CN103496586A - Grafting seedling sequencing mechanism - Google Patents
Grafting seedling sequencing mechanism Download PDFInfo
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- CN103496586A CN103496586A CN201310428832.9A CN201310428832A CN103496586A CN 103496586 A CN103496586 A CN 103496586A CN 201310428832 A CN201310428832 A CN 201310428832A CN 103496586 A CN103496586 A CN 103496586A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 52
- 238000012163 sequencing technique Methods 0.000 title abstract 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000013329 compounding Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 235000012055 fruits and vegetables Nutrition 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 235000013311 vegetables Nutrition 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003898 horticulture Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention relates to a grafting seedling sequencing mechanism. The grafting seedling sequencing mechanism can output acquired grafting seedlings according to the sequence of the seedling diameter sizes so as to guarantee later-period high-success-rate grafting and has the advantages of being high in automation degree. According to the technical scheme, the grafting seedling sequencing mechanism is characterized by comprising a rotating disc driven by a power mechanism, a group of clamping hands evenly distributed beside of the rotating disc, two cam closing mechanisms operated in cooperation with the clamping hands, a camera located in a seedling conveying station to monitor the seedling diameter sizes and a computer which is used for analyzing and calculating acquired images and outputting control signals to the power mechanism.
Description
Technical field
The present invention relates to a kind of grafting fruits and vegetables machine sequence mechanism, be specifically related to a kind of grafting sequence mechanism based on visual determination seedling footpath size.
Background technology
Along with the development of vegetables modern production, the expansion of greenhouse vegetable growing area, also improving constantly for vegetable grafting growing nursery and culture demand.The grafting robot technology is a kind of new and high technology that integrates machinery, automatic control and facilities horticulture technology in recent years occurred in the world.Grafting mechanization research and development to certain phase, requires improving constantly for the successful efficiency of grafting in the world at present; Wherein, in order to improve grafting success ratio and grafting efficiency, need to configure matched grafting sequence mechanism for the grafting fruits and vegetables machine.
Summary of the invention
The present invention seeks to provide a kind of grafting sequence mechanism of grafting fruits and vegetables machine, the grafting obtained should be able to be pressed the Sequential output of seedling footpath size as required by this mechanism, in order to for the grafting high success rate in later stage provides good assurance, and have the advantages that degree of automation is high.
For achieving the above object, the technical scheme that the present invention takes is:
A kind of grafting sequence mechanism, it is characterized in that this mechanism comprise the rotating disk that driven by actuating unit, one group of clamping hand that is evenly distributed on the rotating disk periphery, respectively with two cam closed mechanisms of clamping hand compounding practice, be positioned at and send the seedling station with the camera of monitoring seedling footpath size and the image obtained carried out to analytical calculation and then control signal is transported to the computing machine of actuating unit.
Described clamping hand comprises a base, is arranged symmetrically on base and forms two four connecting rod grasping mechanisms of a pair of gripper jaw and two four connecting rod grasping mechanism application of forces are made to its closed spring.
The quantity of described one group of clamping hand is even number.
Described two cam closed mechanisms lay respectively at and send the seedling station and get the seedling station; The described distance of sending the seedling station and getting the normally closed grasping mechanism of seedling station interval odd number.
Described four connecting rod grasping mechanisms comprise base, be hinged on clamping connecting rod on base rotationally, be arranged in the clamping rod rear end and be positioned at slidably the thrust link of chute of base and an end and the hinged other end of the clamping rod rear end short connecting rod hinged with the thrust link top.
Described cam closed mechanism comprise vertically be arranged on base and the piston rod of front end aim at normally closed grasping mechanism cylinder, be produced on the inclined-plane on piston rod top and be fixed on thrust link anterior and with described tiltedly carve that the piece extruding coordinates tiltedly carve piece.
Principle of work of the present invention is:
When this grafting sequence mechanism starts working, complete machine is in initial given position; During work, send the cylinder action of seedling station, cylinder piston rod up pushes up to press and is positioned at the clamping hand (the normally closed clamping hand of odd bits number) that send the seedling station, the interaction of tiltedly carving the skewback on piece and thrust link by the piston rod top, force thrust link to overcome spring-force driven dual and move backward, this clamping hand is opened; Then the outside seedling manipulator that send is delivered to seedling in the middle of two gripper jaws of clamping hand, and then the piston rod of cylinder down resets, and under the effect of spring force, clamping hand closure clamps the stem of seedling; Transport to computing machine machine after obtaining the seedling graphicinformation by the camera that send the seedling station simultaneously, obtain the seedling footpath size of seedling by graphical analysis.According to said process, one by one the clamping hand of odd bits number is all above expired to seedling respectively, and the seedling footpath size obtained is sorted, the clamping hand that then according to clooating sequence, will clamp seedling turns to one by one gets the seedling station, first clamp seedling by the seedling manipulator of getting of getting the seedling station, then by the cylinder action of this station, open the clamping hand that is clamping seedling, then get the seedling manipulator and leave rotating disk with the seedling of clamping and be sent to assigned address; When the clamping hand of odd numbered is clamping seedling and turns to one by one and get the seedling station, even number the clamping hand arrive and send the seedling station, with outside, send the seedling manipulator to repeat the foregoing seedling operation of sending, so loop, the grafting sequence is carried out continuously.Differ the odd number station because send the seedling station and get the seedling station, can carry out so send the seedling operation also to get the seedling operation simultaneously.
