Automatic transplanting gripper

Abstract

The utility model discloses an automatic transplanting gripper which is applied to the field of agricultural planting, and is characterized in that a driving mechanism moves a clamping jaw to the top of a substrate when the substrate is grabbed, then a first motor rotates to drive a screw rod to rotate, the screw rod rotates to enable a telescopic needle to move out of a fixed rod and be inserted into the substrate, and after the substrate is grabbed successfully and placed at a specified position, the clamping jaw is driven to move to the top of the substrate. According to the seedling grabbing device, the first motor rotates reversely, the telescopic needle is contracted, and the telescopic needle is pulled out of the substrate, so that complete separation of the grabbing clamp and the substrate is achieved, and under the condition of damage to seedlings, the grabbing success rate is high, and use is convenient; a triangular groove is moved by moving a sliding barrel, a clamping rod is separated from a clamping hole under the action of a second spring, and the grabbing rod is taken down and replaced; a new grabbing rod is arranged in the fixing cylinder, the sliding cylinder is loosened, the clamping rod is clamped with the clamping hole, the grabbing rod is fixed, and replacement is completed, so that the purpose of conveniently replacing the grabbing rod is achieved, the workload is reduced, and the replacement efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of agricultural planting, in particular to an automatic transplanting gripper. Background Art

[0002] At present, a Chinese utility model with announcement number CN217072411U discloses a seedling-picking robot, which belongs to the technical field of agricultural machinery and comprises a connecting plate, wherein the lower end surface of the connecting plate is connected to four supporting tubes, and the lower ends of the four supporting tubes are connected to the upper end surface of a fixed plate; the four supporting tubes are respectively connected to a first fixed plate and a second fixed plate, an adjustable stroke cylinder is connected between the first fixed plate and the second fixed plate, the adjustable stroke cylinder passes through the first fixed plate to connect to a stroke adjusting nut, and the lower end of a cylinder piston push rod inside the adjustable stroke cylinder passes through the second fixed plate to connect to a moving slider; a first push rod is connected to each of the four sides of the moving slider, and a seedling-picking robot is provided to overcome the existing defects, and the seedlings in the pot can be grabbed out with appropriate force by closing the claw tip.

[0003] The existing transplanting gripper has difficulty in separating the substrate and the gripping clamp. Most of the existing seedling-taking manipulators have a low gripping rate when in use and will break the substrate. The substrate and the gripping clamp are difficult to separate, and the survival rate of seedlings is low. It is also inconvenient to replace the gripping rod. Generally, the gripping rod is fixed and installed by bolts. When replacing it, tools are required to disassemble and assemble it, which is a cumbersome process, increasing the workload and reducing the efficiency of work replacement. In order to solve the above-mentioned problems, we propose an automatic transplanting gripper. Utility Model Content

[0004] The utility model aims to provide an automatic transplanting gripper, which has the advantages of being convenient for separating the substrate from the gripping clamp and for replacing the gripping rod.

[0005] The above technical purpose of the utility model is achieved through the following technical solutions: an automatic transplanting gripper, comprising a first swing arm, both ends of the first swing arm are provided with a driving mechanism, a fixed column and a second swing arm are respectively installed on the surface of the driving mechanism, the bottom of the fixed column is bolted with a bottom plate, the bottom of the second swing arm is bolted with a support plate, the bottom of the support plate is provided with an adjustment mechanism, the bottom of the adjustment mechanism is provided with a fixed rod, the inner wall of the fixed rod is slidably sleeved with a telescopic needle, the inner wall of the fixed rod is bolted with a first motor, and the output end of the first motor is connected through a coupling The shaft is connected with a screw, and the surface of the screw is threadedly connected to the inner wall of the telescopic needle, the surface of the fixed column is bolted with a controller, the inner wall of the support plate is embedded with a distance sensor, the bottom of the adjustment mechanism is bolted with a fixed cylinder, the fixed cylinder is slidably sleeved with a fixed rod, the surface of the fixed cylinder is slidably sleeved with a sliding cylinder, the surface of the fixed cylinder is sleeved with a first spring, the inner wall of the sliding cylinder is provided with a triangular groove, the inner wall of the triangular groove is slidably connected with a clamping rod, the surface of the clamping rod is sleeved with a second spring, the surface of the fixed rod is provided with a clamping hole, and the clamping rod is clamped with the clamping hole.

