Mechanical seedling taking manipulator structure for rape transplanter

Abstract

The utility model belongs to the oilseed rape planting equipment technical field especially relates to a kind of mechanical type seedling taking manipulator structure for oilseed rape transplanting machine.It includes manipulator shell;It is set on the pair of female claw and male claw of manipulator shell, and one end of female claw and male claw is engaged with each other, and the other end is relatively opened or closed, and female claw and male claw are respectively hinged on pivot seat;Cam is fixedly connected on driving shaft;Swing bar is matched with cam, and one end of swing bar is hinged on manipulator shell, and the other end is connected with female claw by seedling clamping force adjusting spring rod;Driving shaft is arranged on manipulator shell, for receiving external mechanical transmission input and rotating, driving cam through swing bar, seedling clamping force adjusting spring rod drive female claw drive male claw in upper dead point closed clamping pot seedling, in lower dead point open and throw seedling, form continuous cycle take-throw seedling action.The utility model does not need air source, obtains high pass rate, low leak clamping and consistent seedling posture under complex working condition.

Description

Technical Field

[0001] This utility model belongs to the field of rapeseed planting equipment technology, specifically relating to a mechanical seedling picking robot structure for rapeseed transplanters. Background Technology

[0002] Transplanting rapeseed seedlings in small plots such as greenhouses and hilly terraces often faces challenges such as limited terrain, short working windows, and difficulty in manual organization, which puts forward requirements for miniaturized, low-maintenance, and continuous high-speed transplanting equipment.

[0003] The mainstream technology routes in the current market can be roughly divided into two categories: (1) Fully automatic negative pressure seedling extraction: continuous operation is achieved by absorbing, sorting and placing, but the overall structure is complex, the volume and cost are high, the maintenance requirements are high, and the adaptability is insufficient in small plots of land where space is limited or frequent relocation is required.

[0004] (2) Semi-automatic manual seedling feeding + mechanical planting: The whole machine is lightweight and has good mobility, but the reliance on manual seedling feeding leads to a limited upper limit of the cycle time, making it difficult to meet the demand for high-efficiency transplanting.

[0005] Currently, the market primarily uses pneumatic gripper solutions for automated seedling picking units. These solutions rely on a stable air source and multiple air valves / pipelines, resulting in a complex system configuration and control. Due to the compressibility of air and on-site air supply conditions, response speed and gripping force stability are difficult to maintain at high-speed intervals, making it unsuitable for high-speed transplanting. Furthermore, issues such as pipe leaks, seal aging, and maintenance under dust / muddy conditions are prominent, leading to overall low operational efficiency. Therefore, there is an urgent need for an automated seedling picking mechanism that is independent of an air source, has a simplified structure, and can stably grip and place seedlings at high speeds. Utility Model Content

[0006] The purpose of this invention is to address the shortcomings of the aforementioned background technology and provide a mechanical seedling-picking robot structure for rapeseed transplanters. It is used for automatically picking up and placing seedlings from pots.

[0007] The technical solution adopted in this utility model is: a mechanical seedling-picking robot structure for a rapeseed transplanter, including... robotic arm housing; The pair of female and male claws are provided on the housing of the robotic arm. The ends of the female and male claws near the hinge end are engaged with each other, and the other ends are open or closed relative to each other. The female and male claws are respectively hinged to the rotating shaft seat. A cam that is fixedly connected to the drive shaft; A swing arm that cooperates with the cam has one end hinged to the manipulator housing and the other end connected to the female gripper via a clamping force adjusting spring rod. The drive shaft located on the housing of the robotic arm is used to receive external mechanical transmission input and rotate, driving the cam to drive the female claw to close at the upper stop point to clamp the seedling and open at the lower stop point to put the seedling, forming a continuous cycle of picking and putting seedlings.

[0008] Preferably, the free ends of the female claw and the male claw are integrally formed into a composite guide hook, which includes a leading section, a supporting arc section and a clamping section in sequence.

