CN103202179A - Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision - Google Patents
Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision Download PDFInfo
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- CN103202179A CN103202179A CN2013100811149A CN201310081114A CN103202179A CN 103202179 A CN103202179 A CN 103202179A CN 2013100811149 A CN2013100811149 A CN 2013100811149A CN 201310081114 A CN201310081114 A CN 201310081114A CN 103202179 A CN103202179 A CN 103202179A
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Abstract
The invention relates to an adjustable sorting device of cotyledons of seedlings to be grafted on the basis of vision. The device can sort the seedlings according to size of seedling diameters, can adjust cotyledon directions of the seedlings automatically, and simultaneously has the advantages of being simple in structure, high in production efficiency and low in cost. The technical scheme is that the adjustable sorting device of cotyledons of seedlings to be grafted on the basis of the vision comprises a machine frame, a clamping jaw unit for grabbing plug seedlings and a control unit and is characterized in that the sorting device further comprises a conveying unit arranged at the bottom of the machine frame and used for conveying plugs, a translation unit stretched over the conveying unit and used for moving the clamping jaw unit horizontally a positioning unit installed on the translation unit and used for driving the clamping jaw unit to move vertically and rotate around a vertical axis and a camera unit arranged in the machine frame and used for photographing the plug seedlings.
Description
Technical field
The present invention relates to a kind of vegetables and fruits grafting machine, specifically is a kind of adjustable collator of cotyledon for the treatment of grafting.
Background technology
The grafting Robotics is a kind of new and high technology that integrates machinery, automatic control and facilities horticulture technology that occurs in the world in recent years.The grafting robot can be one with the otch grafting of stock and fringe wood in the short time at the utmost point, has not only avoided the loss of liquid in the long oxidation of otch and the seedling, has greatly improved graft survival rate; Simultaneously can also effectively promote production efficiency, for the large-scale production that promotes vegetable melon and fruit important meaning be arranged.Grafting mechanization research has developed into certain phase in the world at present, is developed to full-automatic direction by semi-automatic grafting gradually.
Yet the seedling of vegetables and fruits crop adopts pith-cambium grafting method to carry out grafting usually, the seedling footpath cotyledon direction of growth not of uniform size and seedling of seedling also has nothing in common with each other in the dish of cave, greatly hinder the high-speed cruising of grafting robot, limited the lifting of full-automatic grafting efficiency.Therefore, how to solve the unmatched problem of stock scion embryo footpath size that causes because of seedling individual growth difference, and how realizing the adjustment of cave dish seedling cotyledon direction, is the key that the vegetables and fruits crop carries out High-Speed Automatic grafting, also is the advanced technology field of international research.
Summary of the invention
The objective of the invention is to overcome the deficiency in the above-mentioned background technology, a kind of novel adjustable collator of the cotyledon for the treatment of grafting based on vision is provided, this device should be able to sort to seedling by seedling footpath size, and can adjust the cotyledon direction of seedling automatically, also have simultaneously simple in structure, production efficiency is high and lower-cost characteristics.
Technical scheme of the present invention is: based on the adjustable collator of the cotyledon for the treatment of grafting of vision, comprise frame, be used for to grasp jaw unit and the control module of cave dish seedling, it is characterized in that: this collator also comprise the delivery unit that is arranged on the frame bottom and is used for transporting the cave dish, across above the delivery unit and be used for moving horizontally the jaw unit translation unit, be installed on the translation unit and be used for ordering about vertically positioning unit mobile and that rotate around vertical axis and be arranged on the image unit that frame is taken pictures to cave dish seedling of jaw unit;
Described delivery unit comprises by motor-driven pair of parallel setting and is used for transporting main belt and the vice-belt that coil in the cave;
Described image unit comprises that one is arranged on the preposition camera that the main belt top also is arranged on main belt traffic direction end for the top camera and of taking seedling straight down and is used for level shooting seedling;
Described translation unit comprise one be horizontally set on delivery unit top and length direction perpendicular to the leading truck of delivery unit traffic direction, be installed in the synchronous band in the leading truck, the slide block that can slide at the guide rail of leading truck, the horizontal motor that is installed in the slide block top and by horizontal motor-driven and with the belt wheel of synchronous band engagement fit;
Described positioning unit comprises the installing rack that is fixed on the slide block bottom, be arranged on electric rotating machine in the installing rack, can be positioned at the installing rack bottom rotationally and the swivel mount that is driven by electric rotating machine and the two bar cylinders that are fixed on the swivel mount and can stretch straight down around vertical axis.
