CN103636331A - Tissue culture seedling rapid transplanting machine based on laser cutting and transplanting method thereof - Google Patents
Tissue culture seedling rapid transplanting machine based on laser cutting and transplanting method thereof Download PDFInfo
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- CN103636331A CN103636331A CN201310647031.1A CN201310647031A CN103636331A CN 103636331 A CN103636331 A CN 103636331A CN 201310647031 A CN201310647031 A CN 201310647031A CN 103636331 A CN103636331 A CN 103636331A
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Abstract
The invention relates to a tissue culture seedling rapid transplanting machine based on laser cutting and a transplanting method of the issue culture seedling rapid transplanting machine. The tissue culture seedling rapid transplanting machine comprises a worktable, a main bottle moving-in conveyor belt and a secondary bottle moving-out conveyor belt which are arranged at the two ends of the worktable, a main bottle moving-out conveyor belt and a secondary bottle moving-in conveyor belt which are arranged at the third end of the worktable, a main bottle conveying mechanism which is arranged on the worktable and is located at the crossed point of the central lines of the main bottle moving-in conveyor belt and the main bottle moving-out conveyor belt, a secondary bottle conveying mechanism which is arranged on the worktable and is located at the crossed point of the central lines of the secondary bottle moving-in conveyor belt and the secondary bottle moving-out conveyor belt, a cover opening mechanism and a cover closing mechanism which are respectively arranged at the fourth ends of the main bottle conveying mechanism and the secondary bottle conveying mechanism, and a transplanting mechanism which is arranged at the third ends of the main bottle conveying mechanism and the secondary bottle conveying mechanism. The tissue culture seedling rapid transplanting machine further comprises a seedling fetching mechanism arranged between the main bottle conveying mechanism and the secondary bottle conveying mechanism, a screening mechanism arranged between the seedling fetching mechanism and the transplanting mechanism, and a root breaking mechanism which is fastened at one end of the transplanting mechanism and is located above the main bottle conveying mechanism.
Description
Technical field
The present invention relates to a kind of group of training seeding transplant machine structure, particularly about a kind of based on laser cutting for the upright strip tissue culture sprout quick speed tree-remover of plant fast propagation Subculture and trasplanting method thereof.
Background technology
Plant fast propagation technology refers to utilizes plant tissue culture technique to carry out a kind of seedling-cultivating method of plant propagation, because its breeding cycle is short, breeding environment controllability is strong and some are difficult to self-reproduction or self-reproduction, exists the features such as the plant species applicability of defect is strong to be widely used in the breeding of detoxic seedling, ornamental flower, commodity trees etc.The operating procedure of plant fast propagation technology generally comprises explant and obtains, induces cultivation, subculture cultivation, culture of rootage and strongization cultivation, whole fast numerous process need drops into a large amount of labours, especially subculture is cultivated and every group training seedling need to be divided into little stem section more respectively by each stem section implanted device blake bottle, subculture is cultivated the overwhelming majority that the required amount of labour accounts for total amount of labour in whole quick propagating and cultivating process, and therefore traditional subculture is cultivated the development that has greatly restricted plant fast propagation technology.The automatic machinery of cultivating for subculture has been developed respectively on the ground such as Japan, Britain and TaiWan, China, but it is generally once got a group training seedling and carries out node recognition, cutting and migration process, operation cycle of this automatic machinery can only be processed a group training seedling, and one bottle of group training seedling need carry out and the image number of processes that in bottle, group training seedling strain number equates, therefore has inefficiency, high in cost of production defect.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of tissue culture sprout quick speed tree-remover and the trasplanting method thereof based on laser cutting that can realize fast fetching seedling, identification, cutting, screen in batches.
For achieving the above object, the present invention takes following technical scheme: a kind of tissue culture sprout quick speed tree-remover based on laser cutting, it comprises: a workbench, one female bottle immigration conveyer belt and the son bottle that is symmetricly set on described workbench two ends shifts out conveyer belt, the one female bottle that is symmetricly set on described workbench the 3rd end shifts out conveyer belt and son bottle immigration conveyer belt, one rotation is arranged on described workbench and is positioned at described female bottle immigration conveyer belt and female bottle of female bottle conveying mechanism that shifts out the center line intersection point place of conveyer belt, one rotation is arranged on described workbench and is positioned at described son bottle immigration conveyer belt and sub bottle of son bottle conveying mechanism that shifts out the center line intersection point place of conveyer belt, one fastening cap-opening mechanism and closing mechanism and a fastening transplanting mechanism that is arranged on described female bottle conveying mechanism and son bottle conveying mechanism the 3rd end that is arranged on described female bottle conveying mechanism and son bottle conveying mechanism the 4th end respectively, it is characterized in that: it also comprises a fastening seedling picking mechanism being arranged between described female bottle conveying mechanism and son bottle conveying mechanism, one is arranged on described seedling picking mechanism and transplants screen mechanism and between mechanism and is fastenedly connected in described transplanting mechanism one end and is positioned at the mechanism of being completely cured above described female bottle conveying mechanism, wherein, described seedling picking mechanism comprises that a support, a 3DOF rectangular co-ordinate mechanical arm, a camera, a plate, get seedling paw and a laser instrument, described support is fastenedly connected the worktable upper surface between female bottle conveying mechanism and son bottle conveying mechanism, the x axle level of described 3DOF rectangular co-ordinate mechanical arm is fastenedly connected the upper side frame of described support, y axle is vertical with x axle and can move left and right along x axle, z axle is simultaneously perpendicular to x axle and y axle, and z axle not only can move up and down but also can move forward and backward along y axle, described camera is vertically fastenedly connected downside and described camera and the z axle homonymy of y axle one end, and described connecting plate level is fastenedly connected the lower end of z axle, the described seedling paw of getting is vertically fastenedly connected one end downside near described female bottle conveying mechanism at described connecting plate, and described laser instrument is fastenedly connected the other end downside at described connecting plate, the described mechanism of being completely cured comprises a link, a cylinder, a plate, a cutting knife and a motor, described in being vertically fastenedly connected, one side of described link transplants seedlings on the bar of mechanism's support adjacent with described female bottle conveying mechanism, the top of described link is fastenedly connected described cylinder, the telescopic end of described cylinder is fastenedly connected described connecting plate, on described connecting plate, be rotationally connected described cutting knife, the rotating shaft of described cutting knife connects the output shaft of described motor, and described motor is fastening to be arranged on described connecting plate, described cutting knife is positioned at the top of described female bottle conveying mechanism.
