Full-automatic mechanical arm for flower culture

Abstract

The utility model discloses a full-automatic flower cultivation mechanical arm which comprises a mechanical arm body and a tail end arm plate, the tail end arm plate is installed at the tail end of an action joint of the mechanical arm body, the full-automatic flower cultivation mechanical arm further comprises a pot clamping mechanism, and the pot clamping mechanism comprises a butt strap, an L-shaped supporting plate, a V-shaped plate, a guide rod, an L-shaped connecting plate, a screw cylinder, an electric push rod, a side installing plate, an outer connecting plate and a triangular abutting plate. The pot clamping mechanism is arranged at the position of the mechanical arm body for full-automatic flower cultivation, the pot clamping mechanism clamps flowerpots to the position of the V-shaped plate for clamping through the triangular abutting plate and the radian backup plate which are driven through electric control, and the taper plate groove of the V-shaped plate has the groove width of multiple sizes, so that the radian backup plate can abut the flowerpots of different sizes into the V-shaped plate for pressing, abutting and clamping; and a pressing position exists when the V-shaped structure clamps the flowerpot, so that stable transfer of the flowerpot after being clamped at the mechanical arm body is guaranteed, and great convenience is brought to the operation that the mechanical arm body for full-automatic flower cultivation can clamp flowerpots of different sizes to move.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural robots, in particular to a fully automatic flower cultivation mechanical arm. Background Art

[0002] With the rapid development of science and technology in my country, my country's technology in plant seedling transplantation has also matured. Plant tissue culture technology is an advanced vegetative propagation technology that can produce high-quality and disease-free plants in a short period of time. However, this process is very cumbersome and labor-intensive. In addition, plant seedling cultivation technology has strict requirements on the sterile environment, which often increases costs in actual production. In order to reduce labor costs, increase yields, and reduce the risk of contamination by reducing human contact, it is necessary to develop an automated seedling clamping system. In addition, the use of mechanized and highly automated robotic arms can improve the degree of automation of seedling transplantation, which is an effective way to expand the scale of tissue culture and improve production efficiency. Agricultural robots can better meet this demand.

[0003] At present, in order to meet the full-automatic cultivation of flowers, flower breeding sites are usually equipped with various types of agricultural robots. These agricultural robots can perform fully automated operations according to established procedures in various processes of flower cultivation. When the mechanical arm of the agricultural robot clamps the flower pots and transfers them to the conveyor belt position or the tray position, the mechanical arm usually uses a U-shaped plate to clamp the plastic flower pots with pot rings for transport. However, this simple clamping plate has low clamping stability for plastic flower pots. At the same time, the clamping size of the U-shaped plate is fixed, which cannot meet the clamping and transfer needs of plastic flower pots of flowers of multiple sizes. For this reason, we propose a fully automatic flower cultivation mechanical arm. Utility Model Content

[0004] The main purpose of the utility model is to provide a fully automatic flower cultivation robot arm, a pot clamping mechanism is arranged at the robot arm body of the fully automatic flower cultivation, the electric push rod of the pot clamping mechanism can connect the control end to the controller of the robot arm body for on-demand control, the pot clamping mechanism clamps the flower pot into the V-shaped plate for clamping with the triangular abutment plate and the arc support plate driven by the electric control, and the tapered plate groove of the V-shaped plate has groove widths of multiple sizes, so that the arc support plate can push flower pots of different sizes into the V-shaped plate for pressing and clamping; and there is a pressing position when the V-shaped structure clamps the flower pot, which ensures the stable transfer of the flower pot after being clamped at the robot arm body, greatly facilitates the operation of the robot arm body of the fully automatic flower cultivation to clamp flower pots of different sizes for movement, meets the demand for automatic transfer of plant pots in the fully automatic flower cultivation, and can effectively solve the problems in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A fully automatic flower cultivation robot arm comprises a robot arm body and an end arm plate, wherein the end arm plate is installed at the end of the action joint of the robot arm body, and further comprises a pot clamping mechanism, wherein the pot clamping mechanism comprises a strap plate, an L-shaped support plate, a V-shaped plate, a guide rod, an L-shaped connecting plate, a screw barrel, an electric push rod, a side mounting plate, an outer connecting plate and a triangular abutment plate, wherein the surface of the end arm plate is fastened with a strap plate by bolts, and an L-shaped support plate is welded to the outer wall of a plate body on one side of the strap plate, a V-shaped plate is welded to the outside of the bottom plate of the L-shaped support plate, and the bottom of the L-shaped support plate on one side of the V-shaped plate is welded to the outside of the bottom plate of the L-shaped support plate. A guide hole for inserting a guide rod is provided through the plate body, the guide rod is welded to the side of the bottom plate body of the L-shaped connecting plate, and a screw barrel is welded at the upper plate body of the L-shaped connecting plate, the telescopic rod head of the electric push rod is screwed and installed in the screw barrel, and the plate body seat of the electric push rod is bolted to the short vertical plate surface of the side mounting plate, and the long vertical plate of the side mounting plate is bolted to the vertical plate body surface of the L-shaped support plate, the bottom plate of the L-shaped connecting plate away from the guide rod is welded with a triangular abutment plate by the external connecting plate, and the triangular abutment plate is vertically welded to the arc support plate toward the plate body surface of the V-shaped plate.

