Transplanter seedling taking device with adjustable equidistant clamping jaws

Abstract

The utility model discloses a transplanter seedling taking device with adjustable equidistant clamping jaws, and belongs to the technical field of transplanters. Comprising a conveying mechanism, a plurality of seedling taking clamping jaws (13) and a driving mechanism used for driving the seedling taking clamping jaws (13) to move relative to a hole tray (16), and the seedling taking clamping jaws (13) are arranged at the tail end of the driving mechanism side by side. The seedling picking device is characterized in that a distance adjusting mechanism (7) used for achieving equal-distance adjustment between any two adjacent seedling picking clamping jaws (13) is arranged at the tail end of the action of the driving mechanism, the seedling picking clamping jaws (13) are installed on the distance adjusting mechanism (7), and the side portion of the distance adjusting mechanism (7) is further connected with a distance adjusting driving unit used for driving the distance adjusting mechanism (7) to act. According to the technical scheme, equal-distance adjustment of the distance between any two of all the seedling taking clamping jaws is achieved through the distance adjusting mechanism, the seedling taking device can be more conveniently suitable for seedling taking actions of plug trays of different specifications, and the applicability is improved.

Description

Technical Field

[0001] A seedling-grabbing device for a transplanter with adjustable equidistant grippers belongs to the field of transplanter technology. Background Technology

[0002] A transplanter is a device in the prior art that removes seedlings from the pots of a seedling tray and transplants them to the field using a planting device. The action of removing the seedling from the seedling tray is a crucial part of the entire transplanting process, and this action is performed by the seedling-removing device. In the prior art, the seedling-removing action includes two types: pot-clamping and stem-clamping. The pot-clamping method involves inserting the seedling deep into the holes of the seedling tray to remove it. This method can easily damage the seedling roots, as described in the PCT invention patent document with application number 201780005782.X, application date March 29, 2017, entitled "Transplanting Machine," and the Chinese invention patent document with application number 202410885837.2, application date July 3, 2024, entitled "A Multi-Claw Seedling Transplanting Machine."

[0003] The clamping method involves using clamps to hold the seedling stems and then removing the seedlings from the seedling tray. Examples include the technical solution described in Chinese Invention Patent Application No. 202211528918.4, filed on November 30, 2022, entitled "An Automatic Seedling Removal and Transplanting Machine for Seedling Production," and the technical solution described in Chinese Utility Model Patent Application No. 202020362040.1, filed on March 20, 2020, entitled "A Seedling Transplanting Robot and a Fully Automatic Seedling Transplanting Machine for Seedling Trays." The existing clamping seedling removal devices also have the following problems: (1) Because the seedlings are relatively fragile, the clamping seedling removal device is prone to damaging the seedling stems when removing the seedlings. (2) In order to improve the efficiency of seedling removal, the clamping seedling removal device is generally equipped with multiple clamps. The multiple clamps operate simultaneously to remove a whole row of seedlings from the seedling tray. Due to the different specifications of the seedling trays, the size and number of holes in different tray sizes vary. Therefore, after changing to a different size tray, the spacing of the clamps needs to be adjusted before taking seedlings. The problem with adjusting the clamp spacing is that it is not done by adjusting one clamp as a reference and then adjusting the other clamps one by one. Instead, the position of all clamps needs to be adjusted simultaneously to align the clamps with the center of their corresponding seedling trays, making the adjustment process rather cumbersome. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a transplanter seedling taking device with adjustable equidistant claws that realizes the equidistant adjustment of the distance between any two of all seedling taking claws through the spacing adjustment mechanism, which can be more conveniently applied to the seedling taking action of different size seedling trays and improves the applicability.

