CN-121970581-A - Space ladder-type arranged tomato seedling pot seedling low shielding clamping mechanism

CN121970581ACN 121970581 ACN121970581 ACN 121970581ACN-121970581-A

Abstract

The invention relates to a mechanism for spatial stepped arrangement and an improved clamping mechanism for reducing damage to tomato seedlings and pot seedlings, which comprises a clamping mechanical claw group and a main body frame. The control mechanism is driven by a servo motor to operate the whole mechanism. The adjusting mechanism comprises a sliding groove, a sliding rail and a chain, wherein the sliding groove and the sliding rail are arranged on the main body frame, the chain is used for connecting the main body frame and the mechanical claw to drive the mechanical claw to move in a space step-like manner, and shielding among pot seedlings is reduced as much as possible. By operating the adjusting device, the distance and the height between the mechanical claws can be accurately controlled, and the shielding problem between tomato seedlings and pot seedlings is reduced. The gripper improves the gripper clamping part, so that the problem of shielding of the pot seedlings of the tomato seedlings in the grabbing process is reduced, and the shooting efficiency of the pot seedlings is improved. According to the invention, the stepped arrangement of the pot seedlings is realized through the sliding rail, the sliding groove and the hinge among the mechanical claws of the adjusting mechanism, so that the shielding problem of the pot seedlings is reduced. Meanwhile, the grabbing part of the mechanical claw is improved, and shielding of the mechanical claw to tomato seedlings and pot seedlings is reduced in the grabbing process.

Inventors

WANG WEIBING
ZHANG SHUAIBING
LI GUODONG
Pang Yannan
WANG GUANSHENG
HE QINGSONG
WU XIAOYU
QU JIAHAO

Assignees

石河子大学

Dates

Publication Date: 20260505
Application Date: 20260401

Claims (8)

1. A low shielding clamping mechanism for tomato seedlings in space ladder arrangement comprises a main body frame (3) and is characterized in that a clamping mechanical claw group (2) is arranged on the main body frame (3). The automatic soil pile clamping device comprises a main body frame (3), a servo motor (8) and an adjusting mechanism, wherein the adjusting mechanism comprises a sliding groove (6), a rack (7), a sliding rail (9), a transmission chain (4) and a mechanical claw fixing piece (5) which are fixedly arranged on the main body frame (3), two cameras (1) which are seen in front and side view are arranged outside the main body frame, one end of the transmission chain (4) is in transmission connection with the main body frame (3), the other end of the transmission chain (4) is fixedly connected with a clamping mechanical claw group (2), the clamping mechanical claw group (2) is connected with the main body frame (3) through the fixing piece (5), the clamping mechanical claw group (2), the sliding groove (6) and the sliding rail (9) form sliding guide fit, the adjusting mechanism drives the clamping mechanical claw group (2) to realize space stepped displacement movement, so that the clamped tomato seedlings are arranged in a stepped dislocation mode, the clamping working end of the clamping mechanical claw group (2) is in a root soil pile adapting structure, the clamping mechanical claw group (2) directly clamps a root pile seedling region, and the vertical distance between each mechanical claw group and each vertical clamping unit is accurately adjusted.
2. The clamping mechanism of claim 1, wherein the clamping gripper group (2) is composed of four groups of gripper clamping units which work independently, all the gripper clamping units are sequentially arranged along the length direction of the sliding rail (8), a space stepped arrangement structure with horizontal dislocation and vertical height difference is formed between the adjacent gripper clamping units, each group of gripper clamping units can independently carry out linear displacement adjustment along the sliding groove (6) and the sliding rail (9), the vertical height difference adjustment range of the adjacent gripper clamping units in the space stepped arrangement is 20mm-80mm, and the horizontal spacing adjustment range is 30mm-120mm.
3. The clamping mechanism according to claim 1, wherein the control mechanism comprises a servo motor (8), a planetary reducer (12), a first control gear (13) and a second control gear (14), an output shaft of the servo motor (8) is fixedly connected with an input end of the planetary reducer (12), an output end of the planetary reducer (12) is connected with the first control gear (13), and the first control gear (13) and the second control gear (14) are respectively connected with the left connecting rod and the right connecting rod (17).
4. The clamping mechanism according to claim 2, wherein each group of gripper clamping units comprises a left clamping mechanism (18) and a right clamping mechanism (18) which are symmetrically arranged, the inner clamping surfaces of the left clamping mechanism (18) and the right clamping mechanism (18) are arc-shaped jointing surfaces, and the curvature of the arc-shaped jointing surfaces is matched with the curvature of the outer wall of a soil pile at the root of the tomato Miao Bomiao.
5. The clamping mechanism of claim 4, wherein flexible anti-slip protection pads are fixedly adhered on the arc-shaped joint surfaces of the left and right clamping mechanisms (18), the flexible anti-slip protection pads are made of food-grade silica gel materials, and the clamping working surfaces of the flexible anti-slip protection pads are provided with intensive anti-slip protruding points and buffer grooves. The thickness of the flexible anti-slip protective pad is 3mm-8mm, and the Shore hardness is 30-50HA.
6. The clamping mechanism of claim 1, wherein the fixing piece (5) is a double-degree-of-freedom hinge bearing, the connection between the clamping mechanical claw group (2) and the main body frame (3) is a double-degree-of-freedom hinge bearing, the sliding rail (9) is a precise ball linear sliding rail, the sliding groove (6) is a closed guide sliding groove, a wear-resistant lubrication sliding block is arranged between the sliding rail (9) and the sliding groove (6), the clamping mechanical claw group (2) and the sliding groove (6) form low-resistance sliding fit through the wear-resistant lubrication sliding block, the main body frame (3) is a hollowed-out aluminum alloy section frame, the surface of the main body frame (3) is subjected to hard anodic oxidation corrosion prevention treatment, the bottom of the main body frame is provided with a mounting positioning flange, the main body frame (3) is provided with a pot seedling position detection sensor, the pot seedling position detection sensor is electrically connected with the control mechanism, the transmission chain (4) is a 304 stainless steel precise transmission chain (4), and the transmission chain (4) and the clamping mechanical claw group (2) are fixedly connected through a detachable chain joint.
7. The clamping mechanism according to claim 4, wherein the clamping action is driven by a gear drive, and a control end of the gear drive is electrically connected with a control system of the servo motor (8).
8. The clamping mechanism of claim 1, wherein the clamping mechanical claw group (2) is connected with the main body frame (3) through mechanical claw fixing pieces (5), each clamping mechanical claw unit is connected with each other through a transmission hinge (4), the sliding groove (6) is positioned on the main body frame (3), the sliding groove (6) is divided into two types of horizontal and inclined upwards, the mechanical claw fixing pieces (5) are matched with the sliding groove (6), the mechanical claw fixing pieces (5) drive the mechanical claw units to move in the sliding groove (6), the sliding rail (9) is connected with the servo motor (8), the sliding rail (9) moves up and down at the fixing position of the main body frame (3), and the sliding rail (9) is connected with the rack (7) in the sliding groove (6) to realize space stepped arrangement.