Described workbench and described female bottle immigration conveyer belt, female bottle shift out conveyer belt, son bottle immigration conveyer belt and son bottle and shift out conveyer belt joint place and all offer a breach, be positioned at female bottle immigration conveyer belt and female bottle and shift out the center line intersection point place that shifts out conveyer belt in conveyer belt place and son bottle immigration conveyer belt and son bottle and all offer a through hole on described workbench.
Described female bottle conveying mechanism comprises a motor, a pinion, a gear wheel, a hollow rotating shaft, a bearing, a bearing block, a lower rotary table, a connecting seat, a top rotary table, an annular retaining ring, several pillars and some bottle lid slideways, described motor is vertical to be fixed on a connection piece that is positioned at described workbench lower surface, the output shaft of described motor connects described pinion, described pinion meshes described gear wheel, the centre bore fixed cover of described gear wheel is located at the bottom of described hollow rotating shaft, the top of described hollow rotating shaft arranges a locating flange, described hollow rotating shaft is rotatably supported in by described bearing in the through hole of offering on described workbench, described bearing sleeve be located at described hollow rotating shaft outer and by screw fastening be connected to described workbench lower surface so that described bearing be seated in wherein, described hollow rotating shaft upper surface adopts flange to be fixedly connected with described lower rotary table with screw, described lower rotary table outward flange is along circumferentially spaced set is some for clamping the half round cut of female bottle, the circular hole of a diameter and described hollow rotating shaft equal diameters is offered at described lower rotary table center, the upper surface of described lower rotary table is fastenedly connected the bottom of described Connection Block, the circular hole of a diameter and described lower rotary table center hole equal diameters is offered at the center of described Connection Block, the top of described Connection Block arranges the second flange, described top rotary table is connected on described the second flange by screw fastening, described top rotary table outward flange is also some for clamping the half round cut of female bottle along circumferentially equidistantly offering, and the shape of described top rotary table, size and gap position are identical with described lower rotary table, described bottle lid slideway is along being circumferentially set in qually spaced in the centre of the adjacent half round cut of described top rotary table, and described bottle lid slideway is for receiving bottle cap and bottle cap being slipped in the passage that the centre bore by described top rotary table, Connection Block, lower rotary table and hollow rotating shaft forms, described annular retaining ring is looped around the outside between described top rotary table and lower rotary table by the described pillar being equidistantly fastenedly connected in described worktable upper surface, and described annular retaining ring is offered and the equal-sized breach of half round cut at the half round cut place of described top rotary table and lower rotary table, described annular retaining ring is for the protection of the female bottle being installed in the half round cut of described top rotary table and lower rotary table.
Described transplanting mechanism comprises that the second support, the second 3DOF rectangular co-ordinate mechanical arm and transplant paw; Described the second support is fastenedly connected the middle position at the described workbench of described screen mechanism one end, the x axle of described the second 3DOF rectangular co-ordinate mechanical arm is fastenedly connected the upper side frame of described support, y axle is vertical with x axle and can move left and right along x axle, z axle is simultaneously perpendicular to x axle and y axle, and z axle not only can move up and down but also can move forward and backward along y axle, and described transplanting paw is fixedly connected with the bottom of described z axle.
Described son bottle conveying mechanism comprises the second motor, a shaft coupling, a driving shaft, the second bearing, the second bearing block, the second lower rotary table, a flat key, an axle sleeve, the second top rotary table, some the second pillars and the second annular retaining ring; Wherein, described the second motor is fixed on another connector that is positioned at described workbench lower surface, the output shaft of described the second motor connects one end of described driving shaft by described shaft coupling, described driving shaft is rotatably supported in by described the second bearing in another through hole of offering on described workbench, described the second bearing sleeve be located at described driving shaft outer and by screw fastening be connected to described workbench lower surface so that described the second bearing be seated on described the second bearing block; The other end of described driving shaft is located at the described axle sleeve of its outside by described flat key key adapter sleeve, the upper and lower surface of described axle sleeve by bolt respectively symmetry be fastenedly connected described the second top rotary table and the second lower rotary table; The structure of described the second top rotary table, the second lower rotary table, the second pillar and the second annular retaining ring is identical with the structure of described top rotary table, lower rotary table, pillar and annular retaining ring.