[0005] The technical solution adopted by this utility model to solve its technical problem is as follows: the transplanter seedling picking device with adjustable equidistant grippers includes a conveying mechanism for moving the seedling tray, a seedling picking gripper for picking up seedlings from the seedling tray, multiple seedling picking grippers, and a driving mechanism for driving the seedling picking grippers to move relative to the seedling tray. The seedling picking grippers are arranged side by side at the end of the driving mechanism. The feature is that a spacing adjustment mechanism for adjusting the equidistant distance between any two adjacent seedling picking grippers is provided at the end of the driving mechanism. The seedling picking grippers are mounted on the spacing adjustment mechanism, and a spacing adjustment drive unit for driving the spacing adjustment mechanism is connected to the side of the spacing adjustment mechanism.

[0006] Preferably, the spacing adjustment mechanism is a parallelogram telescopic mechanism consisting of a first link and a second link arranged alternately and hinged together, with the seedling gripper installed at the hinge point of the first link and the second link.

[0007] Preferably, the first link and the second link are both multi-section hinged structures. The first link and the second link are arranged vertically and downwards in a staggered manner. The two ends of the first link and the second link and the intersection are hinged. A fixing block is hinged at the hinge of the first link and the second link, and the seedling clamp is fixed to the lower part of the fixing block in a corresponding manner.

[0008] Preferably, a frame is provided, the conveying mechanism consists of multiple conveying rollers arranged in the middle of the upper surface of the frame, and the drive mechanism is mounted on the upper part of the conveying mechanism.

[0009] Preferably, the drive mechanism includes two translation linear modules arranged on both sides of the conveying mechanism, and lifting linear modules are erected on the sliders of the translation linear modules on both sides respectively. A horizontally arranged fixed plate connects the lifting linear modules on both sides, and a spacing adjustment mechanism is arranged on the surface of the fixed plate.

[0010] Preferably, the spacing adjustment drive unit includes a spacing adjustment motor arranged on the side of the spacing adjustment mechanism, and a lead screw is coaxially fixed at the motor shaft of the spacing adjustment motor. The lead screw is respectively connected to two fixed blocks close to the spacing adjustment motor by reverse threads.

[0011] Preferably, the spacing adjustment drive unit further includes two guide shafts arranged on the front side of the spacing adjustment mechanism, the two guide shafts passing through all the fixed blocks.

[0012] Preferably, clamping mechanisms for fixing the cavitation trays are provided on both sides of the conveying mechanism, and a detection mechanism for detecting the position of the cavitation trays is also provided at the clamping mechanisms.

[0013] Preferably, the clamping mechanism includes a fixed clamping plate arranged on two layers of the conveying mechanism and a movable clamping plate driven by a clamping plate cylinder, with the movable clamping plate and the fixed clamping plate arranged opposite to each other; the detection mechanism is a detection switch, with the signal transmitting end and the signal receiving end of the detection switch arranged on the fixed clamping plate and the movable clamping plate, respectively.

[0014] Preferably, the seedling gripper is a flexible robotic arm.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] In the technical solution of this application, the spacing between any two of the seedling picking claws is adjusted by a spacing adjustment mechanism, which can be more convenient to the seedling picking action of different size seedling trays and improve the applicability.

[0017] In the technical solution of this application, the seedling is picked up by using a flexible seedling clamp to hold the seedling from the stem, which avoids the damage to the seedling roots that is easily caused by the clamping method in the prior art.

[0018] In the technical solution of this application, by setting up a clamping mechanism and arranging a detection mechanism within the clamping mechanism, the position detection of the seedling tray and its fixation after positioning are realized, so as to carry out subsequent seedling removal actions. Attached Figure Description

[0019] Figure 1 Axonometric drawing of a transplanter seedling picking device with adjustable equidistant grippers.

[0020] Figure 2 This is a front view of the seedling-grabbing device of a transplanter with adjustable equidistant grippers.

[0021] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0022] Figure 4 for Figure 2 The right view.

[0023] The components include: 1. Frame; 2. Movable clamping plate; 3. Clamping plate cylinder; 4. Spacing adjustment motor; 5. Lead screw; 6. Connecting plate; 7. Spacing adjustment mechanism; 8. Guide shaft; 9. Fixing block; 10. Reinforcing plate; 11. Fixing plate; 12. Lifting linear module; 13. Seedling gripper; 14. Fixing clamping plate; 15. Conveying roller; 16. Seedling tray; 17. Translation linear module; 18. Detection switch; 19. Electrical box; 20. Touch screen; 21. Adjustment plate; 22. First connecting rod; 23. Second connecting rod. Detailed Implementation

[0024] Figures 1-4 This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-4 The present invention will be further described below.