[0009] In the above scheme, the leading section is a guide slope for feeding, used to guide the pot or root ball into the clamping area during the opening and closing process; the supporting arc section is a circular arc or near-circular arc contour, used to support and center the lower edge of the pot; the clamping section is located at the end of the supporting arc section and is used to clamp the root ball.

[0010] Preferably, the leading angle θ1 between the leading section and the center line of the claw body is 20° to 30°; and the central angle θ2 of the supporting arc section is 130° to 150°.

[0011] Preferably, the residual gap g between the two composite guide hooks in the closed position is 0.05d to 0.12d, where d is the equivalent diameter of the clamped root mass.

[0012] In the above scheme, the root ball refers to the whole formed by the combination of substrate (peat / coconut coir / nutrient soil, etc.) and seedling roots in the seedling tray of the rapeseed transplanter.

[0013] Preferably, the female claw has a groove at one end near the hinge end, and the male claw has a single tooth at one end near the hinge end. The female claw and the male claw mesh with each other through the engagement of the single tooth and the groove.

[0014] Preferably, the clamping force adjusting spring rod includes a rod end joint bearing, a rod portion connected to the rear end of the rod end joint bearing, and a first spring. The rod end joint bearing is hinged to the female claw via a rotating shaft, which is located at the bottom of the rotating shaft seat. The rod portion passes through the guide hole at the other end of the swing rod and is fitted with the first spring.

[0015] More preferably, it also includes a rocker arm spring rod, one end of which is hinged to the tail of the rocker arm and the other end is connected to the manipulator housing. The rocker arm spring rod includes a spring rod and a second spring sleeved on the spring rod. The second spring is used to apply a preload force toward the cam to the rocker arm to ensure full-stroke engagement.

[0016] Preferably, the rotating shaft seat is fixed to the side of the robot arm housing, and the female claw and male claw are respectively hinged to the bottom of both ends of the rotating shaft seat, with the hinge points being the first hinge point and the second hinge point, respectively.

[0017] Preferably, one end of the swing arm is hinged to the manipulator housing via a hinge shaft, and the clamping force adjusting spring rod passes through the swing arm guide hole at the other end of the swing arm.

[0018] Preferably, the trapezoidal structure formed by the female claw and the male claw in the closed position has a throat on the short side of the top of the trapezoidal structure, and the residual gap of the throat when closed is g.

[0019] The beneficial effects of this utility model are as follows: This invention employs a cam and a rocker arm for mechanical execution and a constant preload on the rocker arm, ensuring that the driven end remains in contact with the cam profile throughout the entire stroke. This prevents the driven end from disengaging and rebounding during high-speed operation, resulting in a stable opening and closing phase. It is suitable for high-frequency continuous operation and significantly reduces noise and wear.

[0020] The clamping force of this invention is provided by an integrated spring rod that transmits the opening and closing displacement while providing adjustable pre-tightening force. The clamping force window can be quickly set according to different seedling ages, root ball moisture content and substrate strength, which not only ensures reliable clamping, but also reduces the damage and shearing of stems, leaves and substrate.

[0021] The integrated composite guiding geometry of the male and female claws in this invention is continuously composed of a leading section, a supporting arc section, and an inward clamping section. It provides a large envelope support and self-centering capability; the inward clamping section forms a backstop geometry, effectively suppressing upward jumping and falling during acceleration, deceleration, and throwing phases.

[0022] The closed position of this invention retains a residual gap related to the size of the root ball, balancing clamping rigidity and seedling protection needs, and avoiding excessive pressure or shearing on the root ball and stem; the throat increases at the moment of opening, and the root ball is released in a directional manner, reducing secondary impact on the planting hole and seedling.

[0023] The female and male claws of this invention use a single tooth and groove for synchronous meshing near the hinge end. The structure is simple and the phase is self-limiting, which can effectively suppress the phase drift and gap accumulation caused by long-term operation and make maintenance more convenient.