Described jaw unit comprises a slim cylinder, be fixed on connecting plate on the slim cylinder, be vertically fixed on installing plate on the connecting plate, a pair of clamping limb on the installing plate, the push rod that is fixed on the piston rod top of slim cylinder, two ends of being hinged on rotationally is hinged on the connecting rod on clamping limb power arm and the push rod respectively rotationally; Described slim cylinder is connected the piston rod top of two bar cylinders by fixed head; The piston rod of slim cylinder is connected with push rod after vertically passing through the through hole of connecting plate center; The bare terminal end of described clamping limb is L shaped.
Described control module comprises the calculator of also controlling image unit, delivery unit, translation unit, positioning unit and jaw cell operation for analyzing and processing image unit signal respectively.
Described frame is made by aluminium alloy.
The invention has the beneficial effects as follows:
The present invention obtains information such as the seedling footpath size of seedling and cotyledon direction by image unit, and works in coordination to rearrange seedling order and adjustment cotyledon direction by jaw unit, translation unit and flexible rotary unit; Therefore, the present invention not only simple in structure, production efficiency is high but also result of use is obvious, can carry out necessary preparation for the follow-up high speed grafting of seedling.
Description of drawings
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view of slide block among the present invention, horizontal motor, positioning unit and jaw unit.
Fig. 3 is the perspective view of translation unit and installing rack among the present invention.
Fig. 4 is the three-dimensional main TV structure schematic diagram of swivel mount among the present invention.
Fig. 5 is the perspective view of two bar cylinders and jaw unit among the present invention.
Fig. 6 is the perspective view of cave dish.
Fig. 7 is the contrast schematic diagram before and after the seedling ordering.
Embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
The present invention mainly comprises with lower member: frame 1, main belt 2, vice-belt 3, preposition camera 4, top camera 5, slide block 6, installing rack 7, electric rotating machine 8, swivel mount 10, belt wheel 11, horizontal motor 12, two bar cylinder 13, fixed head 14, slim cylinder 15, push rod 16, clamping limb 17, connecting rod 18, installing plate 19, be with 20 synchronously, leading truck 21, guide rail 21-1, connecting plate 22.
Structure of the present invention is as follows:
As shown in Figure 1, based on the adjustable collator of the cotyledon for the treatment of grafting of vision, comprise that mainly frame 1(is generally the frame structure that aluminium alloy is made), be arranged on the frame bottom and be used for transporting the delivery unit that coil in the cave, across above delivery unit and for the translation unit that moves horizontally the jaw unit, be installed in the positioning unit that also is used for vertically moving and horizontally rotating (pivot center is vertically arranged) jaw unit on the translation unit, be installed in the jaw unit that also is used for grasping from the cave dish seedling on the positioning unit, the image unit that is arranged in the frame and seedling is taken pictures and the control module of controlling above-mentioned each unit matching work respectively.
Delivery unit mainly comprise a pair of be arranged on frame bottom and by motor-driven main belt 2 and vice-belt 3(main belt and vice-belt is arranged in the same horizontal plane parallel to each other and rotation direction opposite); As shown in Figure 1, main belt is used for transporting the original cave dish 2-1 that plants seedling, and vice-belt is used for transporting waits that the target cave dish 3-1(seedling of planting seedling will be transplanted to the dish of target cave from original cave dish through ordering with after adjusting direction); As shown in Figure 6, be furnished with the cave mouth 2-2 that several are used for the cultivation seedling on each cave dish, be generally 5 row *, 10 rows and amount to 50 cave mouths.
