CN114223469B - Be applied to two fork cutter clamp of turf laying device and get mechanism - Google Patents

Abstract

Translated fromChinese

本发明公开了一种应用于草皮铺设装置的双叉刀夹取机构，包括框架、四根阶梯轴、若干弧形叉刀、一对伸缩缸、一对连接板、以及若干连接固定板；伸缩缸一端与框架铰接，另一端与连接板铰接；每根阶梯轴上均设有一个连接固定板和若干个弧形叉刀；相间设置的两个阶梯轴上的连接固定板与同一连接板铰接，使相间设置的两个阶梯轴同步转动，进而通过弧形叉刀转动抓取块状草皮，中间两根阶梯轴上的弧形叉刀的圆弧角朝内设置，两组弧形叉刀旋转时相向移动，用于抓取卷状草皮或块状草皮。该装置可以轻松实现对块状和卷状的草皮的抓取和运送；双叉刀夹取结构紧凑，其底板保护了草皮的完整性；双排弧形叉刀结构稳定可靠，可以牢固抓取及快速释放草皮。

The invention discloses a double-fork knife clamping mechanism applied to a turf laying device, which includes a frame, four stepped shafts, several arc-shaped fork knives, a pair of telescopic cylinders, a pair of connecting plates, and several connecting and fixing plates; One end of the cylinder is hinged with the frame, and the other end is hinged with the connecting plate; each stepped shaft is provided with a connecting fixed plate and several arc-shaped fork knives; the connecting fixed plates on the two stepped shafts arranged alternately are hinged with the same connecting plate , so that the two stepped shafts set alternately rotate synchronously, and then grab the blocky turf through the rotation of the arc-shaped fork knives. Move toward each other while rotating, for grabbing rolls or blocks of turf. The device can easily grasp and transport block and roll turf; the clamping structure of the double-fork knives is compact, and its bottom plate protects the integrity of the turf; the structure of the double-row curved fork knives is stable and reliable, and can be grasped firmly and quick release turf.

Description

Translated fromChinese

一种应用于草皮铺设装置的双叉刀夹取机构A double-fork knife clamping mechanism applied to a turf laying device

技术领域technical field

本发明涉及机械抓具技术领域，具体涉及一种应用于草皮铺设装置的双叉刀夹取机构。The invention relates to the technical field of mechanical grippers, in particular to a double-fork knife gripping mechanism applied to a turf laying device.

背景技术Background technique

草皮是改善生态环境常用的绿化植物，主要有块状和卷状两种形式。草皮的铺设取代了以往采用撒草籽方式种植绿草，人工用裁割草皮铺设方式可以快速形成较大面积的绿地，大大的缩短了绿地种植工期。Turf is a commonly used greening plant to improve the ecological environment, mainly in two forms: block and roll. The laying of turf replaces the way of planting green grass by sowing grass seeds in the past. The method of laying artificially cut turf can quickly form a large area of green space, which greatly shortens the planting period of green space.

目前铺设草皮大多还是依靠人工进行手动铺设，主要通过人工将草皮压实和灌溉使得草皮根系与土壤充分接触，从而完成草皮的铺设工作，但耗时耗力，劳动量大。At present, the laying of turf is mostly manual laying, mainly through manual compaction and irrigation of the turf to make the root system of the turf fully contact with the soil, so as to complete the laying of the turf, but it is time-consuming and labor-intensive.

现有技术中也公开了一些草皮铺设装置，但是这些铺设装置适应性差，铺设装置中的上料机构和铺设机构功能相对单一，只能铺设卷状草皮或者块状草皮中的一种，无法达到灵活使用的要求。Some turf laying devices are also disclosed in the prior art, but these laying devices have poor adaptability, and the functions of the feeding mechanism and the laying mechanism in the laying device are relatively single, and only one of roll-shaped turf or block-shaped turf can be laid, which cannot be achieved. Flexible usage requirements.

发明内容Contents of the invention

为克服现有技术的缺陷，本发明的目的在于提供一种应用于草皮铺设装置的双叉刀夹取机构，可以轻松实现对块状和卷状的草皮的抓取和运送；还可以抓取其他类型的物品，并且由于弧形叉刀增加，使抓取过程更加平稳。In order to overcome the defects of the prior art, the object of the present invention is to provide a double-fork knife clamping mechanism applied to a turf laying device, which can easily realize the grabbing and transportation of block and roll turf; it can also grab Other types of items, and due to the addition of curved fork knives, the grabbing process is smoother.

