A Pneumatic Plug Seedling High-Speed Transplanting Mechanical Claw - SolidWorks - Free Download

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[0001] The invention belongs to the field of agricultural machinery and designs a pneumatic plug tray seedling high-speed transplanting mechanical claw, mainly used as the end effector of a greenhouse high-speed transplanting machine for gripping plug tray seedlings.
Technical Background
[0002] In modern agricultural greenhouses, plug tray seedling cultivation is mostly used, which can effectively improve the survival rate and economic benefits of seedlings and shorten the seedling period. Due to these advantages, plug tray seedlings are suitable for standardized operations, can be machine-sown, are suitable for large-scale factory seedling cultivation, save labor, are efficient, and currently, factory seedling cultivation in China uses plug tray seedlings. Large-scale transplanting of plug tray seedlings using traditional manual methods results in harsh working environments, low efficiency, and high costs, which overshadow the convenience advantages of early seedling cultivation and limit the development of plug tray seedling cultivation. Therefore, a high-speed plug tray seedling transplanter is needed to assist in the high-speed transplanting of plug tray seedlings in greenhouses. Using a high-speed transplanter for plug tray seedling transplanting can improve the working environment and facilitate manual operation. You can sit in the greenhouse lounge, place the plug tray on the operating table, and use the machine to complete the transplanting, which is comfortable and convenient.
[0003] With the development of science and technology and the improvement of people’s living standards, automation of facility agriculture production has become an inevitable trend in modern agricultural development. Among them, the automation technology of transplanting operations is one of the key technologies for the automation of facility agriculture production. The plug tray seedling transplanting robot is the key equipment to realize automatic transplanting of plug tray seedlings, and the transplanting mechanical claw is the important component that directly contacts the seedlings. Its performance directly affects the transplanting quality. Therefore, developing a stable and efficient transplanting mechanical claw is of great significance for improving the survival rate of the transplanting robot and the efficient operation of the transplanter.
[0004] The purpose of the invention is to address the shortcomings of the prior art and provide a high-speed transplanting mechanical claw, which uses a cylinder and solenoid push rod for driving, with precise drive control and fast working speed, capable of accurately and quickly completing the gripping and releasing actions of seedlings.
[0005] The purpose of the invention is achieved through the following technical solution: a high-speed transplanting mechanical claw, composed of a main frame, cylinder 1, solenoid push rod 5, and gripping mechanism; the push rod part of the cylinder 1 is fixed on the upper fixing plate; the solenoid push rod 5 is fixed on the lower fixing plate of the main frame, and the mechanical claw mounting bracket is fixed on the main frame.
[0006] The main frame is a two-layer frame structure, consisting of an upper limit fixing plate 2, upper and lower limit plate connecting bolts 8, lower limit fixing plate 4, bolts, nuts, and other components. The upper limit fixing plate 2 is fixedly connected with the cylinder push rod 10. The upper and lower limit fixing plates 2 and 4 are fastened together by bolts and nuts through the upper and lower limit plate connecting bolts 8. The lower limit fixing plate 4 is fixedly connected with the solenoid push rod 5 and is also hinged with four surrounding small cylinders 3 through small cylinder swing connecting pieces 9.
[0007] The gripping mechanism consists of six parts: solenoid push rod 4, small cylinder swing connecting piece 9, connecting rod 15 between part 9 and part 12, small cylinder 3, plate-shaped steel needle sleeve 7, and plate-shaped steel needle 6.
[0008] Furthermore, the solenoid push rod 5 is hinged with the connecting rod 15 between part 9 and part 12. The small cylinder swing connecting piece 9 is fixed on the small cylinder 3, thereby driving the small cylinder 3 to swing around the frame and driving the plate-shaped steel needle 6 to move. The plate-shaped steel needle sleeve 7 is sleeved on the plate-shaped steel needle 6 to facilitate the separation of the plate-shaped steel needle 6 after transplanting is completed.
[0010] The invention has the following beneficial effects: the transplanting mechanical claw is compact, accurate, and fast in gripping. Cylinder 1 can output distance accurately and quickly, thereby driving the frame to the specified position accurately and quickly, improving working speed. The solenoid push rod 5 controls the gripping action and can control the force exerted by the plate-shaped steel needle 6 on the transplanting object, better protecting the transplanting object and being more conducive to high-speed transplanting. At the same time, the opening size of the plate-shaped steel needle 6 can be controlled by signals, making the mechanical claw suitable for different types of plug trays.