The station of tissue culture sprout quick speed tree-remover delivery groups training seedling is divided into female bottle input station, the station of uncapping, gets seedling station, the station of being completely cured, screen station, transplants station, closing lid station, son bottle output station, son bottle input station and female bottle output station by group training seedling migration process; It comprises the following steps: 1) female bottle immigration conveyer belt is sent into female bottle that growth inside has group training seedling, arrives female bottle input station, and now female bottle is just stuck in female bottle top rotary table of conveying mechanism and the half round cut of lower rotary table; 2) female bottle conveying mechanism drives the female bottle on the half round cut that is installed on top rotary table and lower rotary table to clockwise rotate 90 ° to the station of uncapping along annular retaining ring, starts cap-opening mechanism, opens the bottle cap of female bottle; 3) female bottle conveying mechanism continues to clockwise rotate 45 ° of time-outs, cap-opening mechanism is put into bottle cap the bottle lid slideway of female bottle conveying mechanism, bottle cap is along the passage landing consisting of top rotary table, Connection Block, lower rotary table and hollow rotating shaft center hole, and female bottle conveying mechanism continues to clockwise rotate 45 ° of arrival and gets seedling station; 4) start seedling picking mechanism to getting seedling station, get seedling paw and enter female bottle by all groups of training seedlings taking-up in bottle, get seedling paw clamping group training seedling and move to the station of being completely cured, start the mechanism of being completely cured, cut-out group training shoot root portion; 5) seedling picking mechanism continues to move to screen station, get seedling paw arrive screen mechanism directly over after relieving group training seedling, group training seedling is scattered in screen mechanism, unlatching screen mechanism carries out screen by the cluster group training seedling being scattered thereon to be made it to disperse and well-regulated being arranged on workbench, and screen mechanism exits station and quits work; 6) in screen mechanism screen group training seedling, female bottle conveying mechanism continues half-twist, and empty female bottle moves to female bottle output station, and female bottle shifts out driving-belt by female bottle and shifts out workbench, now the next female bottle for the treatment of transplantation group training seedling that is equipped with moves to and gets seedling station, waits for and gets seedling operation; 7) start and be positioned at the camera on seedling picking mechanism, trained the image information of seedling and be sent to calculator carry out image processing by the group of collected by camera marshalling, each node that calculator is identified and calculated on each strain group training seedling is the position of cut point; Seedling picking mechanism moves to respectively the position of each cut point and opens laser instrument simultaneously, by laser instrument, each identified cut point is just cut, and completes after the cutting of all cut points seedling picking mechanism and moves to and get seedling station; 8) in by laser instrument cutting group training seedling node, the son bottle that son bottle immigration conveyer belt is organized training seedling afterwards by cutting to be installed is delivered to son bottle input station, son bottle conveying mechanism clockwise rotates 90 °, and the son bottle clamping is thereon delivered to transplanting station, waits for graft procedure; 9) open and transplant the node location that mechanism moves to group training seedling, transplant paw and pick up the training seedling section of cutting group and move to transplanting station, transplant paw by seedling section intron bottle, transplant mechanism and repeat this operation; 10) when in a son bottle, transplanting is to the seedling section of setting quantity, son bottle conveying mechanism continues to clockwise rotate 90 °, the son bottle that installs seedling section arrives closing lid station, and closing mechanism captures the bottle cap that is placed in advance on top rotary table to its closing lid, and now the next one is waited to transplant son bottle and moved to transplanting station; Repeating step 9) course of work～10) is until take the seedling section on workbench, and the son bottle of having transplanted seedling section shifts out conveyer belt output working table at a son bottle output station by son bottle.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the rotating disk due to female bottle of the present invention and son bottle conveying mechanism adopts circular, and the immigration of female bottle and son bottle and shift out conveyer belt circular female bottle and son bottle supply rotating disk circumferentially differ 90 ° of settings, so compact integral structure, each arrangement of mechanism are reasonable.2, because seedling picking mechanism of the present invention once takes out the processing of being completely cured of all groups of training seedlings in a female bottle, so operating efficiency is high.3, because the present invention disperseed all groups of training seedlings in a female bottle by screen mechanism before laser cutting and rule is arranged, therefore can avoid the node of individual plant group training seedling overlapping, thereby realized one bottle of group training seedling, only need carry out an image processing, reduce the number of times of operation cycle.4, the node that adopts laser cutting group training seedling due to the present invention, has not only saved the required complicated machinery mechanism of traditional cutting knife, has also avoided traditional cutting knife to reuse brought viral communication, in addition, has also improved cutting efficiency.5, the present invention is not only applicable to the Rapid transplant operation of cluster strip group training seedling in plant tissue culture Subculture, can make its Rapid transplant that is applicable to other strip plant seedling by changing structural parameters of the present invention yet, therefore has very strong applicability.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of tissue culture sprout quick speed tree-remover of the present invention
