A seedling tray gripping device

Abstract

The utility model discloses a seedling tray clamping device belongs to seedling automation technical field, the utility model discloses a rack and the clamping mechanism of setting on the rack, the clamping mechanism include X -axis horizontal linear module and Z -axis vertical linear module, Z -axis vertical linear module be through the first connecting block sliding and be set in the top of X -axis horizontal linear module, Z -axis vertical linear module be through the slider on it and be connected with the second connecting block, the both ends of second connecting block each connection one third connecting block, the bottom extension of two third connecting blocks reaches the below of X -axis horizontal linear module, and the clamping subassembly of common connection. The utility model discloses Z -axis vertical linear module whole setting in the top of X -axis horizontal linear module, and Z -axis vertical linear module whole does not move up and down, thereby can effectively avoid the eccentric load condition of Z -axis vertical linear module, improves the stability and accuracy of module operation.

Description

Technical Field

[0001] This utility model belongs to the field of seedling automation technology, and more specifically, relates to a seedling tray clamping device. Background Technology

[0002] Seedling cultivation is a method of raising seedlings in specially designed seedbeds for transplanting into production fields. It is a method capable of large-scale seedling cultivation, applicable to crops such as rice, sweet potatoes, vegetables, fruit trees, and flowers. Compared to direct seeding, its advantages lie in creating the necessary environmental conditions based on the characteristics of crop seedling growth and development, employing advanced seedling techniques, and implementing centralized management to cultivate high-quality and abundant seedlings. Seedling cultivation allows for earlier sowing in unsuitable growing seasons, extending the crop's growing period and promoting earlier maturity. Furthermore, this method facilitates meticulous management, promoting robust seedling growth and strong vitality, laying a solid foundation for high-yield and high-quality production.

[0003] Seedling trays, a common tool in seedling cultivation, serve the core function of providing a suitable environment for seed germination and seedling growth, while facilitating large-scale management and transplanting. Seedling trays typically include multiple independent cells, each allowing for individual sowing to avoid interference between seeds and prevent root entanglement. During transplanting, seedlings can be removed intact, reducing root breakage and improving survival rates. During the seedling process, the environmental requirements of seedlings vary significantly at different stages from germination to transplanting. To accurately match these environmental needs and ensure healthy seedling growth, seedling trays must be transferred to corresponding processes. Traditional manual transfer methods are clearly insufficient for large-scale, automated production. Therefore, a series of automated clamping and transferring mechanisms for seedling trays have emerged in the market.

[0004] For example, patent CN107055115A discloses an automatic unloading and stacking device for seedling trays in a square seedling machine. This application includes a three-way linear slide and a support frame fixed to the bottom surface of the three-way linear slide. The three-way linear slide includes two parallel longitudinal horizontal linear guides fixed to the support frame and a transverse horizontal linear guide with its ends slidably connected to the two longitudinal horizontal linear guides via longitudinal sliders. A transverse slider is slidably connected to the transverse horizontal linear guide, and a vertical linear guide is slidably connected to the transverse slider. A gripping robot is provided at the lower end of the vertical linear guide.

[0005] For example, patent CN208034682U discloses a seedling tray gripping and releasing robot. This application includes a robot body and a processing circuit. The robot body includes a frame, at least two gripping mechanisms for grasping the edges of the seedling tray, and a power mechanism. Both the gripping mechanisms and the power mechanism are mounted on the frame, and each gripping mechanism is rotatably connected to the frame. The processing circuit drives the gripping mechanisms to rotate via the power mechanism to grip and release the seedling tray. The shape of the frame matches the shape of the seedling tray. This seedling tray gripping and releasing robot can reduce the production cost of industrialized vegetable seedling cultivation and improve production efficiency.