为此，本发明提出了一种应用于草皮铺设装置的双叉刀夹取机构，包括框架、四根阶梯轴、若干弧形叉刀、一对伸缩缸、一对连接板、以及若干连接固定板；伸缩缸一端与框架铰接，另一端与连接板铰接；每根阶梯轴上均设有一个连接固定板和若干个弧形叉刀；相间设置的两个阶梯轴上的连接固定板与同一连接板铰接，使相间设置的两个阶梯轴同步转动，进而通过弧形叉刀转动抓取块状草皮。For this reason, the present invention proposes a double-fork knife clamping mechanism applied to a turf laying device, including a frame, four stepped shafts, several arc-shaped fork knives, a pair of telescopic cylinders, a pair of connecting plates, and several connecting and fixing one end of the telescopic cylinder is hinged with the frame, and the other end is hinged with the connecting plate; each stepped shaft is provided with a connecting fixed plate and several arc-shaped fork knives; The connecting plates are hinged, so that the two stepped shafts arranged alternately rotate synchronously, and then the arc-shaped fork knife rotates to grab the blocky turf.

其中，中间两根阶梯轴上的弧形叉刀的圆弧角朝内设置，两组弧形叉刀旋转时相向移动，用于抓取卷状草皮或块状草皮。Wherein, the arc angles of the arc-shaped fork knives on the middle two stepped shafts are set inwardly, and the two groups of arc-shaped fork knives move toward each other when rotating, and are used for grabbing roll-shaped turf or block-shaped turf.

进一步，弧形叉刀通过叉刀固定板与阶梯轴固定连接。Further, the curved fork knife is fixedly connected with the stepped shaft through the fork knife fixing plate.

进一步，伸缩缸一端通过双头螺柱与框架铰接。Further, one end of the telescopic cylinder is hinged to the frame through a stud.

进一步，伸缩缸另一端通过关节轴承与连接板中部铰接。Further, the other end of the telescopic cylinder is hinged to the middle part of the connecting plate through a joint bearing.

进一步，阶梯轴通过滚珠花键轴承与框架转动连接。Further, the stepped shaft is rotationally connected with the frame through a ball spline bearing.

进一步，弧形叉刀旋转夹紧时，伸缩缸处于收缩状态，以实现自锁。Furthermore, when the arc-shaped fork knife is rotated and clamped, the telescopic cylinder is in a shrinking state to realize self-locking.

进一步，阶梯轴下侧设有与框架固定连接的底板，而底板上设有与弧形叉刀位置相对的方形孔。Further, a base plate fixedly connected to the frame is provided on the lower side of the stepped shaft, and a square hole opposite to the position of the arc-shaped fork knife is provided on the base plate.

进一步，所述弧形叉刀大致呈峨眉月形状。Further, the arc-shaped fork knife is roughly in the shape of a crescent moon.

进一步，所述伸缩缸为气缸、电缸、油缸中的一种。Further, the telescopic cylinder is one of an air cylinder, an electric cylinder and an oil cylinder.

进一步，阶梯轴还可以设置成六根或者八根，每根阶梯轴上均设有一个连接固定板，并且相间设置的两个阶梯轴上的连接固定板与同一连接板铰接。Further, the number of stepped shafts can also be set to six or eight, each of which is provided with a connecting and fixing plate, and the connecting and fixing plates on the two alternate stepped shafts are hinged to the same connecting plate.

本发明提供的应用于草皮铺设装置的双叉刀夹取机构，可以轻松实现对块状和卷状的草皮的抓取和运送；双叉刀夹取结构紧凑，其底板保护了草皮的完整性；双排弧形叉刀结构稳定可靠，可以牢固抓取及快速释放草皮。此外，该双叉刀夹取机构中的所述阶梯轴还可以设置成六根或者八根，增加了弧形叉刀的数量，不仅可以抓取草皮，还可以抓取其他类型的物品，并且由于弧形叉刀增加，使抓取过程更加平稳。The double-fork knife clamping mechanism applied to the turf laying device provided by the present invention can easily realize the grabbing and transportation of block and roll-shaped turf; the double-fork knife clamping structure is compact, and its bottom plate protects the integrity of the turf ;The structure of the double-row curved fork knife is stable and reliable, which can firmly grasp and quickly release the turf. In addition, the stepped shafts in the double-fork knife clamping mechanism can also be set to six or eight, increasing the number of arc-shaped fork knives, not only can grab turf, but also can grab other types of items, and because The arc-shaped fork knife is added to make the grabbing process more stable.