Fig. 2 is the schematic top plan view of Fig. 1
Fig. 3 is the structural representation of female bottle conveying mechanism of tissue culture sprout quick speed tree-remover
Fig. 4 is the structural representation of the seedling picking mechanism of tissue culture sprout quick speed tree-remover
Fig. 5 is the structural representation of the mechanism of being completely cured of tissue culture sprout quick speed tree-remover
Fig. 6 is the structural representation of the mechanism of transplanting seedlings of tissue culture sprout quick speed tree-remover
Fig. 7 is the structural representation of the son bottle conveying mechanism of tissue culture sprout quick speed tree-remover
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1 and Figure 2, the present invention includes be completely cured mechanism 6, a screen mechanism 7, of a workbench 1, female bottle immigration conveyer belt 2, an one female bottle conveying mechanism 3, a cap-opening mechanism 4, a seedling picking mechanism 5, transplants mechanism's 8, one female bottle and shifts out conveyer belt 9, a son bottle immigration conveyer belt 10, a son bottle conveying mechanism 11, a closing mechanism 12 and a son bottle and shift out conveyer belt 13.Son bottle shifts out the left and right sides that conveyer belt 13 and female bottle immigration conveyer belt 2 are symmetricly set on workbench 1, son bottle immigration conveyer belt 10 and female bottle shift out conveyer belt 9 and are arranged on respectively and shift out with son bottle workbench 1 rear side that conveyer belt 13 is adjacent with female bottle immigration conveyer belt 2, and female bottle immigration conveyer belt 2, female bottle shift out conveyer belt 9, son bottle immigration conveyer belt 10 shifts out the working face of conveyer belt 13 with son bottle and the upper plane of workbench 1 is concordant.Son bottle conveying mechanism 11 and female bottle conveying mechanism 3 be take the vertical section of workbench 1 and are arranged on workbench 1 as the plane of symmetry rotates, son bottle conveying mechanism 11 and female bottle conveying mechanism 3 front ends arrange respectively closing mechanism 12 and cap-opening mechanism 4, between son bottle conveying mechanism 11 and female bottle conveying mechanism 3, seedling picking mechanism 5 is set, on the workbench 1 at seedling picking mechanism 5 rears, screen mechanism 7 is set, on the workbench 1 at screen mechanism 7 rears, be fixedly connected with and transplant mechanism 8, the mechanism 6 of being completely cured is connected on the right support of transplanting mechanism 8.
As shown in Figure 1 and Figure 2, workbench 1 is a desk that table top is thicker, workbench 1 arranged on left and right sides is symmetrical arranged a breach, being respectively used to laminating arranges son bottle and shifts out conveyer belt 13 and female bottle immigration conveyer belt 2, the rear side of workbench 1 is symmetrical arranged two breach, be respectively used to that laminating arranges son bottle immigration conveyer belt 10 and female bottle shifts out conveyer belt 9, position of intersecting point at the vertical center line of the cross central line of workbench 1 and two breach of rear side respectively arranges a through hole, is respectively used to the bearing of a chapelet bottle conveying mechanism 11 and female bottle conveying mechanism 3.
As shown in Figure 3, female bottle conveying mechanism 3 comprises a motor 3-0, a pinion 3-1, a gear wheel 3-2, a hollow rotating shaft 3-3, a bearing 3-4, a bearing block 3-5, a lower rotary table 3-6, a connecting seat 3-7, a top rotary table 3-8, an annular retaining ring 3-9, four pillar 3-10 and four bottle lid slideway 3-11.Motor 3-0 is vertical to be fixed on a connection piece that is positioned at workbench 1 lower surface, the output shaft of motor 3-0 connects pinion 3-1, pinion 3-1 engagement gear wheel 3-2, the centre bore fixed cover of gear wheel 3-2 is located at the bottom of hollow rotating shaft 3-3, the top of hollow rotating shaft 3-3 arranges a locating flange, hollow rotating shaft 3-3 is rotatably supported in by bearing 3-4 in the through hole of offering on workbench 1, bearing block 3-5 be set in hollow rotating shaft 3-3 outer and by screw fastening be connected to workbench 1 lower surface so that bearing 3-4 be seated in wherein.Hollow rotating shaft 3-3 upper surface adopts flange to be fixedly connected with lower rotary table 3-6 with screw, lower rotary table 3-6 outward flange along four of circumferential spaced sets for clamping the half round cut of female bottle, lower rotary table 3-6 offers at center the circular hole of the equal diameters of a diameter and hollow rotating shaft 3-3, the upper surface of lower rotary table 3-6 is fastenedly connected the bottom of Connection Block 3-7, Connection Block 3-7 offers at center the circular hole of a diameter and lower rotary table 3-6 center hole equal diameters, the top of Connection Block 3-7 also arranges a flange, top rotary table 3-8 is connected on the flange on Connection Block 3-7 top by screw fastening, top rotary table 3-8 outward flange is also along circumferentially equidistantly offering four for clamping the half round cut of female bottle, and the shape of top rotary table 3-8, size and gap position are identical with lower rotary table 3-6.The bottle lid slideway 3-11 of four inclinations is along being circumferentially set in qually spaced in the centre of the adjacent half round cut of top rotary table 3-8, and bottle lid slideway 3-11 is for receiving bottle cap and bottle cap being slipped in the passage that the center hole by top rotary table 3-8, Connection Block 3-7, lower rotary table 3-6 and hollow rotating shaft 3-3 forms.Annular retaining ring 3-9 is looped around the outside between top rotary table 3-8 and lower rotary table 3-6 by four pillar 3-10 that are equidistantly fastenedly connected at workbench 1 upper surface; and annular retaining ring 3-9 offers and the equal-sized breach of half round cut at the half round cut place of top rotary table 3-8 and lower rotary table 3-6, annular retaining ring 3-9 is for the protection of the female bottle being installed in the half round cut of top rotary table 3-8 and lower rotary table 3-6.
