CN102124907B - Vision based stock seedling and cion seedling matching device - Google Patents
Vision based stock seedling and cion seedling matching device Download PDFInfo
- Publication number
- CN102124907B CN102124907B CN2010105783936A CN201010578393A CN102124907B CN 102124907 B CN102124907 B CN 102124907B CN 2010105783936 A CN2010105783936 A CN 2010105783936A CN 201010578393 A CN201010578393 A CN 201010578393A CN 102124907 B CN102124907 B CN 102124907B
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- seedling
- fringe wood
- transmission platform
- manipulator
- rootstock
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Abstract
The invention relates to a stock seedling and cion seedling matching mechanism in a vegetable grafting machine, aiming to provide a mechanism having the characteristics of higher automation degree, reliable property, simple structure, convenience for operation and lower cost. The invention adopts the technical scheme that the vision based stock seedling and cion seedling matching device comprises a transmission platform and a mobile mounting frame arranged on the top surface of the transmission platform, wherein the left side and the right side of the top surface of the transmission platform are respectively provided with a carrying mechanism for carrying stock seedling hole trays and cion seedling hole trays to a carrying position; the middle part of the top surface of the transmission platform is provided with a transmission mechanism for carrying a third hole tray to the carrying position; the periphery of the top surface of the transmission platform is provided with a plurality of CCD cameras for acquiring images; and the mobile mounting frame is provided with a first mechanical arm, a second mechanical arm, a walking mechanism, at least two limit sensors and at least two return sensors, wherein the first mechanical arm and the second mechanical arm are used for respectively carrying the stock seedlings and the cion seedlings to the third hole tray from the hole trays at two sides, the walking mechanism is used for driving the mechanical arms to horizontally move, and the at least two limit sensors are used for detecting and positioning the mechanical arms.
Description
Technical field
The present invention relates to the pairing mechanism of important mechanism, especially rootstock seedling and the fringe wood seedling in a kind of vegetable grafting machine; This device is used for the grafting operation of auxiliary all kinds of model grafting machines, makes the diameter of the stem of rootstock seedling and fringe wood seedling keep basically identical, can improve grafting operating efficiency and survival rate.
Background technology
China south provinces and cities growing vegetables area is bigger, but the mechanization level of plantation operation is not high, and especially the mechanization equipment level of grafting operation is lower; Can not satisfy the demand of the growing material life of the people.
In recent years, scientific and technical personnel have made primary study to grafting machinery both at home and abroad, have also obtained phasic results.But also have many problems that wait to solve, particularly how to improve grafting fruits and vegetables efficient and graft survival rate, need people to research and solve.
Summary of the invention
The objective of the invention is to provide a kind of diameter pairing mechanism of grafting stem of vegetable grafting machine, this mechanism should have that automaticity is higher, the characteristics of dependable performance, and simple in structure, easy to operate, cost is lower.
For achieving the above object, the technical scheme that the present invention adopts is: rootstock seedling and fringe wood seedling contrast means based on vision is characterized in that this device comprises transmission platform and the mobile installing rack that is arranged on the transmission platform end face; The left and right sides of said transmission platform end face is respectively equipped with delivers to the connecting gear of carrying the position to rootstock seedling cave dish and fringe wood seedling cave dish; The middle part of transmission platform end face is provided with delivers to the carrying position to the 3rd cave dish to place through the rootstock seedling of pairing and the transport sector of fringe wood seedling, and the periphery of transmission platform end face is provided with a plurality of collection images to confirm the CCD camera of rootstock seedling and fringe wood seedling diameter and dish position, definite cave respectively; Said mobile installing rack is provided with respectively and is transported to first manipulator of the 3rd cave dish and running gear that second manipulator, drives mechanical hand move horizontally and at least two limit sensors and at least two reseting sensors of detection and location manipulator to rootstock seedling and fringe wood seedling from the cave dish of both sides.
Said connecting gear and transport sector all are belt wheels of driven by motor and are driven and horizontally disposed driving-belt is formed by belt wheel.
Said running gear comprise the synchronous band that laterally arranges along the slide unit that moves the horizontally disposed guide rail of installing rack length direction, is arranged on the manipulator and is slidingly matched with guide rail, with guide rail and by motor-driven and with the walking tooth of synchronous band engagement.
Said manipulator comprises that the gas pawl and of a pair of clamping rootstock seedling or fringe wood seedling drives the cylinder of gas pawl.
