccurate seedling taking, serious seedling damage and low work efficiency in the traditional pot seedling taking equipment, avoids the mechanical damage of the seedling through the accurate control of the opening and closing force of the seedling taking claw 9, significantly improves the survival rate of the seedling, and improves the work efficiency through the efficient cooperation of the sliding guide rail and the pneumatic driving, realizes the continuous and efficient operation of the equipment, and the structure of the system is simplified, the stability and reliability of the equipment are enhanced, the seedling taking effect is high, accurate and stable, and the transplanting efficiency is significantly improved.

[0045] In an embodiment, the transverse linear guide rail 2 is fixed below the fixed support 1, the fixed support 1 is used for fixing and supporting the whole mechanism, and the sliding block 3 is sleeved on the transverse linear guide rail 2 and can slide back and forth along the guide rail. Figures 3-4 As shown in the drawings, Figure 3 The structure of the transverse linear guide rail 2 and the sliding block 3 is shown, Figure 4 The structure of the sliding groove 11 and the seedling taking claw arm 5 is shown, the sliding block 3 is installed on the transverse linear guide rail 2 and can slide back and forth along the guide rail under the driving of the driving shaft 6, the left side of the sliding block 3 is connected with the sliding groove 11, and the up-and-down sliding of the seedling taking claw arm 5 is realized through the sliding groove 11. Such a design ensures that the seedling taking claw 9 can be accurately positioned.

[0046] In an embodiment, the vertical guide block 4 is fixed on the sliding block 3, and a sliding groove 11 is arranged on the vertical guide block 4. The seedling claw arm 5 is slidably arranged in the sliding groove 11 and can slide up and down in the sliding groove 11. The up-and-down sliding design ensures the stability of the seedlings in the grabbing process.

[0047] In an embodiment, as shown in Figure 9 , one end of the connecting piece 8 is provided with a round hole, and the other end is provided with a key groove. The round hole is sleeved on the driving shaft 6, and the key groove is fixedly connected with the rotating shaft of the swing motor 7, for transmitting the rotary power, so as to realize the swing action of the seedling claw arm 5.

[0048] Further, as shown in Figure 5 , the seedling claw driving mechanism 10 includes a gas pump, a gas cylinder 16 and an electromagnetic valve. The flexible opening and closing of the seedling claw 9 are realized by controlling the pressure of the gas pump. The intermediate driving plate 13 is driven by the gas pump to move up and down, so as to realize the opening and closing action of the seedling claw 9. The end of the seedling needle 15 is designed in a circular arc shape, so as to avoid mechanical damage to the roots of the seedlings. The flexible control of the intermediate driving plate 13 is provided with precise air pressure adjustment by the gas pump, so as to realize the precise control of the force during the seedling taking action, thereby avoiding the damage to the seedlings.

[0049] As shown in Figures 6-8 , the control method of the sliding guide type long seedling pot seedling seedling taking mechanism includes:

[0050] Positioning and sliding: the swing motor 7 drives the driving shaft 6 to swing through the connecting piece 8. The driving shaft 6 drives the seedling arm to move up and down and the sliding block 3 to move back and forth along the horizontal linear guide rail 2, and then drives the seedling claw 9 to move forward along the horizontal linear guide rail 2 until the seedling claw 9 is aligned with the seedling pot body;

[0051] Opening the claw arm: the intermediate driving plate 13 is driven by the gas cylinder 16 to move downward, and drives the seedling claw 9 to open;

[0052] Grabbing seedlings: as shown in Figure 7 , the seedling claw 9 falls into the seedling pot body, and the gas cylinder 16 drives the intermediate driving plate 13 to move upward, so that the seedling needle 15 is closed to grab the seedlings;

[0053] Moving the seedlings: the sliding block 3 drives the grabbed seedlings to move backward, and the seedling claw arm 5 completes the swing action under the drive of the swing motor 7;

[0054] Placing the seedlings: as shown in Figure 8 , the gas cylinder 16 drives the intermediate driving plate 13 to move downward, and the seedling claw 9 opens to release the seedlings, thereby completing the seedling taking and transplanting actions.