[0025] like Figures 1-2 As shown, a transplanter seedling picking device with adjustable equidistant grippers (hereinafter referred to as the seedling picking device) includes a frame 1. Multiple pulleys and support feet are provided at the bottom of the frame 1 for moving the frame 1 to a predetermined position and positioning it after reaching the predetermined position. An electrical box 19 is provided on one side of the frame 1, and the control system of the seedling picking device is located inside the electrical box 19. The control system includes a controller, which is implemented using a PLC, a technology known in the art. A touch screen 20 is fixed to the front surface of the electrical box 19. The touch screen 20 is connected to the controller and is used to adjust the control parameters of the seedling picking device and display its operating status.

[0026] A recessed portion is provided in the middle of the upper surface of the frame 1, and several conveying rollers 15 are arranged in the recessed portion. The conveying rollers 15 form a conveying channel for the cavity tray 16, and the cavity tray 16 moves under the drive of the conveying rollers 15. A fixed clamping plate 14 is arranged on one side of the front end of the conveying channel of the cavity tray 16 formed by the conveying rollers 15, and a movable clamping plate 2 is arranged on the other side of the conveying channel of the cavity tray 16. A clamping plate cylinder 3 is fixed on the upper edge of the recessed portion on the surface of the frame 1. The piston rod of the clamping plate cylinder 3 is directly opposite the conveying channel of the cavity tray 16, and the movable clamping plate 2 is fixed to the end of the piston rod of the clamping plate cylinder 3.

[0027] Multiple detection switches 18 are arranged on the inner side of the fixed clamping plate 14, with the detection switches 18 spaced apart along the length of the fixed clamping plate 14. The detection switches 18 are implemented using photoelectric through-beam switches known in the art. The transmitting end and receiving end of each detection switch 18 are respectively arranged opposite to each other on the inner side of the fixed clamping plate 14 and the inner side of the movable clamping plate 2. The position of the cavity plate 16 is detected by the detection switches 18, and the signal output end of the detection switches 18 is connected to the controller.

[0028] When the detection switch 18 detects that the cavity tray 16 is in place, it sends a control signal to the controller. The controller then stops the conveyor roller 15 and simultaneously controls the piston rod of the clamping cylinder 3 to output. After the piston rod of the clamping cylinder 3 outputs, it pushes the movable clamping plate 2 towards the fixed clamping plate 14, ultimately clamping the cavity tray 16 through the movable clamping plate 2 and the fixed clamping plate 14.

[0029] Two linear translation modules 17 are arranged on both sides of the upper surface of the frame 1. These two linear translation modules 17 are located on both sides of the conveying channel of the cavity tray 16 and are parallel to the conveying channel of the cavity tray 16. A lifting linear module 12 is erected on the surface of the slider of each of the two linear translation modules 17. The backs of the two lifting linear modules 12 are connected and reinforced by reinforcing plates 10. Both the linear translation modules 17 and the lifting linear modules 12 are connected to the controller inside the electrical box 19.

[0030] The two lifting linear modules 12 are connected to each other by a fixing plate 11 at their front sides. A spacing adjustment mechanism 7 is arranged on the front surface of the fixing plate 11. Multiple fixing blocks 9 are fixed on the surface of the spacing adjustment mechanism 7. A seedling gripper 13 is installed on the surface of each fixing block 9 through a connecting plate 6. A spacing adjustment motor 4 is installed on one side of the fixing plate 11. The spacing adjustment motor 4 is connected to the spacing adjustment mechanism 7 through a lead screw 5 coaxially fixed to the motor shaft. When the spacing adjustment motor 4 is activated, the spacing adjustment mechanism 7 realizes the equidistant adjustment of the spacing between all fixing blocks 9, thereby realizing the equidistant adjustment of all seedling grippers 13.