Said limit sensors is separately positioned on the left and right sides of moving installing rack top.
Said reseting sensor is separately positioned on the middle part of moving installing rack top.
Operation principle of the present invention is (as illustrated in fig. 1 and 2): when first motor 22 of transmission platform 11 both sides and 21 operations of second motor, first driving-belt 7 that drives both sides through belt wheel and second driving-belt 10 make respectively on the driving-belt rootstock seedling cave dish 24 and fringe wood seedling cave dish 25 forward (promptly to mobile installing rack direction) move; When the rootstock seedling cave dish 24 and the first row cave seedling on the fringe wood seedling cave dish 25 arrive the below of the first gas pawl 6 and the second gas pawl 18 respectively with regard to stop motion, meanwhile the 3rd motor 9 drive the 3rd driving-belt 8 move backward (direction of motion of the direction of motion of the 3rd driving-belt and first driving-belt, second driving-belt is opposite) make the 3rd cave on the driving-belt coil 26 also to arrive installing rack 1 below; The 4th motor 13 rotating tee on the mobile then installing rack 1 are after being with 14 drives, first manipulator 5 on sliding guide 2, to move synchronously; The data of the collection through the CCD camera 23 on the transmission platform, the first gas pawl 6 are extracted the acupuncture point, left side that rootstock seedling in the rootstock seedling caves dish 24 is placed on the first row acupuncture point of the 3rd cave dish 26; The 5th motor 15 rotation drives second manipulator 17 moves then; The diameter data of the stem of the rootstock seedling of gathering according to a CCD camera 23; Pairing is mutually extracted in selection through the 2nd CCD camera 19 again, the second gas pawl 18 from fringe wood seedling cave dish 25 fringe wood seedling is placed in the acupuncture point, right side at the first row acupuncture point of the 3rd cave dish 26, and the 3rd cave dish 26 moves delegation's acupuncture point distances backward; Then; The image information of gathering according to the 3rd CCD camera 4 and the 4th CCD camera 20 is handled and is judged that when the first row stock had not also been got with scion, continuation was first capable the pairing; This moment, first manipulator and second manipulator be respectively according to the instruction of first reseting sensor 30 and second reseting sensor 31, corresponding reset movement of having grabbed behind the seedling; After the delegation of stock and scion seedling dish had been got, the delegation's acupuncture point distance that moves forward was respectively coiled in the rootstock seedling cave of both sides dish and fringe wood seedling cave; And first manipulator and second manipulator be respectively according to the instruction of first reseting sensor 30 and second reseting sensor 31, corresponding reset movement of having grabbed behind the seedling; Motion is so again and again gone down, and just carries out the pairing of rootstock seedling and fringe wood seedling continuously.
Beneficial effect of the present invention: because the present invention can carry out the collection of diameter data to the rootstock seedling and the fringe wood seedling of different-diameter; Then according to the view data of gathering to the wooden automatic pairing of stock and fringe (when can be used for the vegetable grafting machine operation; The diameter of the stem of auxiliary grafting matches in real time), be the ready work of the grafting of auxiliary various grafting machines; And accurate positioning, dependable performance, automaticity is high, and is easy to operate, thereby can increase substantially operation quality and operating efficiency, improves grafting fruits and vegetables efficient and graft survival rate, alleviates labor intensity of operating staff; In addition, because simple in structure, cost is lower, has wide promotion prospect.
Description of drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a main TV structure sketch map of the present invention.
Fig. 3 is the perspective view of the manipulator among the present invention.
Fig. 4 is the main TV structure sketch map of manipulator.
Fig. 5 is the left TV structure sketch map of manipulator.
Fig. 6 is synchronous band and the fit structure sketch map of belt wheel in the running gear of the present invention.
Fig. 7 is the perspective view that coil in the rootstock seedling cave among the present invention or coil in fringe wood seedling cave.
Fig. 8 is the perspective view of the 3rd cave dish among the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
Based on the rootstock seedling and the fringe wood seedling contrast means of vision, this device comprises transmission platform 11 and the mobile installing rack 1 that is arranged on the transmission platform top.