[0006] Patent CN214228874U discloses an automated seedling production device. The multi-axis manipulator in this application includes an xyz-axis moving mechanism and a seedling gripping mechanism with transmission mounted on the xyz-axis moving mechanism. The seedling gripping mechanism includes a bidirectional cylinder and grippers, with the grippers movably mounted at both ends of the bidirectional cylinder. The grippers are used to grip seedlings.

[0007] The aforementioned applications have optimized the seedling tray clamping device from different perspectives, but there is still room for further optimization. For example, in the aforementioned applications, the vertical linear guide rails are all deviated from the central axis of the horizontal linear guide rails, resulting in a certain eccentric load on the vertical linear guide rails, which interferes with the up-and-down movement of the vertical linear guide rails. Utility Model Content

[0008] 1. The problem to be solved In view of at least some of the problems existing in the prior art, this utility model proposes a seedling tray clamping device, the purpose of which is to solve the problem that the vertical linear guide rail of the existing seedling tray clamping device is prone to generating eccentric load, thereby affecting its operating accuracy.

[0009] 2. Technical Solution To solve the above problems, the technical solution adopted by this utility model is as follows: This utility model provides a seedling tray clamping device, which includes a frame and a clamping mechanism mounted on the frame. The clamping mechanism includes an X-axis horizontal linear module mounted on the frame and a Z-axis vertical linear module slidably mounted on the X-axis horizontal linear module. The Z-axis vertical linear module is mounted on a slider located above the X-axis horizontal linear module via a first connecting block; The Z-axis vertical linear module is connected to a second connecting block via a slider; each end of the second connecting block is connected to a third connecting block; wherein, The second connecting block is located above the X-axis horizontal linear module, and the two third connecting blocks are located on both sides of the X-axis horizontal linear module. The bottom of the two third connecting blocks extends to the bottom of the X-axis horizontal linear module and are connected to the clamping component.

[0010] In some implementations, the third connecting block and the Z-axis vertical linear module slide in the vertical direction via a slide rail and a slider.

[0011] In some embodiments, a reinforcing plate is provided between the first connecting block and the Z-axis vertical linear module; the reinforcing plate and the second connecting block are respectively located on opposite sides of the Z-axis vertical linear module.

[0012] In some embodiments, the X-axis horizontal linear module and the Z-axis vertical linear module are lead screw driven linear modules or rack and pinion driven linear modules.

[0013] In some embodiments, the gripping assembly includes an intermediate connector connected to a third connecting block. The bottom of the intermediate connector is provided with a bidirectional drive source, and each output end of the bidirectional drive source is connected to a gripper. The grippers and the intermediate connector are slidably engaged by a slide rail and a slider, and the sliding direction is along the Y-axis.

[0014] In some embodiments, the gripper includes a first clamping plate and a second clamping plate connected to each other; wherein the first clamping plate has a plurality of waist-shaped grooves for connecting with the second clamping plate; and the bottom of the second clamping plate has a plurality of inwardly extending extensions.

[0015] In some embodiments, the first clamping plate is provided with a plurality of clamping parts distributed at intervals, and each clamping part is connected to a second clamping plate.

[0016] In some embodiments, the frame is provided with two parallel support plates, each support plate being provided with a clamping mechanism.

[0017] In some embodiments, the support plate has an elongated hole parallel to the X-axis horizontal linear module on one side; the free section of one of the third connecting blocks passes through the elongated hole and is connected to the clamping assembly.

[0018] In some embodiments, the slider of the X-axis horizontal linear module is provided with a mounting bracket, the free end of which passes through an elongated hole and is connected to a permanent magnet; the frame is provided with three Hall probes that cooperate with the permanent magnet along the extension direction of the X-axis horizontal linear module. The third connecting block and the reinforcing plate are provided with a permanent magnet and a Hall probe that cooperate with each other; wherein, three Hall probes are provided in the vertical direction.