[0006] By adopting the above technical scheme, when grabbing the substrate, the driving mechanism moves the clamping claw to the top of the substrate, and then the first motor rotates to drive the screw rod to rotate. The screw rod rotates to move the telescopic needle out of the fixed rod and insert it into the substrate. After the substrate is successfully grabbed and placed in the specified position, the first motor reverses to shrink the telescopic needle and pull the telescopic needle out of the substrate, thereby achieving complete separation of the clamp from the substrate, causing little damage to the seedlings, and having a high grasping success rate and being easy to use. The triangular groove is moved by moving the slide cylinder, so that the clamping rod is disengaged from the clamping hole under the action of the second spring, the grabbing rod is removed and replaced, and a new grabbing rod is installed into the fixed cylinder, the slide cylinder is loosened, the clamping rod is clamped with the clamping hole, the grabbing rod is fixed, and the replacement is completed, thereby achieving the purpose of facilitating the replacement of the grabbing rod, reducing the workload and improving the efficiency of replacement.

[0007] The utility model is further configured as follows: the driving mechanism includes a fixed shell, the bottom of the fixed shell on the left side is bolted to the top of the fixed column, and the surface of the fixed shell on the right side is bolted to one end of the first swing rod, the surface of the fixed shell is bolted to a second motor, the output end of the second motor extends to the interior of the fixed shell and is fixedly sleeved with a first gear, the surface of the first gear is meshed with a second gear, a rotating shaft is fixedly sleeved at the axis of the second gear, and the rotating shaft is rotatably sleeved with the inner wall of the fixed shell, and the rotating shaft is fixedly sleeved with the inner walls of the first swing rod and the second swing rod respectively.

[0008] By adopting the above technical solution and setting a driving mechanism, it is convenient to adjust the grasping position.

[0009] The utility model is further configured as follows: the adjustment mechanism comprises a first sliding groove, the interior of the first sliding groove is slidably connected with a first sliding block, the first sliding block is bolted to the top of the fixing tube, and the inner wall of the first sliding block is threadedly connected with a bolt.

[0010] By adopting the above technical solution, the spacing between the clamping jaws can be adjusted by setting an adjustment mechanism, and the two spacings are adapted to the narrow spacing of the plug tray and the wide spacing of the planting plate, thereby improving applicability.

[0011] The utility model is further configured as follows: a second sliding block is bolted on the surface of the telescopic needle, a second sliding groove is slidably connected on the surface of the second sliding block, and the second sliding groove is opened on the inner wall of the fixing rod.

[0012] By adopting the above technical solution, the second sliding block and the second sliding groove are provided to prevent the telescopic needle from deflecting and ensure stability.

[0013] The utility model is further configured as follows: a fixing plate is fixedly sleeved on the inner wall of the fixing rod, and the fixing plate is rotatably sleeved on the surface of the screw rod.

[0014] By adopting the above technical solution and providing a fixing plate, the stability of the screw rod is improved.

[0015] The utility model is further configured as follows: the surface of the slide cylinder is provided with anti-slip grooves.

[0016] By adopting the above technical solution, anti-skid patterns are provided to prevent hands from slipping and facilitate operation.

[0017] The utility model is further configured as follows: a limiting plate is fixedly sleeved on the surface of the fixing rod.

[0018] By adopting the above technical solution and providing a limiting plate, the matrix and the telescopic needle can be easily separated.

[0019] The utility model is further configured as follows: a heat dissipation hole is opened on the surface of the fixing rod.

[0020] By adopting the above technical solution and providing heat dissipation holes, the heat dissipation efficiency is improved and the stability of the first motor is ensured.

[0021] The utility model is further configured as follows: a mounting hole is provided on the surface of the bottom plate.

[0022] By adopting the above technical solution, installation and fixing are facilitated by setting the installation holes.