[0055] The sliding guide type long seedling age pot seedling taking mechanism is suitable for various specifications of seedling pot bodies. The efficient and stable working mode significantly improves the agricultural automation level. Through the detailed design of the above embodiments, the deficiencies in the prior art are solved, and the efficiency and quality of agricultural seedling taking and transplanting are significantly improved.

[0056] The embodiment of the present application provides a long seedling age pot seedling taking machine, which comprises the sliding guide type long seedling age pot seedling taking mechanism.

[0057] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0058] It should be understood that the application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the appended claims.

Claims

1. A long seedling pot seedling taking-out mechanism of a sliding guide rail type, characterized by, It comprises: a fixed support; a transverse linear guide rail fixed below the fixed support; a sliding block sleeved on the transverse linear guide rail and capable of sliding back and forth along the transverse linear guide rail; a vertical guide block fixed on the sliding block and having a sliding groove thereon; a seedling taker arm slidably arranged in the sliding groove and capable of sliding up and down in the sliding groove, a driving shaft connected with the upper portion of the seedling taker arm; a swing motor mounted on the fixed support and connected with the driving shaft through a connecting piece to realize the swing action of the seedling taker arm; a seedling taker comprising an upper fixed plate, an intermediate driving plate, a plurality of ear rings and a plurality of seedling taker needles, one end of the seedling taker needle being hingedly connected to the upper fixed plate, the ear ring being fixed to the edge of the intermediate driving plate, and the seedling taker needle penetrating through the ear ring; a seedling taker driving mechanism for driving the intermediate driving plate to move up and down, thereby realizing the opening and closing of the seedling taker.

2. The long seedling pot seedling taking mechanism of the sliding guide rail type according to claim 1, characterized in that, The seedling taker driving mechanism comprises a gas pump, an electromagnetic valve and a gas cylinder connected in sequence, the rod end of the gas cylinder being connected with the intermediate driving plate, and the flexible opening and closing of the seedling taker being realized by controlling the gas cylinder.

3. The sliding guide type long seedling pot seedling taking mechanism according to claim 1, characterized in that, The fixed support is made of a corrosion-resistant material.

4. The sliding guide type long seedling pot seedling taking mechanism according to claim 1, characterized in that, The connecting piece has a round hole at one end and a key groove at the other end, the round hole being sleeved on the driving shaft, and the key groove being fixedly connected with the rotating shaft of the swing motor.

5. The sliding guide type long seedling pot seedling taking mechanism according to claim 1, wherein The distal end of the seedling taker needle is provided with a circular arc design.

6. A pot seedling taking-out machine for long seedling age, characterized by comprising: It comprises the sliding guide rail type long seedling pot seedling taker mechanism of claim 1.

7. A control method of the long seedling pot seedling taking mechanism of the sliding guide rail type according to claim 1, characterized in that, It comprises: positioning and sliding: the swing motor drives the driving shaft to swing through the connecting piece, the driving shaft drives the seedling taker arm to move up and down and the sliding block to move back and forth along the transverse linear guide rail, thereby driving the seedling taker to move forward along the transverse linear guide rail until the seedling taker is aligned with the seedling pot body; opening the claw arm: the intermediate driving plate moves downward under the action of the gas cylinder, thereby driving the seedling taker to open; grabbing seedlings: the seedling taker falls into the seedling pot body, the gas cylinder drives the intermediate driving plate to move upward, thereby causing the seedling taker needle to close and grab the seedlings; moving the seedlings: the sliding block drives the grabbed seedlings to move backward, and the seedling taker arm completes the swing action under the drive of the swing motor; placing the seedlings: the gas cylinder drives the intermediate driving plate to move downward, thereby causing the seedling taker to open and release the seedlings, and completing the seedling taking and transplanting actions.

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