[0024] This invention employs a rod end spherical bearing and guide hole at the connecting rod end for coordinated guidance, which can absorb minor assembly deviations and motion sway, reduce the impact of lateral forces on the geometry of the hinge pair and hook end, and improve the overall lifespan and stability of the machine.

[0025] This invention does not rely on an air source or multi-way air valves, thus avoiding common problems such as leakage, blockage, and pressure fluctuations in dusty or wet mud conditions. With parameterized geometry and pre-tightening settings, it can be quickly adapted to different seedling trays and crops, achieving the overall effect of multi-purpose machine, simple maintenance, and controllable cost.

[0026] This utility model requires no air source, has fewer potential failure points, is easy to maintain, and has controllable energy consumption and cost. It can also be quickly adapted to different seedling trays and crops through parameterized geometry and pre-tightening settings, achieving high throughput, low leakage, and consistent seedling placement posture and planting hole quality under complex working conditions. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a side view of the present invention; Figure 3 This is a bottom view of the present invention; Figure 4 This is a schematic diagram showing the female and male claws of this utility model in their open state; Figure 5 This is a perspective view of the present utility model; Figure 6 This is a perspective view of the present invention; Figure 7 This is a schematic diagram showing the position of the seedling-picking robotic arm structure of this utility model on a rapeseed transplanter.

[0028] In the diagram, 100-Seedling-grass-picking robot structure, 101-Robot housing, 102-Swing rod (1021-Swing rod guide hole), 103-Hinge shaft, 104-Cam, 105-Grass-clamping force adjusting spring rod (1051-Rod end joint bearing, 1052-Rod section, 1053-First spring), 106-Swing rod spring rod (1061-Spring rod, 1062-Second spring), 107-Drive shaft, 108-Rotating shaft, 109-Rotating shaft seat, 110-Female claw (1101-Groove, 1102-First hinge point), 111-Male claw (1111-Single tooth, 1112-Second hinge point), 112-Composite guide hook (1121-Leading section, 1122-Supporting arc section, 1123-Clamping section), 200-Rapeseed transplanter. Detailed Implementation

[0029] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that these descriptions are for the purpose of aiding understanding of this utility model, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0030] like Figure 1-6 As shown, this utility model discloses a mechanical seedling-picking robot structure for a rapeseed transplanter, comprising: Robotic arm housing 101; A pair of female claws 110 and male claws 111 are provided on the housing 101 of the robot arm. The ends of the female claws 110 and male claws 111 near the hinge end are engaged with each other, while the other ends are open or closed relative to each other. The female claws 110 and male claws 111 are respectively hinged to the rotating shaft seat 109. Cam 104 is fixedly connected to drive shaft 107; The swing arm 102, which cooperates with the cam 104, has one end hinged to the manipulator housing 101, and the other end connected to the female claw 110 via the clamping force adjusting spring rod 105. The drive shaft 107, located on the housing 101 of the robotic arm, is used to receive external mechanical transmission input and rotate, driving the cam 104 to drive the female claw 110 via the swing arm 102 and the seedling clamping force adjusting spring rod 105 to drive the male claw 111 to close at the upper stop point to clamp the seedling and open at the lower stop point to put the seedling, forming a continuous cycle of picking and putting the seedling.

[0031] The free ends of the female claw 110 and the male claw 111 are integrated to form a composite guide hook 112, which includes a leading section 1121, a supporting arc section 1122 and a clamping section 1123 in sequence.

[0032] The leading angle θ1 between the leading section 1121 and the center line of the claw body is 20° to 30°; the central angle θ2 of the supporting arc section 1122 is 130° to 150°.

[0033] The residual gap between the two composite guide hooks 112 in the closed position is g = 0.05d to 0.12d, where d is the equivalent diameter of the clamped root mass.

[0034] The female claw 110 has a groove 1101 at one end near the hinge end, and the male claw 111 has a single tooth 1111 at one end near the hinge end. The female claw 110 and the male claw 111 mesh with each other through the engagement of the single tooth 1111 and the groove 1101.