[0007] Furthermore, the curved backing plate is provided with a curved plate surface at the plate body facing the V-shaped plate;

[0008] By adopting the above technical solution, when the triangular abutment plate is inserted into the V-shaped plate to clamp the plastic flower pot, the triangular abutment plate uses the arc to firmly press the flower pot into the V-shaped plate to clamp it.

[0009] Furthermore, two groups of guide rods are welded on the side of the bottom plate of the L-shaped connecting plate, and two groups of guide holes are symmetrically opened on the side of the bottom plate of the L-shaped supporting plate;

[0010] By adopting the above technical solution, the L-shaped connecting plate is double-point inserted into the guide hole of the L-shaped support plate by means of guide rods, so that there is associated guidance between the L-shaped connecting plate and the L-shaped support plate, and the L-shaped connecting plate can also obtain associated support at the L-shaped support plate.

[0011] Furthermore, an oblique triangular plate body is welded between the side plate body of the V-shaped plate and the bottom plate body of the L-shaped support plate;

[0012] By adopting the above technical solution, the bottom plate body of the L-shaped support plate can be firmly welded to the inclined plate edge of the V-shaped plate with the triangular plate body outside.

[0013] Furthermore, a threaded hole is provided in the barrel of the screw barrel, and a telescopic threaded rod head of the electric push rod is screwed into the threaded hole of the screw barrel;

[0014] By adopting the above technical solution, the telescopic threaded rod head of the electric push rod can be screwed with the threaded hole in the screw barrel.

[0015] Furthermore, an inclined plate is welded between the outer cylinder wall of the screw cylinder and the upper surface of the bottom plate of the L-shaped connecting plate;

[0016] By adopting the above technical solution, the screw barrel and the bottom plate body of the L-shaped connecting plate are welded with an inclined plate for reinforcement.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The utility model provides a pot clamping mechanism at the main body of the mechanical arm of the fully automatic flower cultivation. The electric push rod of the pot clamping mechanism can connect the control end to the controller of the mechanical arm body for on-demand control. The pot clamping mechanism clamps the flower pot into the V-shaped plate for clamping by means of a triangular support plate and an arc support plate driven by an electric control. The tapered plate groove of the V-shaped plate has groove widths of multiple sizes, so that the arc support plate can push flower pots of different sizes into the V-shaped plate for pressing and clamping.

[0019] In addition, there is a pressing position when the V-shaped structure clamps the flower pot, which ensures the stable transfer of the flower pot after being clamped by the robotic arm body. This greatly facilitates the operation of the robotic arm body of the fully automatic flower cultivation to clamp flower pots of different sizes and move them, meeting the automatic transfer needs of plant pots in the fully automatic flower cultivation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The utility model is a schematic diagram of the overall structure of a fully automatic flower cultivation mechanical arm.

[0021] Figure 2 This is an exploded view of a pot clamping mechanism of a fully automatic flower cultivation mechanical arm of the utility model.

[0022] Figure 3 The utility model is a schematic diagram of the disassembly of the screw barrel and the electric push rod of a fully automatic flower cultivation mechanical arm.