Image unit comprises that a top camera 5 and that is fixed on frame top is fixed on the frame and is arranged on the preposition camera 4 of main belt traffic direction end; This top camera is positioned at the seedling of taking original cave dish under main belt top and the vertical direction, is used for obtaining the detail image of seedling cotyledon; This preposition camera is used for obtaining the detail image in seedling seedling footpath from the seedling of the original cave of horizontal direction photographs dish, and this angle can only photograph the image of the last first row seedling of original cave dish.
Translation unit comprises that one is horizontally set on delivery unit top and length direction and is fixed on the axis normal of the top of frame and leading truck in the traffic direction of main belt and vice-belt perpendicular to the leading truck 21(leading truck of delivery unit traffic direction), the axis of the length direction of band and leading truck is parallel synchronously to be fixed on synchronous band 20(in the leading truck), the axis that is fixed on the guide rail 21-1(guide rail arranged direction of leading truck lower end and leading truck is parallel), the slide block 6 that can reciprocatingly slide at guide rail, be installed in the slide block top horizontal motor 12 and by horizontal motor-driven and with the belt wheel 11 of synchronous band engagement fit; Horizontal motor output shaft is connected (adopt usually screw fixedly connected) with belt wheel, thereby horizontal motor can driving pulley slides along guide rail being with mobile synchronously and driving slide block.
Positioning unit comprises the installing rack 7 that is fixed on the slide block bottom, be installed in electric rotating machine 8 in the installing rack, be rotatably positioned in the installing rack bottom and the swivel mount 10 that is driven by electric rotating machine and the two bar cylinders 13 that are fixed on the swivel mount and can stretch straight down by bearing; The electric rotating machine output shaft is connected (adopt usually screw fixedly connected) with swivel mount, but thereby electric rotating machine driven rotary frame rotate around vertical axis.
The center that the jaw unit mainly comprises a slim cylinder 15, be fixed on this connecting plate of connecting plate 22(on the slim cylinder is shaped on through hole, and the piston rod 15-1 of slim cylinder is connected with push rod 16 after vertically passing through this through hole), be vertically fixed on installing plate 19 on the connecting plate, a pair of clamping limb 17 on the installing plate, the push rod 16 that is fixed on slim cylinder piston rod top, two ends of being hinged on rotationally is hinged on the connecting rod 18 on clamping limb power arm and the push rod respectively rotationally; This clamping limb is mainly used in locating seedling, and the bare terminal end 17-1 of clamping limb is L shaped; Can drive the clamping limb clamping when slim cylinder stretches or discharge seedling.
Slim cylinder is connected the piston rod top of two bar cylinders by fixed head 14; After the jaw unit clamps seedling, the lifting of stretching to realize seedling by two bar cylinders in the positioning unit, and realize the adjustment of cotyledon direction also realizing the horizontal movement of seedling simultaneously by the translation of horizontal motor in the translation unit by the rotation of electric rotating machine in the positioning unit.
Control module comprises that one connects the calculator (omitting this calculator among the figure) of image unit, delivery unit, translation unit, positioning unit and jaw unit respectively; This calculator obtains the situation of seedling on the current station and carries out analyzing and processing by the picture signal of accepting image unit, and progressively sends instruction and come seedling is sorted and the direction adjustment to control above-mentioned each unit collaborative work.
Operation principle of the present invention is as follows:
At first growth there is the original cave dish of seedling to be placed on the initiating terminal (this initiating terminal also is positioned at end one side of vice-belt traffic direction simultaneously) of traffic direction on the main belt, and target cave dish is placed on the initiating terminal (this initiating terminal also is positioned at main end one side of sending the tape running direction simultaneously) of traffic direction on the vice-belt; The seedling footpath of the last seedling of original cave dish is not of uniform size and the cotyledon direction is unordered in a jumble, and pending follow-up ordering and adjustment are arranged.
Start the present invention then, delivery unit brings into operation under the control of control module; Main belt and vice-belt are delivering original cave dish and the operation in opposite directions of target cave dish respectively, when the first row seedling of original cave dish moves under the leading truck, the first row cave mouth of target cave dish also will move under the leading truck, this moment, delivery unit was out of service, and the first row cave mouth of the first row seedling of original cave dish and target cave dish is positioned at same perpendicular.