The invention has the beneficial effects as follows: owing to having designed corresponding mechanism, thereby can realize the seedling footpath unordered grafting of size is pressed to seedling footpath size Sequential output, for the design of high-survival rate grafting machine is laid a good foundation; And can the full automation operation, increased substantially production efficiency.
The accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the perspective view of clamping hand of the present invention.
Fig. 3 is the main TV structure schematic diagram of turning cylinder in the present invention.
Fig. 4 is the perspective view of cam closed mechanism of the present invention.
Fig. 5 is the working state schematic representation of cam closed mechanism of the present invention.
Fig. 6 is one of working state schematic representation of the present invention.
Fig. 7 is two of working state schematic representation of the present invention.
Fig. 8 is three of working state schematic representation of the present invention.
Fig. 9 is four of working state schematic representation of the present invention.
Figure 10 is five of working state schematic representation of the present invention.
Figure 11 is six of working state schematic representation of the present invention.
Figure 12 is the perspective view of mode of operation of the present invention.
In figure, have: adapter plate 1; Cylinder erecting frame 2; Cylinder 3; Seedling 4; Rotating disk 5; Clamping hand 6; Top cover 6-1; Spring 6-2; Thrust link 6-3; Short connecting rod 6-4; Clamping connecting rod 6-5; Base 6-6; Push rod 7; Rotating shaft 8; Pedestal 9; Bearing 10; Skewback 11; Camera 12.
The specific embodiment
Grafting shown in the drawings is sorted in mechanism, from actuating unit (normally stepping motor) driving, (in figure: rotating shaft 8 is rotatably positioned in pedestal 9 by bearing 10 rotating disk 5, the top of rotating shaft is fixedly connected with (bolt is connected) with the center of rotating disk, and transmission of power is carried out by gear cluster and stepping motor output shaft in the bottom of rotating shaft; The bottom of pedestal is fixed on adapter plate 1, and makes turning cylinder keep vertical state), driver train is conventional mechanism; One group of clamping hand (normally closed clamping hand) is evenly distributed on the rotating disk periphery, and the quantity of described clamping hand is even number, according to cw or anticlockwise direction, numbers respectively; Liang Ge position, rotating disk edge also is set as sending seedling station a and gets seedling station b, send the seedling station and gets the certain distance in seedling station interval (the arc length distance of the normally closed grasping mechanism of odd number).In described normally closed clamping hand, two four connecting rod grasping mechanisms that form a pair of gripper jaw are arranged symmetrically in base 6-6 above, and spring 6-2 makes it remain closed clamp position to two four connecting rod grasping mechanism application of forces.
In described four connecting rod grasping mechanisms, clamping connecting rod 6-5 is hinged on (two clamping connecting rod symmetries are hinged on base and form a pair of gripper jaw) on base rotationally, thrust link 6-3 is arranged in the clamping rod rear end and is positioned at slidably chute of base, and the end of short connecting rod 6-4 is hinged with the thrust link top with the hinged other end of clamping rod rear end.Like this, under the pressure effect of the top of spring force, two clamping connecting rods remain closed clamp position.
Send the seedling station and get seedling station place a cam closed mechanism is set respectively again, these two cam closed mechanisms are fixed on adapter plate 1 by cylinder erecting frame 2 respectively; Two cam closed mechanisms separately with clamping hand compounding practice, the operation of being opened respectively the clamping hand; Send the seedling station that the camera 12 of monitoring seedling footpath size also is installed, separately by computing machine (omitting in figure), the image obtained is carried out to analytical calculation and then the turn signal order is transported to actuating unit.
In described cam closed mechanism, cylinder 3 vertically is arranged on base, and the piston rod of cylinder front end (being push rod 7) top is shaped with inclined-plane, and fixes one in the thrust link front portion and tiltedly carve piece 13, this is tiltedly carved piece and tiltedly carves piece extruding and coordinate with described, can force thrust link to overcome spring force and move backward.