Description

Space ladder-type arranged tomato seedling pot seedling low shielding clamping mechanism Technical Field The invention relates to the technical field of agricultural automation equipment, in particular to a clamping mechanism used in a tomato seedling transplanting or sorting process, and particularly relates to a multi-claw variable-pitch sorting mechanism capable of reducing shielding interference among tomato seedlings and pot seedlings. Background In facility agriculture, tomato seedling is a key link of production. Along with the development of large-scale planting, the requirements for automatic sorting and transplanting of tomato seedlings are increasingly urgent. In the automated process, the seedlings in the trays are typically removed and transferred using a gripping mechanism. However, the clamping mechanism in the prior art has the following defects that firstly, the traditional clamping claws are usually positioned on the same plane or at the same height, when the leaves of the tomato seedlings are flourishing, serious mutual shielding is easy to form between adjacent pot seedlings, so that the central position of each seedling is difficult to accurately position by a visual recognition system, and the success rate and the accuracy of grabbing are affected. Secondly, the traditional mechanical claws directly clamp the stalks of tomato seedlings, and the traditional mechanical claws seriously shade pot seedlings, so that a lot of trouble is caused to data acquisition. Therefore, a clamping mechanism capable of effectively solving the shielding problem needs to be designed. Disclosure of Invention The invention aims to overcome the defects of the prior art and provide a low-damage clamping mechanism for tomato seedlings in space ladder arrangement. In order to solve the technical problems, the invention provides the following technical scheme: The low-damage clamping mechanism for the tomato seedlings in the space stepped arrangement comprises a main body frame, a clamping mechanical claw group, a control mechanism driven by a servo motor and an adjusting mechanism for realizing space position adjustment, wherein the adjusting mechanism comprises a sliding groove, a rack, a sliding rail, a transmission chain and a mechanical claw fixing piece which are fixedly arranged on the main body frame, and two cameras for front view and side view are arranged outside the main body frame and used for collecting image data. One end of the transmission chain is in transmission connection with the main body frame, the other end of the transmission chain is fixedly connected with the clamping mechanical claw group, the clamping mechanical claw group is connected with the main body frame through a fixing piece, the clamping mechanical claw group, the sliding grooves and the sliding rails form sliding guide fit, the adjusting mechanism drives the clamping mechanical claw group to realize space stepped displacement movement, so that clamped tomato seedlings are arranged in a stepped staggered manner, shielding interference among the seedlings is eliminated, the clamping working end of the clamping mechanical claw group is of a root soil pile adaptive structure, the clamping mechanical claw group directly clamps root soil pile areas of tomato seedlings, pot seedling root systems are avoided through structural improvement, and pot seedling shielding conditions in the clamping process are reduced. The adjusting mechanism can independently and accurately adjust the horizontal distance and the vertical height of each clamping unit in the clamping mechanical claw group. Preferably, the clamping gripper group is composed of four groups of gripper clamping units which independently work, all the gripper clamping units are sequentially arranged along the length direction of the sliding rail, a space stepped arrangement structure with horizontal dislocation and vertical height difference is formed between the adjacent gripper clamping units, and each group of gripper clamping units can independently carry out linear displacement adjustment along the sliding groove and the sliding rail. The vertical height difference adjusting range of the adjacent gripper clamping units which are arranged in a space stepped mode is 20mm-80mm, the horizontal spacing adjusting range is 30mm-120mm, and the gripper clamping device is suitable for clamping tomato seedlings with different plant heights and different plant distances. Preferably, the control mechanism comprises a servo motor, a planetary reducer, a first control gear and a second control gear, an output shaft of the servo motor is fixedly connected with an input end of the planetary reducer, an output end of the planetary reducer is connected with the first control gear, and the first control gear and the second control gear are respectively connected with a left connecting rod and a right connecting rod to drive the mechanical claw grabbing mechanism to open and close. The servo m