[0019] 3. Beneficial effects Compared with the prior art, the beneficial effects of this utility model are as follows: (1) A seedling tray clamping device of the present invention has a Z-axis vertical straight module set above the X-axis horizontal straight module. The Z-axis vertical straight module does not move up and down, but the clamping component moves up and down through the third connecting blocks on both sides. This can effectively avoid the off-center load of the Z-axis vertical straight module and improve the stability and accuracy of the module operation.

[0020] (2) The seedling tray clamping device of this utility model has an extension section at the bottom of the clamping claw, which can provide bottom support for the seedling tray to ensure the stability of the seedling tray clamping operation. At the same time, the clamping claw includes a first clamping plate and a second clamping plate connected to each other, and the height between the two clamping plates is adjustable, so as to be suitable for clamping seedling trays in different growth states. In addition, the first clamping plate is provided with multiple clamping parts distributed at intervals, and each clamping part is connected to a second clamping plate, which can clamp multiple seedling trays at one time, which is beneficial to improving production efficiency.

[0021] (3) The seedling tray clamping device of this utility model is reinforced by setting a reinforcing plate on the back of the Z-axis vertical straight module, which can avoid the instability caused by simply relying on the bottom plate of the Z-axis vertical straight module to be fixed to the first connecting block, and improve the overall stability of the Z-axis vertical straight module; at the same time, by using two third connecting plates to connect with the side of the Z-axis vertical straight module through the cooperation of slide rails and sliders, the stability of the lifting of the third connecting plates can be improved, so as to further prevent the equipment from being overloaded in the transport direction of the X-axis horizontal straight module, and improve the stability and service life of the equipment operation.

[0022] (4) The seedling tray clamping device of this utility model uses a combination of Hall probe and permanent magnet to detect the position of the linear module. Compared with traditional photoelectric sensors, it has stronger resistance to external environmental interference and can be used in the watery and dusty environment of hydroponic forage production system, ensuring the sensitivity of the sensing effect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a seedling tray clamping device according to the present invention; Figure 2 This is a partial structural diagram of the clamping mechanism in this utility model; Figure 3 This is a schematic diagram of the clamping component in this utility model; Figure 4 This is a bottom view of the clamping component in this utility model; Figure 5 for Figure 3 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the assembly of the Hall probe and the permanent magnet in this utility model.

[0024] In the diagram: 100, frame; 110, support plate; 111, elongated hole; 200. Clamping mechanism; 210. X-axis horizontal linear module; 211. Mounting bracket; 220. Z-axis vertical linear module; 230. First connecting block; 240. Second connecting block; 250. Third connecting block; 260. Reinforcing plate; 270. Clamping assembly; 271. Intermediate connector; 272. Bidirectional drive source; 273. Gripper; 2731. First clamping plate; 27311. Waist-shaped groove; 2732. Second clamping plate; 27321. Extension section; 280. Hall effect sensor; 290. Permanent magnet. Detailed Implementation

[0025] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] As mentioned in the background section, in existing seedling tray clamping devices, the vertical linear guide rail is typically mounted on the side of the horizontal linear guide rail via a slider. This causes the vertical linear guide rail to deviate from the central axis of the horizontal linear guide rail, resulting in a shift in the center of gravity of the entire motion system. According to mechanical principles, a deviation of the center of gravity from the support center generates an additional torque, which acts on the vertical linear guide rail, creating an off-center load. The presence of this off-center load causes lateral displacement or tilting of the vertical linear guide rail during vertical movement, affecting its operational accuracy. Furthermore, the off-center load leads to uneven stress distribution between the slider and the horizontal linear guide rail, with some areas experiencing excessively high local pressure, thus accelerating wear on the guide rail and slider and shortening the equipment's lifespan. Therefore, this invention aims to provide an anti-off-center load seedling tray clamping device to eliminate the series of defects caused by off-center loads.

[0028] The present invention will be further described below with reference to specific embodiments.