When motor 3-0 starts, drive pinion 3-1 rotation, pinion 3-1 drives the gear wheel 3-2 rotation being engaged with, hollow rotating shaft 3-3 rotates with gear wheel 3-2, lower rotary table 3-6, Connection Block 3-7 that drive is fixed together with hollow rotating shaft 3-3 rotate together with top rotary table 3-8, thereby the female bottle being positioned in four half round cut of top rotary table 3-8 and lower rotary table 3-6 is transported to different stations.
As shown in Figure 1 and Figure 2, closing mechanism 12 is identical with cap-opening mechanism 4, and just cover the direction of motion of paw contrary for folder, and the function of closing mechanism 12 and cap-opening mechanism 4 is that the bottle cap that is transported to the blake bottle below it is built and opened.The concrete structure of female bottle cap-opening mechanism 4 is identical with the cap-opening mechanism relating in the patent of invention of application number for " 201110082646.5 ", therefore repeat no more.
As shown in Figure 1, Figure 2, Figure 4 shows, seedling picking mechanism 5 comprises that a support 5-1, a 3DOF rectangular co-ordinate mechanical arm 5-2, a camera 5-3, a plate 5-4, get seedling paw 5-5 and a laser instrument 5-6.Support 5-1 is fastenedly connected on workbench 1 between female bottle conveying mechanism 3 and son bottle conveying mechanism 11, the x axle level of 3DOF rectangular co-ordinate mechanical arm 5-2 is fastenedly connected the upper side frame of support 5-1, y axle is vertical with x axle and can move left and right along x axle, z axle is simultaneously perpendicular to x axle and y axle, and z axle not only can move up and down but also can move forward and backward along y axle.Camera 5-3 is vertically fastenedly connected the downside in y axle one end, and camera 5-3 and z axle homonymy, and connecting plate 5-4 level is fastenedly connected the lower end at z axle.Get seedling paw 5-5 and be vertically fastenedly connected the lower surface near female bottle conveying mechanism 3 one end at connecting plate 5-4, laser instrument 5-6 is fastenedly connected the surface under the connecting plate 5-4 other end.
As shown in Figure 1, Figure 2, Figure 5, the mechanism 6 of being completely cured comprises an inverted L-shaped link 6-0, a cylinder 6-1, an inverted L-shaped connecting plate 6-2, a cutting knife 6-3 and a motor 6-4.Wherein the vertical side of link 6-0 is fastenedly connected on the right-hand rod of support 8-0 of the mechanism 8 of transplanting seedlings, the upper surface of link 6-0 level one side is fastenedly connected cylinder 6-1, the height of link 6-0 is to make cutting knife 6-3 be positioned at the top of female bottle, the vertical side of connecting plate 6-2 is fastenedly connected the telescopic end of cylinder 6-1, the upper surface of connecting plate 6-2 level one side rotates cutting knife 6-3 is set, motor 6-4 is fastenedly connected the lower surface at connecting plate 6-2, and the output shaft of motor 6-4 connects the rotating shaft of cutting knife 6-3 to drive cutting knife 6-3 to rotate.During work, motor 6-4 opens, and disc cutter 6-3 rotates, thereby and has cylinder 6-1 to drive the disc cutter 6-3 cut-out group training shoot root portion that travels forward.
As shown in Figure 1 and Figure 2, screen mechanism 7 is fastenedly connected the central rear side of the upper surface of workbench 1, and the screen mechanism relating in the patent of invention that the concrete structure of screen mechanism 7 is " CN102687666 " with publication number is identical, therefore repeat no more.Screen mechanism 7, for the cluster group of cutting after root is processed is trained to seedling dispersion the well-regulated workbench 1 that is arranged in, avoids the overlapping camera 5-3 that is beneficial to of group training seedling to organize the identification of training seedling node to each.
As shown in Figure 1, Figure 2, Figure 6 shows, transplant mechanism 8 and comprise that a support 8-0, a 3DOF rectangular co-ordinate mechanical arm 8-1 and one transplant paw 8-2.Support 8-0 is fastenedly connected the middle position at the workbench 1 at seedling picking mechanism 5 rears, the structure of support 8-0 is identical with the structure of support 5-1, and the position relationship of x axle, y axle and z axle of 3DOF rectangular co-ordinate mechanical arm 8-1 is identical with the position relationship of x axle, y axle and the z axle of 3DOF rectangular co-ordinate mechanical arm 5-2.Transplant paw 8-2 and be fixedly connected with z the tip of the axis, the concrete structure of transplanting paw 8-2 is identical with the transplanting paw relating in the patent of invention of application number for " 20110112673.2 ", therefore repeat no more.