[0035] The clamping force adjusting spring rod 105 includes a rod end spherical bearing 1051, a rod portion 1052 connected to the rear end of the rod end spherical bearing 1051, and a first spring 1053. The rod end spherical bearing 1051 and the female claw 110 are hinged via a pivot 108, which is located at the bottom of a pivot seat 109. The rod portion 1052 passes through the rocker guide hole 1021 at the other end of the rocker rod 102 and is fitted with the first spring 1053. The pivot 108 is a pin connecting the rod end spherical bearing 1051 and the female claw 110.

[0036] It also includes a rocker arm spring rod 106, one end of which is hinged to the tail of the rocker arm 102, and the other end is connected to the manipulator housing 101. The rocker arm spring rod 106 includes a spring rod 1061 and a second spring 1062 sleeved on the spring rod 1061. The second spring 1062 is used to apply a preload force toward the cam 104 to the rocker arm 102 to ensure full-stroke engagement.

[0037] The rotating shaft seat 109 is fixed to the side of the robot housing 101. The female claw 110 and the male claw 111 are respectively hinged to the bottom of both ends of the rotating shaft seat 109, and the hinge points are the first hinge point 1102 and the second hinge point 1112.

[0038] One end of the swing arm 102 is hinged to the manipulator housing 101 via a hinge shaft 103, and the clamping force adjusting spring rod 105 passes through the swing arm guide hole 1021 at the other end of the swing arm 102.

[0039] The female claw 110 and the male claw 111 form a trapezoidal structure in the closed position. The short side at the top of the trapezoidal structure has a throat, and the residual gap after the throat is closed is g.

[0040] The working process of this utility model: S1 Seedling Removal Preparation (Opening-Alignment): Drive shaft 107 rotates under external transmission, cam 104 drives rocker arm 102 to swing to the opening phase; by adjusting spring rod 105 with clamping force, female claw 110 opens relative to male claw 111, single tooth 1111 engages with groove 1101 to drive male claw to open at a predetermined phase. Lead section 1121 of composite guide hook 112 is aligned with the seedling tray unit, ready to approach the root ball.

[0041] S2 Introduction and Closure at Top Dead Point for Seedling Retrieval: Cam 104 continues to rotate, and rocker arm 102 drives the female claw into the closed phase via spring rod 105. Leading section 1121 guides the root ball into the space between the two claws. As it approaches the top dead point, the supporting arc sections 1122 on both sides form an envelope contact with the root ball, and the inward geometric action of the clamping section 1123 prevents it from retracting. The closed position retains a residual gap g related to the equivalent diameter of the root ball, completing the retrieval.

[0042] S3 maintains synchronous transition during transfer: In the closed holding range, the rocker arm spring rod 106 provides a continuous contact force on the cam to prevent high-speed disengagement; the preload of the clamping force adjusting spring rod 105 stabilizes the clamping force.

[0043] S4 Seedling Release at Lower End Point: When cam 104 rotates to the opening phase and reaches the lower end point, the two claws open simultaneously, the throat rapidly enlarges, and the root ball detaches along the release path on the inner wall of the two claws under the action of gravity and guidance, and is placed into the planting hole. As the clamping section 1123 changes from inward to release, the contact points on both sides recede to avoid secondary collisions.

[0044] S5 Return and Cycle: Cam 104 continues to rotate, rocker arm 102 fully engages in the return stroke under the preload of rocker arm spring rod 106, clamping force adjusting spring rod 105 resets, the two jaws return to the initial opening phase, and the next cycle begins.

[0045] Abnormal adaptation and adjustment: If the moisture content or strength of the root ball changes and the clamping becomes unstable, the clamping force window can be changed by adjusting the preload of the spring 1053; if there is slight eccentricity or assembly error, the combination of the rod end spherical bearing 1051 and the rocker guide hole 1021 can absorb the angle deviation and maintain smooth opening and closing.