[0023] In summary, the utility model has the following beneficial effects:

[0024] 1. The utility model drives the clamp to move to the top of the substrate by the driving mechanism when grabbing the substrate, and then the first motor rotates to drive the screw to rotate, and the screw rotates to move the telescopic needle out of the fixed rod and insert it into the substrate. After the substrate is successfully grabbed and placed in the designated position, the first motor reverses to shrink the telescopic needle and pull the telescopic needle out of the substrate, thereby achieving complete separation of the clamp from the substrate, causing little damage to the seedlings, a high success rate of grabbing, and convenient use;

[0025] 2. The utility model moves the triangular groove by moving the slide cylinder, so that the clamping rod is disengaged from the clamping hole under the action of the second spring, the grabbing rod is removed and replaced, the new grabbing rod is installed into the fixing cylinder, the slide cylinder is loosened, the clamping rod is clamped with the clamping hole, the grabbing rod is fixed, and the replacement is completed, thereby achieving the purpose of facilitating the replacement of the grabbing rod, reducing the workload, and improving the efficiency of replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional diagram of the structure of the utility model;

[0027] Figure 2 It is a partial structural cross-sectional view of the utility model;

[0028] Figure 3 It is a cross-sectional view of the driving mechanism of the utility model;

[0029] Figure 4 This utility model Figure 2 A magnified view of the structure in the middle.

[0030] 1. The first swing arm; 2. The driving mechanism; 3. The fixing column; 4. The second swing arm; 5. The bottom plate; 6. The supporting plate; 7. The adjusting mechanism; 8. The fixing rod; 9. The telescopic needle; 10. The first motor; 11. The screw rod; 12. The controller; 13. The distance sensor; 14. The fixing cylinder; 15. The first spring; 16. The triangular groove; 17. The clamping rod; 18. The second spring; 19. The clamping hole; 20. The fixing shell; 21. The second motor; 22. The first gear; 23. The second gear; 24. The rotating shaft; 25. The first slide groove; 26. The first slider; 27. The bolt; 28. The second slider; 29. ​​The second slide groove; 30. The fixing plate; 31. The anti-slip pattern; 32. The limiting plate; 33. The heat dissipation hole; 34. The mounting hole; 35. The slide cylinder. DETAILED DESCRIPTION

[0031] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0032] Embodiment 1:

[0033] refer to Figure 1 and Figure 2An automatic transplanting gripper comprises a first swing arm 1, both ends of the first swing arm 1 are provided with a driving mechanism 2, a fixed column 3 and a second swing arm 4 are respectively installed on the surface of the driving mechanism 2, a bottom plate 5 is bolted to the bottom of the fixed column 3, a support plate 6 is bolted to the bottom of the second swing arm 4, an adjusting mechanism 7 is provided at the bottom of the support plate 6, a fixed rod 8 is provided at the bottom of the adjusting mechanism 7, a telescopic needle 9 is slidably sleeved on the inner wall of the fixed rod 8, a first motor 10 is bolted to the inner wall of the fixed rod 8, an output end of the first motor 10 is connected to a screw 11 through a coupling, and the surface of the screw 11 is connected to the telescopic needle 9. The inner wall of the needle 9 is threadedly connected, the surface of the fixed column 3 is bolted with a controller 12, and the inner wall of the support plate 6 is embedded with a distance sensor 13. When grabbing the matrix, the driving mechanism 2 moves the clamp to the top of the matrix, and then the first motor 10 rotates to drive the screw 11 to rotate. The screw 11 rotates to move the telescopic needle 9 out of the fixed rod 8 and insert it into the matrix. After the matrix is ​​successfully grabbed and placed in the specified position, the first motor 10 reverses to shrink the telescopic needle 9 and pull the telescopic needle 9 out of the matrix, thereby achieving complete separation of the clamp from the matrix, causing little damage to the seedlings, a high success rate of grabbing, and easy use.

[0034] refer to Figure 1 and Figure 3 The driving mechanism 2 includes a fixed shell 20, the bottom of the fixed shell 20 on the left side is bolted to the top of the fixed column 3, and the surface of the fixed shell 20 on the right side is bolted to one end of the first swing rod 1, and a second motor 21 is bolted to the surface of the fixed shell 20, and the output end of the second motor 21 extends to the inside of the fixed shell 20 and is fixedly sleeved with a first gear 22, and a second gear 23 is meshed with the surface of the first gear 22, and a rotating shaft 24 is fixedly sleeved at the axis of the second gear 23, and the rotating shaft 24 is rotatably sleeved with the inner wall of the fixed shell 20, and the rotating shaft 24 is respectively fixedly sleeved with the inner walls of the first swing rod 1 and the second swing rod 4. By setting the driving mechanism 2, it is convenient to adjust the grasping position.