[0023] In the figure: 1. Robot arm body; 2. End arm plate; 3. Clamping mechanism; 4. Laying plate; 5. L-shaped support plate; 6. V-shaped plate; 7. Guide hole; 8. Guide rod; 9. L-shaped connecting plate; 10. Screw barrel; 11. Electric push rod; 12. Side mounting plate; 13. External connecting plate; 14. Triangular support plate; 15. Arc support plate. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0025] like Figure 1-3As shown, a fully automatic flower cultivation robot arm includes a robot body 1 and an end arm plate 2. The end arm plate 2 is installed at the end of the action joint of the robot body 1, and also includes a pot clamping mechanism 3. The pot clamping mechanism 3 includes a strap plate 4, an L-shaped support plate 5, a V-shaped plate 6, a guide rod 8, an L-shaped connecting plate 9, a screw barrel 10, an electric push rod 11, a side mounting plate 12, an outer connecting plate 13 and a triangular abutment plate 14. The surface of the end arm plate 2 is fastened with a strap plate 4 by bolts, and an L-shaped support plate 5 is welded to the outer wall of a plate body on one side of the strap plate 4, a V-shaped plate 6 is welded to the outside of the bottom plate of the L-shaped support plate 5, and the L-shaped support plate 5 on one side of the V-shaped plate 6 is welded to the outside of the bottom plate A guide hole 7 for inserting a guide rod 8 is provided through the bottom plate body, the guide rod 8 is welded to the side of the bottom plate body of the L-shaped connecting plate 9, and a screw barrel 10 is welded at the upper plate body of the L-shaped connecting plate 9, the telescopic rod head of the electric push rod 11 is screwed into the screw barrel 10, and the plate body seat of the electric push rod 11 is bolted to the short vertical plate surface of the side mounting plate 12, and the long vertical plate of the side mounting plate 12 is bolted to the vertical plate surface of the L-shaped support plate 5, the L-shaped connecting plate 9 is welded with a triangular abutment plate 14 outside the bottom plate away from the guide rod 8 by the outer connecting plate 13, and the triangular abutment plate 14 is vertically welded to the arc support plate 15 toward the plate surface of the V-shaped plate 6.

[0026] Wherein, the curved support plate 15 is provided with a curved plate surface at the plate body facing the V-shaped plate 6;

[0027] By adopting the above technical solution, when the triangular abutment plate 14 is inserted into the V-shaped plate 6 to clamp the plastic flower pot, the triangular abutment plate 14 uses the arc support plate 15 to firmly press the flower pot into the V-shaped plate 6 to clamp it.

[0028] The guide rods 8 are welded in two groups on the bottom plate side of the L-shaped connecting plate 9, and the guide holes 7 are symmetrically opened in two groups on the bottom plate side of the L-shaped supporting plate 5;

[0029] By adopting the above technical solution, the L-shaped connecting plate 9 is double-point inserted into the guide hole 7 of the L-shaped support plate 5 by the guide rod 8, so that there is an associated guide between the L-shaped connecting plate 9 and the L-shaped support plate 5, and the L-shaped connecting plate 9 can also obtain associated support at the L-shaped support plate 5.

[0030] Wherein, an oblique triangular plate body is welded between the side plate body of the V-shaped plate 6 and the bottom plate body of the L-shaped support plate 5;

[0031] By adopting the above technical solution, the outer bottom plate body of the L-shaped support plate 5 can be firmly welded against the inclined plate edge of the V-shaped plate 6 with the triangular plate body.

[0032] The barrel body of the screw barrel 10 is provided with a threaded hole, and the telescopic threaded rod head of the electric push rod 11 is screwed into the threaded hole of the screw barrel 10;

[0033] By adopting the above technical solution, the telescopic threaded rod head of the electric push rod 11 can be screwed together with the threaded hole in the screw barrel 10 .

[0034] Wherein, an inclined plate is welded between the outer cylinder wall of the screw cylinder 10 and the upper surface of the bottom plate of the L-shaped connecting plate 9;

[0035] By adopting the above technical solution, the screw barrel 10 and the bottom plate body of the L-shaped connecting plate 9 are welded with an inclined plate for reinforcement.