[0029] like Figure 1 , Figure 2 As shown, a seedling tray clamping device according to this embodiment includes a frame 100 and a clamping mechanism 200 disposed on the frame 100. The frame 100 is provided with a support plate 110, and the clamping mechanism 200 is disposed on the support plate 110. The clamping mechanism 200 includes an X-axis horizontal linear module 210 disposed on the frame 100 and a Z-axis vertical linear module 220 slidably disposed above the X-axis horizontal linear module 210.

[0030] Specifically, the slider of the X-axis horizontal linear module 210 is connected to a first connecting block 230, which is located above the X-axis horizontal linear module 210. The Z-axis vertical linear module 220 is mounted on the first connecting block 230 and can move along the X-axis direction with the first connecting block 230.

[0031] The slider of the Z-axis vertical linear module 220 is connected to a second connecting block 240, which drives the second connecting block 240 to move up and down along the Z-axis. Simultaneously, a third connecting block 250 is connected to each end of the second connecting block 240. The second connecting block 240 is located above the X-axis horizontal linear module 210, and the two third connecting blocks 250 are located on either side of the X-axis horizontal linear module 210, with their bottoms extending below the X-axis horizontal linear module 210, all connected to a clamping assembly 270.

[0032] Compared to the traditional Z-axis vertical linear module 220, which is positioned on the side of the X-axis horizontal linear module 210 and thus prone to off-center loading, in this embodiment, the Z-axis vertical linear module 220 is positioned entirely above the X-axis horizontal linear module 210. Furthermore, the Z-axis vertical linear module 220 does not move vertically; instead, the clamping assembly 270 moves vertically via the third connecting blocks 250 on both sides. This effectively avoids off-center loading of the Z-axis vertical linear module 220, improving the stability and accuracy of the module's operation.

[0033] In this embodiment, a seedling tray clamping device uses a clamping component 270 whose driving force is provided by a Z-axis vertical linear module 220 and transmitted through a second connecting block 240. The clamping component 270 is actually connected to a third connecting block 250. Since the center of gravity of the second connecting block 240 is offset from that of the third connecting block 250, relying solely on the sliding engagement between the second connecting block 240 and the Z-axis vertical linear module 220 would result in a certain off-center load on the second connecting block 240, interfering with its vertical movement. Therefore, in this embodiment, the third connecting block 250 and the Z-axis vertical linear module 220 are vertically slidably engaged via a slide rail and a slider to counteract the off-center torque of the second connecting block 240 and increase the stability of the movement.

[0034] In some embodiments, a reinforcing plate 260 is further provided between the first connecting block 230 and the Z-axis vertical linear module 220. Preferably, two sets of the reinforcing plates 260 are arranged in parallel; and the reinforcing plates 260 and the second connecting block 240 are located on opposite sides of the Z-axis vertical linear module 220. That is, the Z-axis vertical linear module 220 is surrounded by the second connecting block 240, the third connecting block 250, and the reinforcing plate 260.

[0035] Specifically, in this embodiment, the frame 100 is provided with two parallel support plates 110, and each support plate 110 is provided with a clamping mechanism 200. By setting up the two clamping mechanisms 200, the loading and unloading operations can be carried out separately without interference, which can improve work efficiency.

[0036] It is worth mentioning that in this embodiment, the X-axis horizontal linear module 210 and the Z-axis vertical linear module 220 are existing technologies, such as screw-driven linear modules or rack and pinion driven linear modules, and their specific structures will not be described in detail.

[0037] refer to Figure 3 , Figure 4 As shown in the illustration, in one specific embodiment of the gripping component 270, the gripping component 270 includes an intermediate connector 271, a bidirectional drive source 272, and a pair of grippers 273. The top of the intermediate connector 271 is connected to the third connecting block 250, and its bottom is provided with the bidirectional drive source 272, such as a bidirectional cylinder. Each output end of the bidirectional drive source 272 is connected to a gripper 273. Simultaneously, the grippers 273 and the intermediate connector 271 are slidably engaged via a slide rail and a slider, with the sliding direction along the Y-axis.