除了上面所描述的目的、特征和优点之外，本发明还有其它的目的、特征和优点。下面将参照图，对本发明作进一步详细的说明。In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.

附图说明Description of drawings

构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

图1为本发明的应用于草皮铺设装置的双叉刀夹取机构的爆炸图；Fig. 1 is the exploded view of the double-fork knife clamping mechanism applied to the turf laying device of the present invention;

图2为本发明的应用于草皮铺设装置的双叉刀夹取机构非工作状态的结构示意图；Fig. 2 is a schematic structural view of the non-working state of the double-fork knife clamping mechanism applied to the turf laying device of the present invention;

图3为本发明的应用于草皮铺设装置的双叉刀夹取机构工作状态下的结构示意图；Fig. 3 is a structural schematic view of the working state of the double-fork knife clamping mechanism applied to the turf laying device of the present invention;

图4为包含双叉刀夹取机构的草皮铺设装置的结构示意图。Fig. 4 is a schematic structural view of a turf laying device including a two-fork knife clamping mechanism.

附图标记说明Explanation of reference signs

1、行走装置；2、Y-Z两轴机械臂；3、双叉刀夹取机构；4、传送运输装置；5、反推滚轮展开装置；6、灌溉施肥装置；7、压实装置；8、草皮储料箱；301、阶梯轴；302、叉刀固定板；303、弧形叉刀；304、气缸活塞杆；305、气缸缸体；306、双头螺柱；307、连接板；308、关节轴承；309、底板；310、滚珠花键轴承；311、连接固定板。1. Walking device; 2. Y-Z two-axis mechanical arm; 3. Double fork knife clamping mechanism; 4. Transmission and transportation device; 5. Reverse push roller expansion device; 6. Irrigation and fertilization device; 7. Compaction device; Grass storage box; 301, stepped shaft; 302, fork knife fixed plate; 303, arc fork knife; 304, cylinder piston rod; 305, cylinder block; 306, double-headed stud; 307, connecting plate; Joint bearing; 309, bottom plate; 310, ball spline bearing; 311, connecting fixed plate.

具体实施方式Detailed ways

需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

如图4所示，本发明的新型多功能草皮铺设装置，包括行走装置1、Y-Z两轴机械臂2、双叉刀夹取机构3、传送运输装置4、反推滚轮展开装置5、灌溉施肥装置6、压实装置7、草皮储料箱8。As shown in Figure 4, the novel multifunctional turf laying device of the present invention comprises awalking device 1, a Y-Z two-axismechanical arm 2, a double-forkknife clamping mechanism 3, a transmission andtransportation device 4, a reverse pushroller expansion device 5, and an irrigation and fertilization device.Device 6,compacting device 7,turf storage box 8.

其中，Y-Z两轴机械臂2安装在草皮储料箱8正上方，草皮储料箱8安装在行走装置1上方，双叉刀夹取机构3安装在Y-Z两轴机械臂2的竖直滑块上，传送运输装置4安装在行走装置1上方，反推滚轮展开装置5安装在传送运输装置4的上方，灌溉施肥装置6安装传送运输装置4的末端，压实装置7安装车体的后方。Among them, the Y-Z two-axismechanical arm 2 is installed directly above theturf storage box 8, theturf storage box 8 is installed above thewalking device 1, and the double-forkknife clamping mechanism 3 is installed on the vertical slider of the Y-Z two-axismechanical arm 2 Above, theconveying device 4 is installed above thetraveling device 1, the anti-thrustroller unfolding device 5 is installed above theconveying device 4, the irrigation andfertilization device 6 is installed at the end of theconveying device 4, and thecompacting device 7 is installed behind the car body.