[0031] Combination Figure 3 Two guide shafts 8 are arranged vertically on the surface of the fixed plate 11. The upper guide shaft 8 passes through the top of all the fixed blocks 9, and the lower guide shaft 8 passes through the bottom of all the fixed blocks 9, so as to realize the sliding of all the fixed blocks 9 along the guide shafts 8. The spacing adjustment mechanism 7 is located at the rear of the two guide shafts 8.

[0032] The spacing adjustment mechanism 7 is implemented using a parallelogram telescopic structure known in the art. That is, the spacing adjustment mechanism 7 includes two connecting rods: a first connecting rod 22 and a second connecting rod 23. Both the first connecting rod 22 and the second connecting rod 23 are multi-section hinged structures. The first connecting rod 22 and the second connecting rod 23 are arranged vertically and downwards in an alternating manner. At this time, the hinge points of the first connecting rod 22 and the second connecting rod 23 are vertically opposite each other, and the two ends of the first connecting rod 22 and the second connecting rod 23 as well as the intersection points are hingedly connected.

[0033] The number of sections of the first link 22 and the second link 23 is set according to the number of fixing blocks 9. The fixing blocks 9 are arranged one-to-one at the hinge points (ends and middle) of the first link 22 and the second link 23, and the hinge points of the first link 22 and the second link 23 are respectively connected to the fixing blocks 9.

[0034] The lead screw 5 passes through the middle of two adjacent fixed blocks 9, and the lead screw 5 is threadedly connected to the two fixed blocks 9 in opposite directions. Therefore, when the spacing adjustment motor 4 rotates, it drives the lead screw 5 to rotate, thereby adjusting the spacing between the two fixed blocks 9 adjacent to the lead screw 5. Furthermore, as the spacing of each fixed block 9 changes, the spacing adjustment mechanism 7 achieves equidistant adjustment of the spacing between all fixed blocks 9. Therefore, in this seedling extraction device, the spacing adjustment mechanism 7, in cooperation with the shorter lead screw 5, achieves equidistant adjustment of the spacing between all fixed blocks 9, improving the reliability of the spacing conditions between all fixed blocks 9, while reducing the length of the lead screw 5 and simplifying the complexity of the spacing adjustment mechanism. The spacing of the seedling extraction grippers 13 can be adjusted according to the different center distances of the number of holes in different specification seedling trays 16, improving the applicability of this seedling extraction device.

[0035] Further integration Figure 4 The connecting plate 6 is a vertically arranged plate-shaped component. The top of the connecting plate 6 is connected and fixed to the corresponding fixing block 9. An adjusting plate 21 is horizontally fixed at the bottom of the connecting plate 6. The seedling gripper 13 is fixed to the connecting plate 6 through the adjusting plate 21. The seedling gripper 13 is implemented using a flexible robotic arm known in the art, and the seedling gripper 13 is connected to a controller, which realizes the seedling picking action of the seedling gripper 13.

[0036] The specific working process and working principle are as follows:

[0037] In each acupoint of acupuncture plate 16 ( Figure 1 Seedlings are arranged inside the tray (not shown in the image), and the seedling tray 16 moves forward driven by the conveyor roller 15. During the movement of the seedling tray 16, the position of the tray is detected by the detection switch 18. When the detection switch 18 detects that the seedling tray 16 is in position, it sends a control signal to the controller. The controller controls the conveyor roller 15 to stop running and simultaneously controls the piston rod of the clamping cylinder 3 to output. After the piston rod of the clamping cylinder 3 outputs, it pushes the movable clamping plate 2 towards the fixed clamping plate 14, and finally the seedling tray 16 is clamped by the movable clamping plate 2 and the fixed clamping plate 14.