The left and right sides of said transmission platform end face and middle part are respectively equipped with a connecting gear, and this connecting gear and transport sector all are belt wheels of driven by motor and are driven and horizontally disposed driving-belt by belt wheel; Can be known by Fig. 1, Fig. 2: in the connecting gear of left side, first driving-belt 7 is driven through belt wheel by first motor 22; In the connecting gear of right side, second driving-belt 10 is driven through belt wheel by second motor 21; Can be respectively with (selecting rootstock seedling cave dish 24 for use 6x7 cave dish usually; Be vertical 6 row caves, horizontal 7 row caves) and fringe wood seedling cave dish 25 (also selecting 6x7 cave dish usually for use) be transported to carrying position (being the manipulator lower portion) forward.And in the transport sector of middle part, the 3rd driving-belt 8 is driven through belt wheel by the 3rd motor 9, (selects the 3rd cave dish 26 for use 6x2 cave dish usually; Be vertical 6 row caves, horizontal 2 row caves) be transported to backward and carry position (being the manipulator lower portion).
Also be provided with a plurality of IMAQ CCD cameras on the transmission platform end face; Wherein, confirm that the 3rd camera 4 of rootstock seedling diameter is installed in the left side of transmission platform end face, confirm that the 4th camera 20 of fringe wood seedling diameter is installed in the right side of transmission platform end face; Confirm that second camera 19 of dish position, fringe wood seedling cave is installed in the right lateral side of transmission platform end face, confirm that first camera 23 of dish position, rootstock seedling cave is installed in the left rear side of transmission platform end face.
On the said mobile installing rack; First manipulator 5 is responsible for coiling the acupuncture point, the left side that 24 (the cave dishes on first driving-belt 7) are transported to the 3rd cave dish 26 of middle part to rootstock seedling from the rootstock seedling cave in left side, and second manipulator 17 is responsible for being transported to fringe wood seedling from the wooden seedling of the fringe cave dish 25 on right side the acupuncture points, the right of the 3rd cave dish 26; Because the acupuncture point that coil in the 3rd cave of middle part employing 2 row vertical setting of types, so middle cave dish laterally is respectively applied for rootstock seedling and the fringe wood seedling of putting into after process IMAQ information is matched in 2 acupuncture points of each row.
Said manipulator comprises that the gas pawl and of a pair of clamping rootstock seedling or fringe wood seedling drives the cylinder of gas pawl.Wherein, first manipulator 5 is furnished with gas pawl 6, the second manipulators 17 and is furnished with gas pawl 18; First manipulator and second manipulator are being driven and are being moved horizontally that (structure of manipulator can be known by Fig. 4: gas pawl 53 is hinged on the mechanical arm body through hinge 54, and it is hinged successively that a connecting rod 55 is passed through on the top of the piston rod 52-1 of the tail end of gas pawl and cylinder 52 respectively by a walking mechanism; Like this, the rectilinear motion of cylinder piston rod just can drive that gas pawl 53 opens or be closed).In the said running gear; One guide rail (guide rail that adopts among the figure is two guide rods that laterally arrange 2) is horizontally disposed with along the length direction that moves installing rack, and manipulator is provided with the slide unit (what show among the figure is and the matched slide opening 40 of the diameter of guide rod 2) that is slidingly matched with guide rail; In addition; Also be provided with one parallel with guide rail synchronously with 14 and by motor 47 drive and with the walking tooth 43 of synchronous band engagement (can know among the figure: walking tooth 43 directly is contained on the output shaft of motor 47, and the both sides of walking tooth 43 are respectively equipped with the left regulating wheel of tightening synchronously with 1 45 and right regulating wheel 46).
Move on the installing rack at least two limit sensors and at least two reseting sensors that are used for the detection and location manipulator also are installed.Wherein, first limit sensors 29 and second limit sensors 32 are separately positioned on the left and right sides of moving installing rack top, and first reseting sensor 30 and second reseting sensor 31 are separately positioned on the middle part of moving installing rack top.First limit sensors 29 and first reseting sensor 30 are used to keep watch on and limit the moving section of first manipulator 5, and second limit sensors 32 and second reseting sensor 31 are used to keep watch on and limit the moving section of second manipulator 17.
The above motor is stepper motor.
Among the present invention, the pairing of the seedling stem of the seedling stem of rootstock seedling or fringe wood seedling compares, selects the back to realize by calculator and corresponding software to the image information of above-mentioned camera collection.