如图1～3所示，本发明的应用于草皮铺设装置的双叉刀夹取机构3包括框架、四根阶梯轴301、若干叉刀固定板302、若干弧形叉刀303、伸缩缸、双头螺柱306、连接板307、关节轴承308、底板309、滚珠花键轴承310、以及连接固定板311，而伸缩缸由气缸活塞杆304与气缸缸体305组成。As shown in Figures 1 to 3, the double-forkknife clamping mechanism 3 applied to the turf laying device of the present invention includes a frame, fourstepped shafts 301, several forkknife fixing plates 302, several arc-shaped fork knives 303, telescopic cylinders,Stud 306, connectingplate 307, joint bearing 308,base plate 309, ball spline bearing 310, and connectingfixed plate 311, and telescopic cylinder is made up ofcylinder piston rod 304 andcylinder block 305.

所述伸缩缸一端与所述框架铰接，另一端与所述连接板307铰接；每根所述阶梯轴301上均设有一个连接固定板311和若干个所述弧形叉刀303；相间设置的两个阶梯轴301上的所述连接固定板311与同一所述连接板307铰接，使相间设置的两个所述阶梯轴301同步转动，进而通过所述弧形叉刀303转动抓取块状草皮。One end of the telescopic cylinder is hinged to the frame, and the other end is hinged to the connectingplate 307; each of thestepped shafts 301 is provided with aconnection fixing plate 311 and several arc-shaped fork knives 303; The connecting andfixing plates 311 on the twostepped shafts 301 are hinged with the same connectingplate 307, so that the two alternately arranged steppedshafts 301 rotate synchronously, and then the grabbing block is rotated by the arc-shaped fork knife 303 shaped turf.

其中，中间两根阶梯轴301上的所述弧形叉刀303的圆弧角朝内设置，两组所述弧形叉刀303旋转时相向移动，用于抓取卷状草皮或块状草皮。其中，所述弧形叉刀旋转夹紧时，所述伸缩缸处于收缩状态，以实现自锁。而所述弧形叉刀303大致呈峨眉月形状。Wherein, the arc angles of the arc-shaped fork knives 303 on the twostepped shafts 301 in the middle are arranged inwardly, and the two sets of arc-shaped fork knives 303 move toward each other when rotating, and are used to grab roll-shaped turf or block-shaped turf . Wherein, when the arc-shaped fork knife is rotated and clamped, the telescopic cylinder is in a contracted state to realize self-locking. Thecurved fork knife 303 is roughly in the shape of a crescent moon.

具体地，气缸缸体305一端用直双头螺柱306与框架连接，以端点为旋转点，实现上下60°转动；气缸缸体305另一端的气缸活塞杆304通过关节轴承308连接在连接板307上，连接板307与固定在阶梯轴301上的连接固定板311铰接，弧形叉刀303通过叉刀固定板302与阶梯轴301相连接，而阶梯轴301两端通过滚珠花键轴承310与框架连接。Specifically, one end of thecylinder block 305 is connected to the frame with astraight stud 306, and the end point is used as the rotation point to realize a 60° rotation up and down; thecylinder piston rod 304 at the other end of thecylinder block 305 is connected to the connecting plate through a joint bearing 308 307, the connectingplate 307 is hinged with theconnection fixing plate 311 fixed on thestepped shaft 301, the arc-shaped fork knife 303 is connected with thestepped shaft 301 through the forkknife fixing plate 302, and the two ends of thestepped shaft 301 pass throughball spline bearings 310 Connect with frame.

其中，双叉刀夹取机构3中设有两组气缸、四根阶梯轴301，且连接板307两端与相间设置的两个阶梯轴301上的连接固定板311分别铰接。此外，相间设置的两个阶梯轴301上的连接固定板311与同一个连接板307连接，而中间两根阶梯轴上的所述弧形叉刀的圆弧角朝内设置，两组所述弧形叉刀旋转时相向移动；当伸缩缸工作时，中间两根阶梯轴301上的弧形叉刀朝内旋转，形成内圆弧形状，方便夹取卷状的草皮。Wherein, two sets of air cylinders and fourstepped shafts 301 are arranged in the double-forkknife clamping mechanism 3 , and the two ends of the connectingplate 307 are respectively hinged to the connecting and fixingplates 311 on the twostepped shafts 301 arranged alternately. In addition, the connecting andfixing plates 311 on the twostepped shafts 301 arranged alternately are connected to the same connectingplate 307, and the arc angles of the arc-shaped fork knives on the two stepped shafts in the middle are set inwards, and the two sets of The arc-shaped fork knives move toward each other when they rotate; when the telescopic cylinder works, the arc-shaped fork knives on the twostepped shafts 301 in the middle rotate inwardly to form an inner arc shape, which is convenient for clamping rolled turf.