As shown in Figure 7, a son bottle conveying mechanism 11 comprises a motor 11-0, a shaft coupling 11-1, a driving shaft 11-2, a bearing 11-3, a bearing block 11-4, a lower rotary table 11-5, a flat key 11-6, an axle sleeve 11-7, a top rotary table 11-8, four pillar 11-9 and annular retaining ring 11-10.Wherein, motor 11-0 is vertically fixed on a connection piece that is positioned at workbench 1 lower surface, the output shaft of motor 11-0 connects the lower end of driving shaft 11-2 by shaft coupling 11-1, driving shaft 11-2 is rotatably supported in by bearing 11-3 in another through hole of offering on workbench 1, bearing block 11-4 be set in driving shaft 11-2 outer and by screw fastening be connected to workbench 1 lower surface so that bearing 11-3 be seated on bearing block 11-4.The upper end of driving shaft 11-2 is located at its outside axle sleeve 11-7 by flat key 11-6 key adapter sleeve, the upper and lower surface of axle sleeve 11-7 by bolt respectively symmetry be fastenedly connected top rotary table 11-8 and lower rotary table 11-5.The structure of top rotary table 11-8, lower rotary table 11-5, pillar 11-9 and annular retaining ring 11-10 is identical with the structure of top rotary table 3-8, lower rotary table 3-6, pillar 3-10 and annular retaining ring 3-9.
When drive motors 11-0 starts, by shaft coupling 11-1, drive driving shaft 11-2 to rotate, driving shaft 11-2 drives the axle sleeve 11-7 being fixed together with it to rotate, axle sleeve 11-7 drives the upper and lower upper rotating disc 11-8 being connected and lower rotating disc 11-5 rotation, thereby the son bottle being positioned in four half round cut of top rotary table 11-8 and lower rotary table 11-5 is transported to different stations.
As shown in Figure 1 and Figure 2, station of the present invention is divided into female bottle input station I, the station II that uncaps, gets seedling station III, the station IV that is completely cured, screen station V, transplants station VI, closing lid station VII, son bottle output station VIII, son bottle input station IX and female bottle output station X by group training seedling migration process.
Describe using method of the present invention below in detail:
1) start the motor 3-0 of female bottle conveying mechanism 3, make one of them half round cut of top rotary table 3-8 and lower rotary table 3-6 corresponding with the conveyer belt of female bottle immigration conveyer belt 2, growth inside is needed to female bottle of transplantation group training seedling and by a female bottle immigration conveyer belt 2, transmits and be installed in half round cut, now arrive female bottle and input station I.
2) female bottle conveying mechanism 3 drives the female bottle on the half round cut that is installed on top rotary table 3-8 and lower rotary table 3-6 to clockwise rotate 90 ° to the station II that uncaps along annular retaining ring 3-9, starts cap-opening mechanism 4, opens the bottle cap of female bottle.
3) female bottle conveying mechanism 3 continues to clockwise rotate 45 ° of time-outs, cap-opening mechanism 4 is put into bottle cap the bottle lid slideway 3-11 of female bottle conveying mechanism 3, bottle cap is along the passage landing consisting of top rotary table 3-8, Connection Block 3-7, lower rotary table 3-6 and hollow rotating shaft 3-3 center hole, and female bottle conveying mechanism 3 continues to clockwise rotate 45 ° of arrival and gets seedling station III.
4) start seedling picking mechanism 5 to getting seedling station III, get seedling paw 5-5 and enter female bottle by all groups of training seedlings taking-up in bottle, get seedling paw 5-5 clamping group training seedling and move to the station IV that is completely cured, start the mechanism 6 of being completely cured, cut-out group training shoot root portion.
5) seedling picking mechanism 5 continues to move to screen station V, get seedling paw 5-5 arrive screen mechanism 7 directly over after relieving group training seedling, group training seedling is scattered in screen mechanism 7, unlatching screen mechanism 7 carries out screen by the cluster group training seedling being scattered thereon to be made it to disperse and well-regulated being arranged on workbench 1, and screen mechanism 7 exits station V and quits work.
6) in screen mechanism 7 screen group training seedlings, female bottle conveying mechanism 3 continues half-twist, empty female bottle moves to female bottle output station X, female bottle shifts out driving-belt 9 by female bottle and shifts out workbench 1, now the next female bottle for the treatment of transplantation group training seedling that is equipped with moves to and gets seedling station III, waits for and gets seedling operation.
7) start and be positioned at the camera 5-3 on seedling picking mechanism 5, by camera 5-3, gather marshalling group training seedling image information and be sent to calculator and carry out image processing, each node that each strain group trains on seedling identify and calculated to calculator is the position of cut point.Seedling picking mechanism 5 moves to respectively the position of each cut point and opens laser instrument 5-6 simultaneously, by laser instrument 5-6, each identified cut point is just cut, and completes after the cutting of all cut points seedling picking mechanism 5 and moves to and get seedling station III.
8) in by laser instrument 5-6 cutting group training seedling node, the son bottle that son bottle immigration conveyer belt 10 is organized training seedling afterwards by cutting to be installed is delivered to son bottle input station IX, son bottle conveying mechanism 11 clockwise rotates 90 °, and the son bottle clamping is thereon delivered to transplanting station VI, waits for graft procedure.