Claims (5)
1. based on the rootstock seedling of vision and fringe wood seedling contrast means, it is characterized in that this device comprises transmission platform (11) and is arranged on the mobile installing rack (1) of transmission platform end face; The left and right sides of said transmission platform end face is respectively equipped with a rootstock seedling cave dish (24) and fringe wood seedling cave dish (25) is delivered to the connecting gear of carrying the position; The middle part of transmission platform end face is provided with delivers to the carrying position to the 3rd cave dish (26) to place through the rootstock seedling of pairing and the transport sector of fringe wood seedling, and the periphery of transmission platform end face is provided with a plurality of collection images to confirm the CCD camera of rootstock seedling and fringe wood seedling diameter and dish position, definite cave respectively; First manipulator (5) of cave dish and running gear that second manipulator (17), drives mechanical hand move horizontally and at least two limit sensors and at least two reseting sensors of detection and location manipulator in the middle of said mobile installing rack is provided with respectively and is transported to rootstock seedling and fringe wood seedling from the cave dish of both sides; Said connecting gear and transport sector all are belt wheels of driven by motor and are driven and horizontally disposed driving-belt by belt wheel.
2. rootstock seedling and the fringe wood seedling contrast means based on vision according to claim 1 is characterized in that: said running gear comprise the synchronous band that laterally arranges along the slide unit that moves the horizontally disposed guide rail of installing rack length direction, is arranged on the manipulator and is slidingly matched with guide rail, with guide rail and by motor-driven and with the walking tooth (43) of synchronous band engagement.
3. rootstock seedling and fringe wood seedling contrast means based on vision according to claim 2, it is characterized in that: said manipulator comprises that the gas pawl and of a pair of clamping rootstock seedling or fringe wood seedling drives the cylinder (52) of gas pawl.
4. rootstock seedling and fringe wood seedling contrast means based on vision according to claim 3, it is characterized in that: said limit sensors is separately positioned on the left and right sides of moving installing rack top.
5. rootstock seedling and fringe wood seedling contrast means based on vision according to claim 4, it is characterized in that: said reseting sensor is separately positioned on the middle part of moving installing rack top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105783936A CN102124907B (en) | 2010-12-03 | 2010-12-03 | Vision based stock seedling and cion seedling matching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105783936A CN102124907B (en) | 2010-12-03 | 2010-12-03 | Vision based stock seedling and cion seedling matching device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102124907A CN102124907A (en) | 2011-07-20 |
| CN102124907B true CN102124907B (en) | 2012-07-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105783936A Expired - Fee Related CN102124907B (en) | 2010-12-03 | 2010-12-03 | Vision based stock seedling and cion seedling matching device |
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| CN (1) | CN102124907B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511229B (en) * | 2011-12-08 | 2013-09-04 | 浙江大学 | Thinning apparatus assisting machine vision plug seedling quality detection |
| CN103202179B (en) * | 2013-03-14 | 2014-05-07 | 浙江理工大学 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
| CN105165415B (en) * | 2015-07-15 | 2018-04-27 | 浙江大学 | Grafting machine vegetable seedling three-dimensional localization and clamping device |
| CN106105518B (en) * | 2016-06-17 | 2018-08-10 | 江苏大学 | Bad seedling based on Delta parallel mechanism is rejected and fill the gaps with seedlings device and its working method |
| CN107018725B (en) * | 2017-03-14 | 2019-04-02 | 北京农业智能装备技术研究中心 | Automatic seeding device and method |
| CN106900356B (en) * | 2017-03-27 | 2022-08-02 | 辽宁科技大学 | Flexible positioning and clamping mechanism for grafted seedlings |
| CN112753396B (en) * | 2020-12-31 | 2023-03-28 | 新疆维泰开发建设（集团）股份有限公司 | Ulmus pumila grafting device and grafting method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| CN201365424Y (en) * | 2009-02-26 | 2009-12-23 | 浙江理工大学 | Disk automatic seedling supply device |
| CN201919376U (en) * | 2010-12-03 | 2011-08-10 | 浙江理工大学 | Stock seed and spike seed pairing device based on visual sense |
-
2010
- 2010-12-03 CN CN2010105783936A patent/CN102124907B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| CN201365424Y (en) * | 2009-02-26 | 2009-12-23 | 浙江理工大学 | Disk automatic seedling supply device |
| CN201919376U (en) * | 2010-12-03 | 2011-08-10 | 浙江理工大学 | Stock seed and spike seed pairing device based on visual sense |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102124907A (en) | 2011-07-20 |
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