Radical function of the present invention is when grafting fruits and vegetables, and the seedling of sending into is sorted and then sequentially is transported on exterior holding manipulator according to seedling footpath thickness.For this reason, first need ten in embodiment clamping hands are numbered from one to ten; During work, No. one the clamping hand is positioned at and send the seedling station (simultaneously, the clamping hand of even bit is in getting the seedling station; Because send the seedling station and get the position that the seedling station differs odd number clamping hand), send cylinder 3 actions at seedling station place up to eject piston rod (being push rod), by the inclined-plane on piston rod top and the piece of tiltedly carving of thrust link 6-3 front portion, interact, the application force that overcomes spring makes to clamp hand and opens, and outside send the seedling manipulator seedling to be delivered in the middle of two gripper jaws of clamping hand; Then cylinder bounces back, and two gripper jaws are closed under spring-force driven dual, and obvolvent is clamping seedling (obtaining seedling).Send the camera 12 that install at seedling station place then seedling to be made a video recording, and seedling seedling footpath pictorial information is transported to computing machine, by Computer Analysis, calculate seedling footpath size.Then rotating disk rotates (the S. A. rotation that motor drives rotating disk) under driven by motor, clamps hand for three, five, seven, No. nine and turns to one by one respectively and send the seedling station, as stated above gripping seedling one by one again.Until one, three, five, seven, No. nine clamping hand all go up expire seedling after (as Fig. 7), computing machine just is ranked these clamping seedling on hand respectively according to seedling footpath size order immediately, and give an order and make five clamping hands (, three, five, seven, No. nine clamping hand) rotate successively (forward rotation or rotate backward) according to seedling footpath size order, to getting the seedling station, by getting the seedling manipulator, to obtain one by one respectively seedling (as Fig. 8).The clamping hand is transferred to seedling the process of getting the seedling manipulator, and the process of obtaining seedling with aforementioned clamping hand is just in time contrary.
Owing to sending the seedling station and getting the position that the seedling station differs odd number clamping hand, so when getting the seedling manipulator and often taking a seedling away, send clamping that the seedling manipulator sends into a seedling again corresponding even bit (as Fig. 8, Fig. 9) on hand, and obtained the information of seedling seedling footpath size by camera simultaneously.So when odd number clamping five strain seedling are on hand exported fully, be covered with again new one group of seedling (Figure 10, Figure 11 mean operation process) in all even number clamping hands, so next round is carried out the operation that even number clamping hand output seedling odd number clamping hand obtains seedling; Repetition is with cocycle, and the seedling scheduling carries out continuously.
Claims (6)
1. grafting sequence mechanism, it is characterized in that this mechanism comprise the rotating disk (5) that driven by actuating unit, one group of clamping hand that is evenly distributed on the rotating disk periphery, respectively with two cam closed mechanisms of clamping hand compounding practice, be positioned at and send the seedling station with the camera (12) of monitoring seedling footpath size and the image obtained carried out to analytical calculation and then control signal is transported to the computing machine of actuating unit.
2. a kind of grafting sequence according to claim 1 mechanism, it is characterized in that: described clamping hand comprises a base (6-6), is arranged symmetrically on base and forms two four connecting rod grasping mechanisms of a pair of gripper jaw and two four connecting rod grasping mechanism application of forces are made to its closed spring (6-2).
3. a kind of grafting sequence according to claim 2 mechanism, it is characterized in that: the quantity of described one group of clamping hand is even number.
4. a kind of grafting sequence according to claim 3 mechanism, it is characterized in that: described two cam closed mechanisms lay respectively at and send the seedling station and get the seedling station; The described distance of sending the seedling station and getting the normally closed grasping mechanism of seedling station interval odd number.
5. a kind of grafting sequence according to claim 4 mechanism is characterized in that: described four connecting rod grasping mechanisms comprise base, be hinged on clamping connecting rod (6-5) on base rotationally, be arranged in the clamping rod rear end and be positioned at slidably the thrust link (6-3) of chute of base and an end and the hinged other end of the clamping rod rear end short connecting rod (6-4) hinged with the thrust link top.