[0038] Then, the controller controls the lifting linear module 12 and the translation linear module 17 to move all the seedling picking claws 13 to the corresponding holes in the seedling tray 16, and the seedling stems in the holes are located in the openings of the seedling picking claws 13. The controller controls the seedling picking claws 13 to clamp the seedlings from the seedling stems. Then, the controller controls the lifting linear module 12 and the translation linear module 17 to transfer the picked seedlings to the subsequent process, thus completing the seedling picking in one row of holes in the seedling tray 16. This process is repeated until the seedling picking in each row of holes in the seedling tray 16 is completed.

[0039] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its scope of protection shall still fall within the protection scope of this utility model.

Claims

1. A seedling picking device for a transplanter with adjustable equidistant grippers, comprising a conveying mechanism for moving a seedling tray (16), seedling picking grippers (13) for picking up seedlings from the seedling tray (16), wherein multiple seedling picking grippers (13) are provided, and a driving mechanism for driving the seedling picking grippers (13) to move relative to the seedling tray (16) is also provided, wherein the seedling picking grippers (13) are arranged side by side at the end of the driving mechanism, characterized in that: At the end of the drive mechanism, there is a spacing adjustment mechanism (7) for adjusting the distance between any two adjacent seedling clamps (13). The seedling clamps (13) are mounted on the spacing adjustment mechanism (7). A spacing adjustment drive unit for driving the spacing adjustment mechanism (7) is also connected to the side of the spacing adjustment mechanism (7).

2. The transplanter seedling lifting device having adjustable equidistant grippers according to claim 1, characterized in that: The spacing adjustment mechanism (7) is a parallelogram telescopic mechanism composed of the first link (22) and the second link (23) arranged in an alternating manner and hinged together. The seedling clamp (13) is installed at the hinge point of the first link (22) and the second link (23).

3. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 2 wherein: The first link (22) and the second link (23) are both multi-section hinged structures. The first link (22) and the second link (23) are arranged in a staggered manner with the top and bottom facing each other. The two ends of the first link (22) and the second link (23) and the intersection are all hinged. A fixing block (9) is hinged at the hinge of the first link (22) and the second link (23). The seedling clamp (13) is fixed to the lower part of the fixing block (9) in a corresponding manner.

4. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 1 wherein: A frame (1) is provided, and the conveying mechanism consists of multiple conveying rollers (15) arranged in the middle of the upper surface of the frame (1). The drive mechanism is mounted on the upper part of the conveying mechanism.

5. The transplanter seedling lifting device having adjustable equidistant grippers according to claim 1 or 4, characterized in that: The drive mechanism includes two translation linear modules (17) arranged on both sides of the conveying mechanism. Lifting linear modules (12) are erected on the sliders of the translation linear modules (17) on both sides respectively. A horizontally arranged fixed plate (11) connects the lifting linear modules (12) on both sides. A spacing adjustment mechanism (7) is arranged on the surface of the fixed plate (11).

6. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 3 wherein: The spacing adjustment drive unit includes a spacing adjustment motor (4) arranged on the side of the spacing adjustment mechanism (7). A lead screw (5) is coaxially fixed at the motor shaft of the spacing adjustment motor (4). The lead screw (5) is connected to two fixing blocks (9) near the spacing adjustment motor (4) with opposite threads.

7. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 6 wherein: The spacing adjustment drive unit also includes two guide shafts (8) arranged in front of the spacing adjustment mechanism (7), which pass through all the fixed blocks (9).

8. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 1 wherein: On both sides of the conveying mechanism, there are also clamping mechanisms for fixing the cavitation plate (16), and a detection mechanism for detecting the position of the cavitation plate (16) is also provided at the clamping mechanism.

9. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 8 wherein: The clamping mechanism includes a fixed clamping plate (14) arranged on both layers of the conveying mechanism and a movable clamping plate (2) driven by a clamping plate cylinder (3). The movable clamping plate (2) is arranged opposite to the fixed clamping plate (14). The detection mechanism is a detection switch (18). The signal transmitting end and the signal receiving end of the detection switch (18) are respectively arranged on the fixed clamping plate (14) and the movable clamping plate (2).

10. The transplanter seedling lifting device having adjustable equidistant grippers as claimed in claim 1 wherein: The seedling gripper (13) is a flexible robotic arm.

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