Figure Description
[0011] Figure 1 is a front view of the mechanical claw
[0012] Figure 2 is a partial view of the mechanical claw
[0013] Figure 3 is an isometric view of the mechanical claw
[0014] Figure 4 is a bottom view of the mechanical claw
[0015] In the figure: cylinder 1, upper limit fixing plate 2, small cylinder 3, lower limit fixing plate 4, solenoid push rod 5, plate-shaped steel needle 6, plate-shaped steel needle sleeve 7, upper and lower limit plate connecting bolts 8, small cylinder swing connecting piece 9, cylinder push rod 10, solenoid push rod top connecting piece 12, small cylinder and lower limit plate U-shaped connecting piece 14, connecting rod 15 between part 9 and part 12, and several pin connecting pieces.
Specific Implementation Method
[0016] The mechanical claw is further described in detail below in conjunction with the drawings.
[0017] As shown in Figures 1 and 3, the invention consists of main cylinder 1, upper limit fixing plate 2, small cylinder 3, lower limit fixing plate 4, solenoid push rod 5, plate-shaped steel needle 6, plate-shaped steel needle sleeve 7, upper and lower limit plate connecting bolts 8, small cylinder swing connecting piece 9, cylinder push rod 10, solenoid push rod top connecting piece 12, small cylinder and lower limit plate U-shaped connecting piece 14, connecting rod 15 between part 9 and part 12, and pin connecting pieces; the cylinder push rod 10 in the cylinder is connected to the upper limit fixing plate 2 by thread and nut and is located above. The upper and lower limit fixing plates 2 and 4 are connected by four connecting bolts 8 and are located in the middle. The swing connecting piece 9 and part 15 are respectively fixedly connected with the small cylinder 3, and the four small cylinders are located in the limit slots of the upper limit fixing plate 2. The solenoid push rod 5 is located in the middle of the bottom surface of the lower limit fixing plate 4. The plate-shaped steel needle 6 is located in the plate-shaped steel needle sleeve 7, and the steel needle 6 is connected to the telescopic push rod of the small cylinder.
[0018] The small cylinder 3, small cylinder swing connecting piece 9, solenoid push rod top connecting piece 12, and connecting rod 15 form a hinge swing rod mechanism, which realizes the swing of the small cylinder 3 through the drive of the solenoid push rod 5, thereby realizing the angular swing of the plate-shaped steel needle 6 of the mechanism, which facilitates the insertion of the plug tray seedling at an appropriate angle for gripping.
[0019] The small cylinder 3 and the lower limit fixing plate 4 are hinged by the small cylinder and lower limit plate U-shaped connecting piece 14, realizing the rotation of the small cylinder around the axis.
The bottom of the plate-shaped steel needle sleeve 7 has an outwardly bent plate 11, which presses the transplanted seedling when the plate-shaped steel needle 6 retracts after transplanting to prevent the seedling from being brought out by the retraction of the plate-shaped steel needle 6.
[0020] As shown in the figure, the four plate-shaped steel needles 6 are distributed in a cross pattern. When transplanting and picking seedlings, due to the limit slots of the upper limit fixing plate 2 and the action of the lower limit fixing plate 4, the insertion angle into the plug seedling is about 15 degrees, making it easy to pick seedlings.
[0021] The working process of the invention is as follows
[0022] When the mechanical transplanting claw is working, it is located above the plug tray seedling to be transplanted. The cylinder 1 is used to move the transplanting claw to the appropriate height; during this process, the control signal controls the solenoid push rod 5 to work, causing the mechanical transplanting claw to open to prevent damage to the plug tray seedling during the descent; after reaching the specified position, the solenoid push rod 5 contracts to close the mechanical claw. Due to the limiting action of the upper and lower limit plates, the plate-shaped steel needle 6 is aligned at an appropriate angle with the soil matrix of the plug tray seedling; then the four small cylinders 3 act simultaneously, pushing the four plate-shaped steel needles into the soil. As the cylinder 1 acts, it retracts upward to take the plug tray seedling out of the tray; after the transplanting claw moves to the transplanting position, cylinder 1 extends downward again to place the transplanted seedling into the soil matrix to be transplanted; then the four small cylinders 3 act to retract the plate-shaped steel needles 6, and after retraction, cylinder 1 starts to contract, raising the mechanical claw, completing the transplanting process, and starting the next round of transplanting.