所述阶梯轴301下侧设有与框架固定连接的底板309，所述底板309上设有与所述弧形叉刀303位置相对的方形孔。The lower side of thestepped shaft 301 is provided with abottom plate 309 fixedly connected with the frame, and thebottom plate 309 is provided with a square hole opposite to the position of the arc-shaped fork knife 303 .

气缸活塞杆304收缩，推动连接板307，带动弧形叉刀303旋转，此时气缸缸体305缓缓向下倾斜，当气缸完全缩紧，弧形叉刀303继续向下旋转，刀尖穿过底板309的方形孔，深入草皮，将草皮抓起。Y-Z两轴机械臂2与双叉刀夹取机构3相配合，将草皮运送至传送运输装置4上。Thecylinder piston rod 304 shrinks, pushes the connectingplate 307, and drives the arc-shaped fork knife 303 to rotate. At this time, thecylinder block 305 is slowly tilted downward. When the cylinder is fully tightened, the arc-shaped fork knife 303 continues to rotate downward, and the knife tip penetrates Go through the square hole of thebase plate 309, go deep into the turf, and grab the turf. The Y-Z two-axismechanical arm 2 cooperates with the double-forkknife clamping mechanism 3 to transport the turf to theconveying device 4 .

气缸活塞杆304伸长，带动弧形叉刀303旋转，弧形叉刀303穿过底板309收回，草皮被挡在底板309下方，自然下落至传送带上。Thecylinder piston rod 304 elongates, drives thearc fork knife 303 to rotate, and thearc fork knife 303 passes through thebase plate 309 to withdraw, and the turf is blocked under thebase plate 309 and falls naturally onto the conveyor belt.

双叉刀夹取机构3夹取结构紧凑，可以轻松实现对块状和卷状的草皮的抓取和运送，其底板保护了草皮的完整性；双排弧形叉刀结构稳定可靠，可以牢固抓取及快速释放草皮。The double-forkknife clamping mechanism 3 has a compact clamping structure, which can easily grasp and transport block and roll turf, and its bottom plate protects the integrity of the turf; the structure of the double-row curved fork knife is stable and reliable, and can be firmly Grab and quick release turf.

传送运输装置4采用斜坡平台式链式传送，输出端一侧为大角度倾斜输送段，其中，传送运输装置4传送上方平台倾斜5°，配合反推滚轮展开装置5将卷状草皮平铺展开，下方斜坡采用40°倾斜，增大了草皮与金属薄板之前的摩擦，保证草皮沿金属薄板顺利滑落至地面，提高了草皮的运输效率。The transmission andtransportation device 4 adopts a slope platform chain transmission, and the side of the output end is a large-angle inclined conveying section. Among them, the transmission andtransportation device 4 is inclined by 5° on the upper platform, and cooperates with the reverse pushroller expansion device 5 to spread the rolled turf flat. , The lower slope adopts a 40° inclination, which increases the friction between the turf and the metal sheet, ensures that the turf slides smoothly along the metal sheet to the ground, and improves the transportation efficiency of the turf.

反推滚轮展开装置5包括滚筒、连接架、电机、联轴器、支撑架等，所述电机安装在所述连接架上，并通过联轴器与所述滚筒传动连接，所述支撑架与所述行走装置1连接。The anti-thrustroller unfolding device 5 includes a roller, a connecting frame, a motor, a coupling, a support frame, etc., the motor is installed on the connecting frame, and is connected to the roller through a coupling, and the support frame is connected to the roller. Therunning gear 1 is connected.