[0035] refer to Figure 2 The adjusting mechanism 7 includes a first slide groove 25, the interior of the first slide groove 25 is slidably connected with a first slider 26, and the first slider 26 is bolted to the top of the fixed cylinder 14, and the inner wall of the first slider 26 is threadedly connected with a bolt 27. By setting the adjusting mechanism 7, the spacing between the clamping jaws can be adjusted, and the two spacings are adapted to the narrow spacing of the hole tray and the wide spacing of the planting plate, thereby improving applicability.

[0036] refer to Figure 2 A second slider 28 is bolted to the surface of the telescopic needle 9, and a second slide groove 29 is slidably connected to the surface of the second slider 28, and the second slide groove 29 is opened on the inner wall of the fixed rod 8. By arranging the second slider 28 and the second slide groove 29, the telescopic needle 9 is prevented from deflecting and stability is ensured.

[0037] refer to Figure 2A fixing plate 30 is fixedly sleeved on the inner wall of the fixing rod 8, and the fixing plate 30 is rotatably sleeved with the surface of the screw rod 11. By providing the fixing plate 30, the stability of the screw rod 11 is improved.

[0038] Embodiment 2:

[0039] refer to Figure 2 and Figure 4 The bottom of the adjusting mechanism 7 is bolted with a fixing cylinder 14, and the fixing cylinder 14 is slidably sleeved with the fixing rod 8. The surface of the fixing cylinder 14 is slidably sleeved with a sliding cylinder 35, and the surface of the fixing cylinder 14 is sleeved with a first spring 15. The inner wall of the sliding cylinder 35 is provided with a triangular groove 16, and the inner wall of the triangular groove 16 is slidably connected with a clamping rod 17, and the surface of the clamping rod 17 is sleeved with a second spring 18. A clamping hole 19 is provided on the surface of the fixing rod 8, and the clamping rod 17 is clamped with the clamping hole 19. The triangular groove 16 is moved by moving the sliding cylinder 35, so that the clamping rod 17 is disengaged from the clamping hole 19 under the action of the second spring 18, the grab rod is removed and replaced, and a new grab rod is installed into the fixing cylinder 14, and the sliding cylinder 35 is loosened, so that the clamping rod 17 is clamped with the clamping hole 19, the grab rod is fixed, and the replacement is completed, thereby achieving the purpose of facilitating the replacement of the grab rod, reducing the workload, and improving the efficiency of replacement.

[0040] refer to Figure 4 The surface of the slide tube 35 is provided with anti-skid patterns 31, and the anti-skid patterns 31 are provided to prevent hand slippage and facilitate operation.

[0041] refer to Figure 1 and Figure 2 The surface of the fixing rod 8 is fixedly sleeved with a limiting plate 32. By setting the limiting plate 32, it is convenient to separate the matrix from the telescopic needle 9.

[0042] refer to Figure 2 A heat dissipation hole 33 is provided on the surface of the fixing rod 8. By providing the heat dissipation hole 33, the heat dissipation efficiency is improved and the stability of the first motor 10 is ensured.

[0043] refer to Figure 1 The surface of the bottom plate 5 is provided with a mounting hole 34, and the mounting hole 34 is provided to facilitate installation and fixing.

[0044] The use process is briefly described as follows: when grabbing the substrate, the driving mechanism 2 moves the clamping claw to the top of the substrate, and the controller 12 moves the clamping claw to a suitable distance from the top of the substrate according to the distance detected by the distance sensor 13, and then the first motor 10 rotates to drive the screw rod 11 to rotate, and the screw rod 11 rotates to move the telescopic needle 9 out of the fixed rod 8 and insert it into the substrate. The substrate is successfully grabbed and placed in the specified position. The first motor 10 reverses to shrink the telescopic needle 9 and pull the telescopic needle 9 out of the substrate, thereby achieving complete separation of the clamp from the substrate; the slide cylinder 35 is moved, and the slide cylinder 35 moves to drive the triangular groove 16 to move, so that the clamping rod 17 is disengaged from the clamping hole 19 under the action of the second spring 18, and then the grab rod is removed and replaced, and a new grab rod is installed in the fixed cylinder 14, and the slide cylinder 35 is released. The slide cylinder 35 is reset under the action of the first spring 15, and the clamping rod 17 is clamped with the clamping hole 19, and the grab rod is fixed to complete the replacement, thereby achieving the purpose of facilitating the replacement of the grab rod.