At this moment, preposition camera and top camera that control module will be controlled in the image unit are taken the seedling image from different perspectives, and pass picture signal back control module; After control module is handled the figure signal, obtained information such as the seedling footpath size of seedling in the dish of original cave and cotyledon direction, and analyzed corresponding clooating sequence and adjustment angle.
Afterwards, control module will be controlled ordering and the adjustment of cotyledon direction that translation unit, positioning unit and jaw unit carry out seedling: the first step, translation unit have positioning unit and jaw cell moving to the dish of original cave earlier the seedling top in seedlings footpath; In second step, positioning unit and jaw unit are mentioned (soil matrix of seedling is also mentioned by related) with this seedling from the dish of original cave; In the 3rd step, translation unit moves to this seedling the top (positioning unit is adjusted to corresponding angle with the cotyledon direction simultaneously) of corresponding cave mouth in the dish of target cave; In the 4th step, target cave dish is put into seedling in positioning unit and jaw unit; In the 5th step, the repetition above-mentioned steps is also arranged seedling with first successively according to seedling footpath order from big to small and is transplanted in the dish of target cave from the dish of original cave.
As shown in Figure 7, the left side of figure is the seedling arranging situation of not adjusting through ordering, and the right side of figure is the seedling arranging situation after adjusting through ordering; The first row seedling of being transplanted in the dish of target cave will be arranged according to seedling footpath order from big to small, and the cotyledon direction of seedling all is adjusted to same angle; The minimum seedling in seedling footpath will be placed in the nearest cave mouth of the original cave of dish middle distance, target cave dish, and the maximum seedling in seedling footpath will be placed in the target cave dish middle distance original cave dish cave mouth farthest; After the transplanting of the first row seedling, the present invention will sort and the adjustment of cotyledon direction to back row's seedling successively according to same way as in finishing original cave dish.
The present invention mainly is applicable to the ordering adjustment of vegetables and fruits class seedling, can get ready for next step uses grafting machine to put in order row's grafting.
Claims (4)
1. based on the adjustable collator of the cotyledon for the treatment of grafting of vision, comprise frame (1), be used for to grasp jaw unit and the control module of cave dish seedling, it is characterized in that: this collator also comprise the delivery unit that is arranged on the frame bottom and is used for transporting the cave dish, across above the delivery unit and be used for moving horizontally the jaw unit translation unit, be installed on the translation unit and be used for ordering about vertically positioning unit mobile and that rotate around vertical axis and be arranged on the image unit that frame is taken pictures to cave dish seedling of jaw unit;
Described delivery unit comprises by motor-driven pair of parallel setting and is used for transporting main belt (2) and the vice-belt (3) that coil in the cave;
Described image unit comprises that one is arranged on the preposition camera (4) that the main belt top also is arranged on main belt traffic direction end for the top camera (5) and of taking seedling straight down and is used for level shooting seedling;
Described translation unit comprise one be horizontally set on delivery unit top and length direction perpendicular to the leading truck (21) of delivery unit traffic direction, be installed in synchronous band (20) in the leading truck, can the slide block (6) of guide rail (21-1) slip of leading truck, be installed in the slide block top horizontal motor (12) and by horizontal motor-driven and with the belt wheel (11) of synchronous band engagement fit;
Described positioning unit comprises the installing rack (7) that is fixed on the slide block bottom, be arranged on electric rotating machine (8) in the installing rack, can be positioned at the installing rack bottom rotationally and the swivel mount (10) that is driven by electric rotating machine and the two bar cylinders (13) that are fixed on the swivel mount and can stretch straight down around vertical axis.
2. the adjustable collator of the cotyledon for the treatment of grafting based on vision according to claim 1 is characterized in that: push rod (16), the two ends that described jaw unit comprises a slim cylinder (15), be fixed on connecting plate (22) on the slim cylinder, be vertically fixed on installing plate (19) on the connecting plate, a pair ofly be hinged on clamping limb (17) on the installing plate rotationally, be fixed on piston rod (15-1) top of slim cylinder are hinged on the connecting rod (18) on clamping limb power arm and the push rod respectively rotationally; Described slim cylinder is connected the piston rod top of two bar cylinders by fixed head (14); The piston rod of slim cylinder is connected with push rod after vertically passing through the through hole of connecting plate center; The bare terminal end of described clamping limb (17-1) is L shaped.