由电机带动滚筒，滚筒的旋转方向与传送运输装置4传送方向相反，给卷状草皮一个相反方向的作用力，便于草卷顺利铺开。反推滚轮展开装置5通过铝型材框架安装在传送运输装置4平坡与斜坡的交汇处，既可以帮助草卷铺开，又可以对草皮草卷进行压实，便于铺设，装置简单高效，实用性强。The drum is driven by the motor, and the rotation direction of the drum is opposite to the conveying direction of the conveyingdevice 4, giving the rolled turf an active force in the opposite direction, so that the turf rolls can be rolled out smoothly. The anti-thrustroller unfolding device 5 is installed on the intersection of the conveyingdevice 4 and the slope through the aluminum profile frame, which can not only help the grass rolls to be rolled out, but also compact the turf rolls, which is convenient for laying. The device is simple, efficient and practical Strong.

如图4所示，灌溉施肥装置主要由气泵水箱和四头浇头喷头构成，四头浇水喷头作为灌溉施肥装置6的主要执行元件，肥料混合在水箱中，通过充电水泵加压经水管到喷头处进行灌溉施肥，四头浇水喷头实现草皮全覆盖式灌溉，增加了土壤的黏性，增加草皮的成活率。As shown in Figure 4, the irrigation and fertigation device is mainly composed of an air pump water tank and a four-head pouring nozzle. The four-head watering nozzle is the main executive element of the irrigation andfertilization device 6. Fertilizer is mixed in the water tank and pressurized by the charging water pump to the nozzle through the water pipe. Irrigation and fertilization are carried out at all places, and the four watering nozzles realize the full-coverage irrigation of the turf, which increases the viscosity of the soil and increases the survival rate of the turf.

如图4所示，压实装置7设置在行走装置1后端下侧，压实装置7进行了加宽处理，即通过支架将多个滚轮串联在一起，可以充当压实滚轮，对刚铺设好的草皮进行压实，使草皮和土壤充分接触，增加草皮的成活率。As shown in Figure 4, the compactingdevice 7 is arranged on the lower side of the rear end of thewalking device 1, and thecompacting device 7 has been widened, that is, a plurality of rollers are connected in series through the bracket, which can serve as a compacting roller, and the newly laid Good turf is compacted to make the turf and soil fully contact and increase the survival rate of the turf.

在另一实施例中，在上述双叉刀夹取机构中的所述阶梯轴301还可以设置成六根或者八根，每根所述阶梯轴301上均设有一个所述连接固定板311，并且相间设置的两个阶梯轴301上的所述连接固定板311与同一所述连接板307铰接，进而增加了弧形叉刀303的数量，不仅可以抓取草皮，还可以抓取其他类型的物品，并且由于弧形叉刀303增加，使抓取过程更加平稳。所述伸缩缸为气缸、电缸、油缸中的一种。In another embodiment, the number of steppedshafts 301 in the above-mentioned double-fork knife clamping mechanism can also be set to six or eight, and each of the steppedshafts 301 is provided with a connecting and fixingplate 311, And the connecting and fixingplates 311 on the two steppedshafts 301 arranged alternately are hinged with the same connectingplate 307, thereby increasing the number of arc-shapedfork knives 303, which can not only grab turf, but also grab other types of items, and because thearc fork knife 303 increases, the grabbing process is more stable. The telescopic cylinder is one of an air cylinder, an electric cylinder and an oil cylinder.

本发明提供的应用于草皮铺设装置的双叉刀夹取机构，可以轻松实现对块状和卷状的草皮的抓取和运送。双叉刀夹取结构紧凑，其底板保护了草皮的完整性；双排弧形叉刀结构稳定可靠，可以牢固抓取及快速释放草皮。The double-fork knife clamping mechanism applied to the turf laying device provided by the present invention can easily realize the grabbing and transporting of block and roll turf. The clamping structure of the double-fork knife is compact, and its bottom plate protects the integrity of the turf; the structure of the double-row arc fork knife is stable and reliable, which can firmly grasp and quickly release the turf.