[0036] It should be noted that the utility model is a fully automatic flower cultivation robot arm, a pot clamping mechanism 3 is arranged at the robot arm body 1 of the fully automatic flower cultivation, the electric push rod 11 of the pot clamping mechanism 3 can connect the control end to the controller of the robot arm body 1 for on-demand control, the bridging plate 4 of the pot clamping mechanism 3 can be installed on the surface of the end arm plate 2 by means of bolt locking to obtain support, the robot arm body 1 can be equipped with a corresponding visual system to identify the flower pot, and then the robot arm body 1 moves with the pot clamping mechanism 3 to the plastic flower pot placed on the table surface, the electric push rod 11 on the surface of the side mounting plate 12 can be controlled to push the screw barrel 10 outward, the screw barrel 10 leaves the V-shaped plate 6 from the inside to the outside with the L-shaped connecting plate 9 and the outer connecting plate 13 and the triangular abutment plate 14, so that the arc support plate 15 of the V-shaped plate 6 and the triangular abutment plate 14 is pulled apart to a distance that can accommodate the flower pot, and then the V-shaped plate 6 connected to the L-shaped support plate 5 outside the bridging plate 4 can be sleeved on the vertical pot body of the plastic flower pot, and then the electric push rod 1 1 pulls the screw barrel 10 back to reset, so that the triangular abutment plate 14 firmly clamps the flower pot in the V-shaped plate 6 with the arc support plate 15 during the reset process. The pull-back stroke of the electric push rod 11 needs to be tested in advance to determine the stroke distance that can clamp the flower pot without damaging the flower pot. The stroke distance generates different clamping stroke data according to flower pots of different diameters, and it is necessary to manually test and record the stroke at the controller of the robot body 1 for standby. When the flower pot is clamped, the joint of the robot body 1 can carry the flower pot clamped by the pot clamping mechanism 3 outside the end arm plate 2 to the turnover trolley or conveying machine. After the flower pot is clamped and leaves the table, the pot ring of the flower pot can be pressed on the surface of the V-shaped plate 6. When the flower pot is put down on the surface of the turnover trolley or the conveying machine, the electric push rod 11 pushes the screw barrel 10 outward, thereby driving the triangular abutment plate 14 and the arc support plate 15 to pull outward from the V-shaped plate 6, and then the robot body 1 takes the pot clamping mechanism 3 away from the outside of the flower pot for subsequent clamping of the flower pot.

[0037] It should be noted that the utility model is a fully automatic flower cultivation robot arm, and the components in the utility model are all components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0038] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A fully automatic flower cultivation robot arm, comprising a robot arm body (1) and an end arm plate (2), wherein the end arm plate (2) is installed at the end of the action joint of the robot arm body (1), and characterized in that: The invention also comprises a basin clamping mechanism (3), wherein the basin clamping mechanism (3) comprises a strap (4), an L-shaped support plate (5), a V-shaped plate (6), a guide rod (8), an L-shaped connecting plate (9), a screw barrel (10), an electric push rod (11), a side mounting plate (12), an outer connecting plate (13) and a triangular abutment plate (14); the strap (4) is bolted to the surface of the end arm plate (2); an L-shaped support plate (5) is welded to the outer wall of a plate body on one side of the strap (4); a V-shaped plate (6) is welded to the outside of the bottom plate of the L-shaped support plate (5); a guide hole (7) for inserting the guide rod (8) is provided through the bottom plate body of the L-shaped support plate (5) on one side of the V-shaped plate (6); The guide rod (8) is welded to the side of the bottom plate of the L-shaped connecting plate (9), and a screw barrel (10) is welded to the upper plate of the L-shaped connecting plate (9), the telescopic rod head of the electric push rod (11) is screwed and installed in the screw barrel (10), and the plate body seat of the electric push rod (11) is bolted to the short vertical plate surface of the side mounting plate (12), and the long vertical plate of the side mounting plate (12) is bolted to the vertical plate body surface of the L-shaped support plate (5), and the L-shaped connecting plate (9) is welded with a triangular support plate (14) outside the bottom plate away from the guide rod (8) through the external connecting plate (13), and the triangular support plate (14) is vertically welded to the arc support plate (15) toward the plate body surface of the V-shaped plate (6).

2. The fully automatic flower cultivation robot according to claim 1, characterized in that: The curved support plate (15) is provided with a curved plate surface at the plate body facing the V-shaped plate (6).

3. The fully automatic flower cultivation robot arm according to claim 1, characterized in that: Two groups of guide rods (8) are welded on the side of the bottom plate of the L-shaped connecting plate (9), and two groups of guide holes (7) are symmetrically opened on the side of the bottom plate of the L-shaped supporting plate (5).

4. The fully automatic flower cultivation robot according to claim 1, characterized in that: An oblique triangular plate body is welded between the side plate body of the V-shaped plate (6) and the bottom plate body of the L-shaped support plate (5).

5. The fully automatic flower cultivation robot arm according to claim 1, characterized in that: A threaded hole is arranged in the body of the screw barrel (10), and a telescopic threaded rod head of an electric push rod (11) is screwed into the threaded hole of the screw barrel (10).

6. The fully automatic flower cultivation robot arm according to claim 5, characterized in that: An inclined plate is welded between the outer cylinder wall of the screw cylinder (10) and the upper surface of the bottom plate body of the L-shaped connecting plate (9).

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