3. the adjustable collator of the cotyledon for the treatment of grafting based on vision according to claim 2 is characterized in that: described control module comprises for analyzing and processing image unit signal and controls the calculator of image unit, delivery unit, translation unit, positioning unit and jaw cell operation respectively.
4. the adjustable collator of the cotyledon for the treatment of grafting based on vision according to claim 3, it is characterized in that: described frame is made by aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310081114.9A CN103202179B (en) | 2013-03-14 | 2013-03-14 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310081114.9A CN103202179B (en) | 2013-03-14 | 2013-03-14 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
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| CN103202179A true CN103202179A (en) | 2013-07-17 |
| CN103202179B CN103202179B (en) | 2014-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310081114.9A Expired - Fee Related CN103202179B (en) | 2013-03-14 | 2013-03-14 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103392431A (en) * | 2013-08-19 | 2013-11-20 | 林良宪 | Seedling transplanting machine |
| CN105766207A (en) * | 2016-04-22 | 2016-07-20 | 湖北未来家园高科技农业有限公司 | Harvesting device suitable for automatic production of cordyceps taishanensis |
| CN105961037A (en) * | 2016-04-27 | 2016-09-28 | 西北农林科技大学 | Multi-seedling appearance characteristic continuous detection device |
| CN109454572A (en) * | 2018-12-22 | 2019-03-12 | 广东创能精密机械有限公司 | A kind of air-actuated jaw |
| CN109906791A (en) * | 2019-04-08 | 2019-06-21 | 温州职业技术学院 | A kind of stock notching mechanism and its working method |
| CN110261161A (en) * | 2019-07-04 | 2019-09-20 | 浙江理工大学 | A kind of tea frying shapes the automatic sampler of online vision-based detection |
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| CN201919377U (en) * | 2010-12-03 | 2011-08-10 | 浙江理工大学 | Vision-based grafted seedling classifying device for fruit and vegetable grafting machine |
| CN102599008A (en) * | 2012-02-24 | 2012-07-25 | 浙江理工大学 | Cotyledon direction-adjustable type seedling grafting executor |
| CN102124905B (en) * | 2010-12-03 | 2012-08-22 | 浙江理工大学 | Vision based matching mechanism of fruit and vegetable grafting machine for seedling to be grafted |
| CN203136600U (en) * | 2013-03-14 | 2013-08-21 | 浙江理工大学 | Cotyledon adjustable sequencing device of seedlings to be grafted based on visuality |
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| JPH07107858A (en) * | 1993-10-13 | 1995-04-25 | Techno Grafting Kenkyusho:Kk | Continuous multiple grafting apparatus and grafting method |
| JPH07327490A (en) * | 1994-04-15 | 1995-12-19 | Mitsubishi Heavy Ind Ltd | Apparatus for grafting |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103392431A (en) * | 2013-08-19 | 2013-11-20 | 林良宪 | Seedling transplanting machine |
| CN105766207A (en) * | 2016-04-22 | 2016-07-20 | 湖北未来家园高科技农业有限公司 | Harvesting device suitable for automatic production of cordyceps taishanensis |
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| CN109454572A (en) * | 2018-12-22 | 2019-03-12 | 广东创能精密机械有限公司 | A kind of air-actuated jaw |
| CN109906791A (en) * | 2019-04-08 | 2019-06-21 | 温州职业技术学院 | A kind of stock notching mechanism and its working method |
| CN109906791B (en) * | 2019-04-08 | 2021-02-05 | 温州职业技术学院 | Stock notching mechanism and working method thereof |
| CN110261161A (en) * | 2019-07-04 | 2019-09-20 | 浙江理工大学 | A kind of tea frying shapes the automatic sampler of online vision-based detection |
| CN110261161B (en) * | 2019-07-04 | 2024-01-05 | 浙江理工大学 | Automatic sampler for online visual detection of tea stir-frying forming |
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