此外，包含本发明双叉刀夹取机构的铺设草皮机器，具有储料空间大，结构紧凑，结构巧妙，对草皮的保护性强，可靠性强，简单高效，实用性广，提高了草皮成活率，铺设效率高，减少了劳动量。传送运输装置和反推滚轮交错运动即可卷状草皮铺开，装置简单高效，实用性强。灌溉施肥装置对草皮起到施肥灌溉作用，增加了土壤的黏性，可提高草皮的成活率。草皮通过传送运输装置送达到地面平铺后，经过压实装置压实，草皮可以更好的与地面有效接触，可提高草皮的成活率。In addition, the turf laying machine including the double-fork knife clamping mechanism of the present invention has a large storage space, a compact structure, an ingenious structure, strong protection for the turf, strong reliability, simple and efficient, and wide practicability, which improves the survival of the turf. High efficiency, high laying efficiency and reduced labor. The rolling turf can be rolled out by the interlaced movement of the conveying device and the reverse push roller. The device is simple, efficient and practical. The irrigation and fertilization device plays the role of fertilizing and irrigating the turf, increasing the viscosity of the soil and improving the survival rate of the turf. After the turf is sent to the ground by the conveying device, it is compacted by the compacting device, so that the turf can be in better contact with the ground and the survival rate of the turf can be improved.

下面结合附图简述包含双叉刀夹取机构的铺设草皮机器的工作原理和工作过程。The working principle and working process of the sod laying machine comprising the double-fork knife clamping mechanism are briefly described below in conjunction with the accompanying drawings.

块状草皮：草皮储料箱8中存储大量块状草皮，双叉刀夹取机构3通过Y-Z两轴机械臂2的Y轴直线滑轨、Z轴直线滑轨的运动与草皮接触，气缸活塞杆304伸出，推动连接板307，带动弧形叉刀303旋转，此时气缸缸体305缓缓向下倾斜。Blocky turf: A large amount of blocky turf is stored in theturf storage box 8. The double-forkknife clamping mechanism 3 contacts the turf through the movement of the Y-axis linear slide rail and the Z-axis linear slide rail of the Y-Z two-axismechanical arm 2, and the cylinder piston Therod 304 stretches out, pushes the connectingplate 307, and drives the arc-shapedfork knife 303 to rotate, and at this time, thecylinder body 305 is slowly tilted downward.

当气缸完全伸出，弧形叉刀303继续向下旋转，刀尖穿过底板309的方形孔，深入草皮，将草皮抓起，再通过Y-Z两轴机械臂2的Y轴直线滑轨、Z轴直线滑轨的运动到传送运输装置4的上方，气缸活塞杆304收回，带动弧形叉刀303旋转，弧形叉刀303穿过底板309收回，草皮被挡在底板309下方，草皮自然下落至传送运输装置4上。When the cylinder is fully extended, the arc-shapedfork knife 303 continues to rotate downward, and the tip of the knife passes through the square hole of thebottom plate 309, penetrates into the turf, grabs the turf, and then passes through the Y-axis linear slide rail of the Y-Z two-axismechanical arm 2, Z When the linear slide rail moves to the top of the conveyingdevice 4, thecylinder piston rod 304 retracts, driving the arc-shapedfork knife 303 to rotate, and the arc-shapedfork knife 303 passes through thebottom plate 309 to retract, the turf is blocked under thebottom plate 309, and the turf naturally falls to thetransport device 4.

电机带动传输链条，使传输链条上的金属薄板沿传输链条运动方向运动带动块状草皮运动到地面，水箱中添加肥料，经过气泵给水箱增压压水，通过四头浇水喷头灌溉施肥装置6进行灌溉施肥，再通过压实装置7进行压实，最终完成草皮的铺设。The motor drives the transmission chain, so that the metal sheet on the transmission chain moves along the movement direction of the transmission chain to drive the blocky turf to the ground, add fertilizer to the water tank, pressurize the water tank through the air pump, and irrigate the fertilization device through four watering nozzles6 Carry out irrigation and fertilization, and then carry out compaction by compactingdevice 7, finally finish the laying of turf.

卷状草皮：草皮储料箱中存储大量卷状草皮，双叉刀夹取机构3通过Y-Z两轴机械臂2的Y轴直线滑轨、Z轴直线滑轨的运动与草皮接触，气缸活塞杆304收缩，推动连接板307，带动弧形叉刀303旋转，此时气缸缸体305缓缓向下倾斜。Rolled turf: A large amount of rolled turf is stored in the turf storage box. The double-forkknife clamping mechanism 3 contacts the turf through the movement of the Y-axis linear slide rail and the Z-axis linear slide rail of the Y-Z two-axismechanical arm 2, and thecylinder piston rod 304 shrinks, pushes the connectingplate 307, and drives the arc-shapedfork knife 303 to rotate, and at this time, thecylinder block 305 is slowly inclined downward.