9) open and transplant the node location that mechanism 8 moves to group training seedling, transplanting paw 8-2 picks up the training seedling section of cutting group and moves to and transplants station VI, transplants paw 8-2 by seedling section intron bottle, transplants mechanism's 8 these operations of repetition.
10) when in a son bottle, transplanting is to the seedling section of setting quantity, son bottle conveying mechanism 11 continues to clockwise rotate 90 °, the son bottle that installs seedling section arrives closing lid station VII, closing mechanism 12 captures the bottle cap that is placed in advance on top rotary table 11-8 to its closing lid, and now the next one is waited to transplant son bottle and moved to and transplant station VI.Repeating step 9) course of work～10) is until take the seedling section on workbench 1, and the son bottle of having transplanted seedling section is shifted out the conveyer belt output working table 1 of conveyer belt 13 at a son bottle output station IX by son bottle.
Above step repeats, until transplanted all group training seedlings.
The various embodiments described above are only for illustrating the present invention; wherein the structure of each parts, connected mode and manufacture craft etc. all can change to some extent; every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (6)
1. tissue culture sprout quick based on a laser cutting speed tree-remover, it comprises: a workbench, one female bottle immigration conveyer belt and the son bottle that is symmetricly set on described workbench two ends shifts out conveyer belt, the one female bottle that is symmetricly set on described workbench the 3rd end shifts out conveyer belt and son bottle immigration conveyer belt, one rotation is arranged on described workbench and is positioned at described female bottle immigration conveyer belt and female bottle of female bottle conveying mechanism that shifts out the center line intersection point place of conveyer belt, one rotation is arranged on described workbench and is positioned at described son bottle immigration conveyer belt and sub bottle of son bottle conveying mechanism that shifts out the center line intersection point place of conveyer belt, one fastening cap-opening mechanism and closing mechanism and a fastening transplanting mechanism that is arranged on described female bottle conveying mechanism and son bottle conveying mechanism the 3rd end that is arranged on described female bottle conveying mechanism and son bottle conveying mechanism the 4th end respectively, it is characterized in that: it also comprises a fastening seedling picking mechanism being arranged between described female bottle conveying mechanism and son bottle conveying mechanism, one is arranged on described seedling picking mechanism and transplants screen mechanism and between mechanism and is fastenedly connected in described transplanting mechanism one end and is positioned at the mechanism of being completely cured above described female bottle conveying mechanism,
Wherein, described seedling picking mechanism comprises that a support, a 3DOF rectangular co-ordinate mechanical arm, a camera, a plate, get seedling paw and a laser instrument; Described support is fastenedly connected the worktable upper surface between female bottle conveying mechanism and son bottle conveying mechanism, the x axle level of described 3DOF rectangular co-ordinate mechanical arm is fastenedly connected the upper side frame of described support, y axle is vertical with x axle and can move left and right along x axle, z axle is simultaneously perpendicular to x axle and y axle, and z axle not only can move up and down but also can move forward and backward along y axle; Described camera is vertically fastenedly connected downside and described camera and the z axle homonymy of y axle one end, and described connecting plate level is fastenedly connected the lower end of z axle; The described seedling paw of getting is vertically fastenedly connected one end downside near described female bottle conveying mechanism at described connecting plate, and described laser instrument is fastenedly connected the other end downside at described connecting plate;
The described mechanism of being completely cured comprises a link, a cylinder, a plate, a cutting knife and a motor; Described in being vertically fastenedly connected, one side of described link transplants seedlings on the bar of mechanism's support adjacent with described female bottle conveying mechanism, the top of described link is fastenedly connected described cylinder, the telescopic end of described cylinder is fastenedly connected described connecting plate, on described connecting plate, be rotationally connected described cutting knife, the rotating shaft of described cutting knife connects the output shaft of described motor, and described motor is fastening to be arranged on described connecting plate; Described cutting knife is positioned at the top of described female bottle conveying mechanism.
2. a kind of tissue culture sprout quick based on laser cutting speed tree-remover as claimed in claim 1, it is characterized in that: described workbench and described female bottle immigration conveyer belt, female bottle shift out conveyer belt, son bottle immigration conveyer belt and son bottle and shift out conveyer belt joint place and all offer a breach, on described workbench, be positioned at female bottle immigration conveyer belt and female bottle and shift out the center line intersection point place that shifts out conveyer belt in conveyer belt place and son bottle immigration conveyer belt and son bottle and all offer a through hole.