6. a kind of grafting sequence according to claim 5 mechanism is characterized in that: described cam closed mechanism comprise vertically be arranged on base and the piston rod of front end aim at normally closed grasping mechanism cylinder (3), be produced on the inclined-plane on piston rod top and be fixed on thrust link anterior and with described tiltedly carve that the piece extruding coordinates tiltedly carve piece (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310428832.9A CN103496586B (en) | 2013-09-18 | 2013-09-18 | A kind of grafting sorting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310428832.9A CN103496586B (en) | 2013-09-18 | 2013-09-18 | A kind of grafting sorting mechanism |
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| CN103496586A true CN103496586A (en) | 2014-01-08 |
| CN103496586B CN103496586B (en) | 2016-08-03 |
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| CN201310428832.9A Expired - Fee Related CN103496586B (en) | 2013-09-18 | 2013-09-18 | A kind of grafting sorting mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108307703A (en) * | 2018-03-28 | 2018-07-24 | 河北省农业机械化研究所有限公司 | Clip thinning device is pulled out in rotation |
| CN109160199A (en) * | 2018-09-24 | 2019-01-08 | 杭州中为光电技术有限公司 | Carry slewing equipment |
| CN110525960A (en) * | 2019-09-02 | 2019-12-03 | 珠海格力智能装备有限公司 | feeding device |
| CN111003437A (en) * | 2020-02-12 | 2020-04-14 | 武汉泛征科技有限公司 | Lifting device of automatic replenishment trolley |
| CN112154797A (en) * | 2020-09-30 | 2021-01-01 | 国家林业和草原局哈尔滨林业机械研究所 | Grafting nursery stock sealing machine |
| CN113335936A (en) * | 2021-07-07 | 2021-09-03 | 山东三维海容科技有限公司 | Pneumatic logistics system |
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| CN102124905A (en) * | 2010-12-03 | 2011-07-20 | 浙江理工大学 | Vision based matching mechanism of fruit and vegetable grafting machine for seedling to be grafted |
| EP2454933A1 (en) * | 2010-11-22 | 2012-05-23 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Method and apparatus for strike cutting of plants |
| CN202781177U (en) * | 2012-09-05 | 2013-03-13 | 浙江理工大学 | Vibratory seedling feed effector capable of adjusting direction of grafted seedling cotyledon |
| CN203120532U (en) * | 2013-01-11 | 2013-08-14 | 浙江理工大学 | Rotary seedling holder of grafting machine |
| CN203581986U (en) * | 2013-09-18 | 2014-05-07 | 浙江理工大学 | Grafted seedling sequencing mechanism |
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- 2013-09-18 CN CN201310428832.9A patent/CN103496586B/en not_active Expired - Fee Related
Patent Citations (6)
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| CN201862703U (en) * | 2010-11-16 | 2011-06-15 | 林建祥 | Automatic feeding device |
| EP2454933A1 (en) * | 2010-11-22 | 2012-05-23 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Method and apparatus for strike cutting of plants |
| CN102124905A (en) * | 2010-12-03 | 2011-07-20 | 浙江理工大学 | Vision based matching mechanism of fruit and vegetable grafting machine for seedling to be grafted |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108307703A (en) * | 2018-03-28 | 2018-07-24 | 河北省农业机械化研究所有限公司 | Clip thinning device is pulled out in rotation |
| CN108307703B (en) * | 2018-03-28 | 2024-05-07 | 河北省农业机械化研究所有限公司 | Rotary pulling clamp type thinning device |
| CN109160199A (en) * | 2018-09-24 | 2019-01-08 | 杭州中为光电技术有限公司 | Carry slewing equipment |
| CN109160199B (en) * | 2018-09-24 | 2023-12-22 | 杭州中为光电技术有限公司 | Bearing and rotating device |
| CN110525960A (en) * | 2019-09-02 | 2019-12-03 | 珠海格力智能装备有限公司 | feeding device |
| CN111003437A (en) * | 2020-02-12 | 2020-04-14 | 武汉泛征科技有限公司 | Lifting device of automatic replenishment trolley |
| CN111003437B (en) * | 2020-02-12 | 2021-08-17 | 武汉泛征科技有限公司 | Lifting device of automatic replenishment trolley |
| CN112154797A (en) * | 2020-09-30 | 2021-01-01 | 国家林业和草原局哈尔滨林业机械研究所 | Grafting nursery stock sealing machine |
| CN112154797B (en) * | 2020-09-30 | 2022-04-22 | 国家林业和草原局哈尔滨林业机械研究所 | Grafting nursery stock sealing machine |
| CN113335936A (en) * | 2021-07-07 | 2021-09-03 | 山东三维海容科技有限公司 | Pneumatic logistics system |
| CN113335936B (en) * | 2021-07-07 | 2022-06-03 | 山东三维海容科技有限公司 | Pneumatic logistics system |
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| CN103496586B (en) | 2016-08-03 |
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Effective date of registration: 20171212 Address after: 313000 Zhejiang province Huzhou Zhili town of Wuxing District in the South (south town government compound) Patentee after: HUZHOU ZHILI CHILDREN'S CLOTHING DEVELOPMENT CO., LTD. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park Poplar Street No. 2 Street No. 5 Patentee before: Zhejiang Sci-Tech University |
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Granted publication date: 20160803 Termination date: 20180918 |