[0046] like Figure 7 As shown, the seedling-picking robotic arm structure 100 of this utility model is installed on the rapeseed transplanter 200.

[0047] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Contents not described in detail in this specification belong to prior art known to those skilled in the art.

Claims

1. A mechanical seedling-picking robot structure for a rapeseed transplanter, characterized in that: include Robotic arm housing (101); The pair of female claws (110) and male claws (111) are provided on the housing (101) of the robotic arm. The female claws (110) and male claws (111) are engaged with each other at one end near the hinge end, and the other end is open or closed relative to each other. The female claws (110) and male claws (111) are respectively hinged to the rotating shaft seat (109). Cam (104) fixedly connected to drive shaft (107); A swing arm (102) that cooperates with the cam (104) has one end hinged to the manipulator housing (101) and the other end connected to the female claw (110) via a clamping force adjusting spring rod (105); The drive shaft (107) located on the housing (101) of the robotic arm is used to receive external mechanical transmission input and rotate, driving the cam (104) to drive the female claw (110) via the swing arm (102) and the seedling clamping force adjusting spring rod (105) to drive the male claw (111) to close at the upper stop point to clamp the seedling and open at the lower stop point to put the seedling, forming a continuous cycle of picking and putting seedlings.

2. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1, characterized in that: The free ends of the female claw (110) and the male claw (111) are integrally formed to form a composite guide hook (112), which includes a leading section (1121), a supporting arc section (1122), and a clamping section (1123) in sequence.

3. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 2, characterized in that: The leading angle θ1 between the leading segment (1121) and the center line of the claw body is 20° to 30°; the central angle θ2 of the supporting arc segment (1122) is 130° to 150°.

4. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 2, characterized in that: The residual gap between the two composite guide hooks (112) in the closed position is g = 0.05d to 0.12d, where d is the equivalent diameter of the clamped root mass.

5. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1, characterized in that: The female claw (110) has a groove (1101) at one end near the hinge end, and the male claw (111) has a single tooth (1111) at one end near the hinge end. The female claw (110) and the male claw (111) mesh with each other through the cooperation of the single tooth (1111) and the groove (1101).

6. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1, characterized in that: The clamping force adjusting spring rod (105) includes a rod end joint bearing (1051), a rod part (1052) connected to the rear end of the rod end joint bearing (1051), and a first spring (1053). The rod end joint bearing (1051) is hinged to the female claw (110) through a rotating shaft (108). The rotating shaft (108) is located at the bottom of the rotating shaft seat (109). The rod part (1052) passes through the swing rod guide hole (1021) at the other end of the swing rod (102) and then the first spring (1053) is sleeved on it.

7. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1, characterized in that: It also includes a rocker arm spring rod (106), one end of which is hinged to the tail of the rocker arm (102) and the other end is connected to the manipulator housing (101). The rocker arm spring rod (106) includes a spring rod (1061) and a second spring (1062) sleeved on the spring rod (1061). The second spring (1062) is used to apply a preload force toward the cam (104) to the rocker arm (102).

8. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1, characterized in that: The rotating shaft seat (109) is fixed to the side of the robot housing (101). The female claw (110) and male claw (111) are respectively hinged to the bottom of both ends of the rotating shaft seat (109), and the hinge points are the first hinge point (1102) and the second hinge point (1112).

9. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1, characterized in that: One end of the swing arm (102) is hinged to the manipulator housing (101) via a hinge shaft (103), and the clamping force adjusting spring rod (105) passes through the swing arm guide hole (1021) at the other end of the swing arm (102).

10. The mechanical seedling-picking robot structure for a rapeseed transplanter according to claim 1 or 4, characterized in that: The female claw (110) and the male claw (111) form a trapezoidal structure in the closed position. The short side of the top of the trapezoidal structure is provided with a throat, and the residual gap of the closed throat is g.

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