[0038] During operation, the clamping component 270 is first moved to the designated position using the X-axis horizontal linear module 210 and the Z-axis vertical linear module 220. Then, the pair of grippers 273 are driven to move closer and further apart by the bidirectional drive source 272, thus completing the clamping and releasing operation of the seedling tray.

[0039] refer to Figure 6 As shown, in some embodiments, the support plate 110 has an elongated hole 111 parallel to the X-axis horizontal linear module 210 on one side of the X-axis horizontal linear module 210; the free segment of one of the third connecting blocks 250 passes through the elongated hole 111 and is connected to the clamping assembly 270; the other third connecting block 250 extends downward from the side of the support plate 110 and is connected to the clamping assembly 270.

[0040] Furthermore, the slider of the X-axis horizontal linear module 210 is provided with a mounting bracket 211. The free end of the mounting bracket 211 passes through the elongated hole 111 and is connected to a permanent magnet 290. The frame 100 is provided with a Hall probe 280 that cooperates with the permanent magnet 290.

[0041] Preferably, three Hall probes 280 are provided along the extension direction of the X-axis horizontal linear module 210. Among them, the Hall probe 280 located in the middle is used to perform zero-position detection of the X-axis horizontal linear module 210; while the Hall probes 280 at both ends are used to perform limit detection of the movement stroke of the X-axis horizontal linear module 210.

[0042] Of course, a permanent magnet 290 and a Hall probe 280 are provided between the third connecting block 250 and the reinforcing plate 260 to cooperate with each other; wherein, three Hall probes 280 are provided in the vertical direction for detecting the upper and lower limits and zero position of the Z-axis vertical linear module 220. For example, the permanent magnet 290 is set on the reinforcing plate 260 and the Hall probe 280 is set on the third connecting block 250; or, the Hall probe 280 is set on the reinforcing plate 260 and the permanent magnet 290 is set on the third connecting block 250.

[0043] In this embodiment, the position of the linear module is detected by the cooperation of Hall probe 290 and permanent magnet 280. Compared with traditional photoelectric sensors, it has stronger resistance to external environmental interference and can be used in the watery and dusty environment of hydroponic forage production system, ensuring the sensitivity of the sensing effect.

[0044] refer to Figure 5As shown, in some embodiments, the bottom of the gripper 273 has an inwardly extending extension section 27321. During operation, the extension section 27321 can enter the bottom of the seedling tray for bottom support, ensuring the stability of the seedling tray gripping operation. Especially for seedling trays that cannot withstand excessive lateral clamping force, the bottom-support gripping method not only ensures the smooth progress of the gripping operation but also effectively prevents damage to the seedling tray.

[0045] In this embodiment, a seedling tray clamping device is used. During the clamping process, the seedling tray is located within the space enclosed by two clamping claws 273 and an intermediate connecting member 271. At this time, it is necessary to ensure that the dimension of this space on the Z-axis (i.e., the overall height of the clamping claws) is greater than the growth height of the seedling within the seedling tray to prevent the intermediate connecting member 271 from damaging the seedling. However, due to the significant differences in seedling height at different growth stages and for different seedlings, the height of the clamping claws 273 cannot be standardized.

[0046] Therefore, in this embodiment, the gripper 273 includes a first clamping plate 2731 and a second clamping plate 2732 connected to each other; wherein, the bottom of the second clamping plate 2732 is provided with a plurality of inwardly extending extension sections 27321. At the same time, the first clamping plate 2731 is provided with a plurality of waist-shaped grooves 27311 for connecting with the second clamping plate 2732, so as to realize the detachable connection between the two connecting plates, and the height of the second clamping plate 2732 is adjustable to suit the clamping operation of seedling trays under different growth conditions.