当气缸完全缩紧，弧形叉刀303继续向下旋转，刀尖穿过底板309的方形孔，深入草皮，将草皮抓起，再通过Y-Z两轴机械臂2的Y轴直线滑轨、Z轴直线滑轨运动到传送运输装置4上方进行卸料，电机带动传输链条，使传输链条上的金属薄板沿传输链条运动方向运动，从而带动卷状草皮运动。When the cylinder is fully tightened, the arc-shapedfork knife 303 continues to rotate downward, and the tip of the knife passes through the square hole of thebottom plate 309, penetrates into the turf, grabs the turf, and then passes through the Y-axis linear slide rail of the Y-Z two-axismechanical arm 2, Z The shaft linear slide rail moves to the top of the conveyingdevice 4 for unloading, and the motor drives the transmission chain, so that the metal sheet on the transmission chain moves along the direction of movement of the transmission chain, thereby driving the roll-shaped turf to move.

当卷状草皮运动到与反推滚轮展开装置5相接触时，反转滚筒给卷状草皮相反的力，从而使卷状草皮铺开形成方块草皮，接着运动到地面后，水箱中添加肥料，经过气泵给水箱增压压水，通过四头浇水喷头灌溉施肥装置6进行灌溉施肥，再通过压实装置7进行压实，最终完成草皮的铺设。When the roll-shaped turf moves to contact with the anti-thrustroller unfolding device 5, the reverse roller gives the roll-shaped turf an opposite force, so that the roll-shaped turf is rolled out to form a square turf, and then moves to the ground, adding fertilizer in the water tank, The water tank is pressurized by the air pump, and thefertigation device 6 is used to irrigate and fertilize through the four watering nozzles, and then compacted by the compactingdevice 7 to finally complete the laying of the turf.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (6)

1. The double-fork cutter clamping mechanism applied to the turf paving device is characterized by comprising a frame, four stepped shafts (301), a plurality of arc-shaped fork cutters (303), a pair of telescopic cylinders, a pair of connecting plates (307) and a plurality of connecting fixing plates (311);

one end of the telescopic cylinder is hinged with the frame, and the other end of the telescopic cylinder is hinged with the middle part of the connecting plate (307) through a joint bearing (308); each stepped shaft (301) is provided with a connecting and fixing plate (311) and a plurality of arc-shaped fork blades (303); the connecting and fixing plates (311) on the two spaced stepped shafts (301) are hinged with the same connecting plate (307), so that the two spaced stepped shafts (301) synchronously rotate, and then the arc-shaped fork blades (303) rotate to grasp massive turf;

the arc-shaped fork knife (303) is fixedly connected with the stepped shaft (301) through a fork knife fixing plate (302), a bottom plate (309) fixedly connected with the frame is arranged on the lower side of the stepped shaft (301), and square holes opposite to the arc-shaped fork knife (303) in position are formed in the bottom plate (309); the arc angles of the arc-shaped fork blades (303) on the middle two stepped shafts (301) are inwards arranged, the two groups of arc-shaped fork blades (303) relatively move when rotating and are used for grabbing rolled turf or massive turf, and when the arc-shaped fork blades (303) are clamped in a rotating mode, the telescopic cylinder is in a contracted state so as to achieve self-locking.

2. The dual fork cassette retrieval mechanism applied to a sod paving apparatus as defined in claim 1, wherein said telescoping cylinder is hinged at one end to the frame by a stud (306).

3. The double fork cassette taking mechanism applied to a sod cutter according to claim 1, wherein the stepped shaft (301) is rotatably connected to the frame by a ball spline bearing (310).

4. The double-fork knife clamping mechanism for a sod cutter as claimed in claim 1, wherein the arcuate fork knife (303) is of an Emei shape.

5. The dual fork cassette mechanism for use with a sod cutter of claim 1 wherein said telescoping cylinder is one of a cylinder, an electric cylinder, and a hydro-cylinder.

6. The double-fork tool clamping mechanism applied to the turf laying device according to any one of claims 1 to 5, wherein six or eight stepped shafts (301) are provided.

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