[0045] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. An automatic transplanting gripper, comprising a first swing arm (1), characterized in that: Both ends of the first swing rod (1) are provided with a driving mechanism (2), and a fixing column (3) and a second swing rod (4) are respectively installed on the surface of the driving mechanism (2), the bottom of the fixing column (3) is bolted to a bottom plate (5), the bottom of the second swing rod (4) is bolted to a support plate (6), the bottom of the support plate (6) is provided with an adjusting mechanism (7), the bottom of the adjusting mechanism (7) is provided with a fixing rod (8), the inner wall of the fixing rod (8) is slidably sleeved with a telescopic needle (9), the inner wall of the fixing rod (8) is bolted to a first motor (10), the output end of the first motor (10) is connected to a screw rod (11) through a coupling, and the surface of the screw rod (11) is threadedly connected to the inner wall of the telescopic needle (9), the surface of the fixing column (3) is bolted to a controller (12), and the inner wall of the support plate (6) is embedded with a distance sensor (13).

2. The automatic transplanting gripper according to claim 1, characterized in that: The bottom of the adjusting mechanism (7) is bolted with a fixing cylinder (14), the fixing cylinder (14) is slidably sleeved with a fixing rod (8), the surface of the fixing cylinder (14) is slidably sleeved with a sliding cylinder (35), the surface of the fixing cylinder (14) is sleeved with a first spring (15), the inner wall of the sliding cylinder (35) is provided with a triangular groove (16), the inner wall of the triangular groove (16) is slidably connected with a clamping rod (17), the surface of the clamping rod (17) is sleeved with a second spring (18), the surface of the fixing rod (8) is provided with a clamping hole (19), and the clamping rod (17) is clamped with the clamping hole (19).

3. The automatic transplanting gripper according to claim 1, characterized in that: The driving mechanism (2) comprises a fixed shell (20), the bottom of the fixed shell (20) on the left side is bolted to the top of the fixed column (3), and the surface of the fixed shell (20) on the right side is bolted to one end of the first swing rod (1), a second motor (21) is bolted to the surface of the fixed shell (20), an output end of the second motor (21) extends to the inside of the fixed shell (20) and is fixedly sleeved with a first gear (22), a second gear (23) is meshed on the surface of the first gear (22), a rotating shaft (24) is fixedly sleeved at the axis of the second gear (23), and the rotating shaft (24) is rotatably sleeved with the inner wall of the fixed shell (20), and the rotating shaft (24) is respectively fixedly sleeved with the inner walls of the first swing rod (1) and the second swing rod (4).

4. The automatic transplanting gripper according to claim 2, characterized in that: The adjustment mechanism (7) comprises a first slide groove (25), the interior of the first slide groove (25) is slidably connected with a first slider (26), and the first slider (26) is bolted to the top of the fixed cylinder (14), and the inner wall of the first slider (26) is threadedly connected with a bolt (27).

5. The automatic transplanting gripper according to claim 1, characterized in that: A second sliding block (28) is bolted to the surface of the telescopic needle (9), a second sliding groove (29) is slidably connected to the surface of the second sliding block (28), and the second sliding groove (29) is opened on the inner wall of the fixing rod (8).

6. The automatic transplanting gripper according to claim 1, characterized in that: A fixing plate (30) is fixedly sleeved on the inner wall of the fixing rod (8), and the fixing plate (30) is rotatably sleeved on the surface of the screw rod (11).

7. The automatic transplanting gripper according to claim 2, characterized in that: The surface of the slide cylinder (35) is provided with anti-slip grooves (31).

8. The automatic transplanting gripper according to claim 1, characterized in that: The surface of the fixing rod (8) is fixedly sleeved with a limiting plate (32).

9. The automatic transplanting gripper according to claim 1, characterized in that: The surface of the fixing rod (8) is provided with heat dissipation holes (33).

10. The automatic transplanting gripper according to claim 1, characterized in that: A mounting hole (34) is provided on the surface of the bottom plate (5).

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