[0047] In addition, in this embodiment, the first clamping plate 2731 is provided with multiple clamping parts distributed at intervals, and each clamping part is connected to a second clamping plate 2732 for clamping a seedling tray. This design allows multiple seedling trays to be clamped at once, which helps to improve production efficiency.

[0048] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A seedling tray clamping device, comprising a frame (100) and a clamping mechanism (200) disposed on the frame (100), wherein the clamping mechanism (200) comprises an X-axis horizontal linear module (210) disposed on the frame (100) and a Z-axis vertical linear module (220) slidably disposed on the X-axis horizontal linear module (210). Its features are: The Z-axis vertical linear module (220) is mounted on a slider located above the X-axis horizontal linear module (210) via a first connecting block (230); The Z-axis vertical linear module (220) is connected to a second connecting block (240) via a slider; each end of the second connecting block (240) is connected to a third connecting block (250); wherein, The second connecting block (240) is located above the X-axis horizontal linear module (210), and the two third connecting blocks (250) are located on both sides of the X-axis horizontal linear module (210), with the bottom of the two third connecting blocks (250) extending to the bottom of the X-axis horizontal linear module (210) and connected together to the clamping assembly (270).

2. The seedling tray clamping device according to claim 1, characterized in that: The third connecting block (250) and the Z-axis vertical linear module (220) slide in the vertical direction through a slide rail and a slider.

3. The seedling tray clamping device according to claim 2, characterized in that: A reinforcing plate (260) is provided between the first connecting block (230) and the Z-axis vertical linear module (220); the reinforcing plate (260) and the second connecting block (240) are respectively located on opposite sides of the Z-axis vertical linear module (220).

4. The seedling tray clamping device according to claim 1, characterized in that: The X-axis horizontal linear module (210) and Z-axis vertical linear module (220) are screw-driven linear modules or rack and pinion driven linear modules.

5. A seedling tray clamping device according to any one of claims 1-4, characterized in that: The clamping assembly (270) includes an intermediate connector (271) connected to the third connecting block (250). The bottom of the intermediate connector (271) is provided with a bidirectional drive source (272), and each output end of the bidirectional drive source (272) is connected to a gripper (273). The gripper (273) and the intermediate connector (271) are slidably engaged by a slide rail and a slider, and the sliding direction is along the Y-axis.

6. The seedling tray clamping device according to claim 5, characterized in that: The gripper (273) includes a first clamping plate (2731) and a second clamping plate (2732) connected to each other; wherein, the first clamping plate (2731) is provided with a plurality of waist-shaped grooves (27311) for connecting with the second clamping plate (2732); the bottom of the second clamping plate (2732) is provided with a plurality of inwardly extending extension sections (27321).

7. The seedling tray clamping device according to claim 6, characterized in that: The first clamping plate (2731) is provided with a plurality of clamping parts distributed at intervals, and each clamping part is connected to a second clamping plate (2732).

8. The seedling tray clamping device according to claim 1, characterized in that: The frame (100) is provided with two parallel support plates (110), and each support plate (110) is provided with a clamping mechanism (200).

9. A seedling tray clamping device according to claim 3, characterized in that: The support plate (110) has an elongated hole (111) parallel to the X-axis horizontal linear module (210) on one side; the free section of one of the third connecting blocks (250) passes through the elongated hole (111) and is connected to the clamping assembly (270).

10. A seedling tray clamping device according to claim 9, characterized in that: The slider of the X-axis horizontal linear module (210) is provided with a mounting bracket (211), and the free end of the mounting bracket (211) passes through the elongated hole (111) and is connected to a permanent magnet (290); the frame (100) is provided with three Hall probes (280) that cooperate with the permanent magnet (290) along the extension direction of the X-axis horizontal linear module (210). The third connecting block (250) and the reinforcing plate (260) are provided with a permanent magnet (290) and a Hall probe (280) that cooperate with each other; wherein, three Hall probes (280) are provided in the vertical direction.

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