3. a kind of tissue culture sprout quick speed tree-remover based on laser cutting as claimed in claim 1 or 2, is characterized in that: described female bottle conveying mechanism comprises a motor, a pinion, a gear wheel, a hollow rotating shaft, a bearing, a bearing block, a lower rotary table, a connecting seat, a top rotary table, an annular retaining ring, several pillars and some bottle lid slideways, described motor is vertical to be fixed on a connection piece that is positioned at described workbench lower surface, the output shaft of described motor connects described pinion, described pinion meshes described gear wheel, the centre bore fixed cover of described gear wheel is located at the bottom of described hollow rotating shaft, the top of described hollow rotating shaft arranges a locating flange, described hollow rotating shaft is rotatably supported in by described bearing in the through hole of offering on described workbench, described bearing sleeve be located at described hollow rotating shaft outer and by screw fastening be connected to described workbench lower surface so that described bearing be seated in wherein, described hollow rotating shaft upper surface adopts flange to be fixedly connected with described lower rotary table with screw, described lower rotary table outward flange is along circumferentially spaced set is some for clamping the half round cut of female bottle, the circular hole of a diameter and described hollow rotating shaft equal diameters is offered at described lower rotary table center, the upper surface of described lower rotary table is fastenedly connected the bottom of described Connection Block, the circular hole of a diameter and described lower rotary table center hole equal diameters is offered at the center of described Connection Block, the top of described Connection Block arranges the second flange, described top rotary table is connected on described the second flange by screw fastening, described top rotary table outward flange is also some for clamping the half round cut of female bottle along circumferentially equidistantly offering, and the shape of described top rotary table, size and gap position are identical with described lower rotary table, described bottle lid slideway is along being circumferentially set in qually spaced in the centre of the adjacent half round cut of described top rotary table, and described bottle lid slideway is for receiving bottle cap and bottle cap being slipped in the passage that the centre bore by described top rotary table, Connection Block, lower rotary table and hollow rotating shaft forms, described annular retaining ring is looped around the outside between described top rotary table and lower rotary table by the described pillar being equidistantly fastenedly connected in described worktable upper surface, and described annular retaining ring is offered and the equal-sized breach of half round cut at the half round cut place of described top rotary table and lower rotary table, described annular retaining ring is for the protection of the female bottle being installed in the half round cut of described top rotary table and lower rotary table.
4. a kind of as described in claim 1～3 any one tissue culture sprout quick speed tree-remover based on laser cutting, is characterized in that: described transplantings mechanism comprises the second support, the second 3DOF rectangular co-ordinate mechanical arm and a transplanting paw; Described the second support is fastenedly connected the middle position at the described workbench of described screen mechanism one end, the x axle of described the second 3DOF rectangular co-ordinate mechanical arm is fastenedly connected the upper side frame of described support, y axle is vertical with x axle and can move left and right along x axle, z axle is simultaneously perpendicular to x axle and y axle, and z axle not only can move up and down but also can move forward and backward along y axle, and described transplanting paw is fixedly connected with the bottom of described z axle.
5. a kind of tissue culture sprout quick speed tree-remover based on laser cutting as claimed in claim 4, is characterized in that: described son bottle conveying mechanism comprises the second motor, a shaft coupling, a driving shaft, the second bearing, the second bearing block, the second lower rotary table, a flat key, an axle sleeve, the second top rotary table, some the second pillars and the second annular retaining ring; Wherein, described the second motor is fixed on another connector that is positioned at described workbench lower surface, the output shaft of described the second motor connects one end of described driving shaft by described shaft coupling, described driving shaft is rotatably supported in by described the second bearing in another through hole of offering on described workbench, described the second bearing sleeve be located at described driving shaft outer and by screw fastening be connected to described workbench lower surface so that described the second bearing be seated on described the second bearing block; The other end of described driving shaft is located at the described axle sleeve of its outside by described flat key key adapter sleeve, the upper and lower surface of described axle sleeve by bolt respectively symmetry be fastenedly connected described the second top rotary table and the second lower rotary table; The structure of described the second top rotary table, the second lower rotary table, the second pillar and the second annular retaining ring is identical with the structure of described top rotary table, lower rotary table, pillar and annular retaining ring.
6. a trasplanting method for the speed of the tissue culture sprout quick based on laser cutting as described in claim 1～5 any one tree-remover, the station of tissue culture sprout quick speed tree-remover delivery groups training seedling is divided into female bottle input station, the station of uncapping, gets seedling station, the station of being completely cured, screen station, transplants station, closing lid station, son bottle output station, son bottle input station and female bottle output station by group training seedling migration process; It comprises the following steps:
1) female bottle immigration conveyer belt is sent into female bottle that growth inside has group training seedling, arrives female bottle input station, and now female bottle is just stuck in female bottle top rotary table of conveying mechanism and the half round cut of lower rotary table;
2) female bottle conveying mechanism drives the female bottle on the half round cut that is installed on top rotary table and lower rotary table to clockwise rotate 90 ° to the station of uncapping along annular retaining ring, starts cap-opening mechanism, opens the bottle cap of female bottle;
3) female bottle conveying mechanism continues to clockwise rotate 45 ° of time-outs, cap-opening mechanism is put into bottle cap the bottle lid slideway of female bottle conveying mechanism, bottle cap is along the passage landing consisting of top rotary table, Connection Block, lower rotary table and hollow rotating shaft center hole, and female bottle conveying mechanism continues to clockwise rotate 45 ° of arrival and gets seedling station;
4) start seedling picking mechanism to getting seedling station, get seedling paw and enter female bottle by all groups of training seedlings taking-up in bottle, get seedling paw clamping group training seedling and move to the station of being completely cured, start the mechanism of being completely cured, cut-out group training shoot root portion;
5) seedling picking mechanism continues to move to screen station, get seedling paw arrive screen mechanism directly over after relieving group training seedling, group training seedling is scattered in screen mechanism, unlatching screen mechanism carries out screen by the cluster group training seedling being scattered thereon to be made it to disperse and well-regulated being arranged on workbench, and screen mechanism exits station and quits work;
6) in screen mechanism screen group training seedling, female bottle conveying mechanism continues half-twist, and empty female bottle moves to female bottle output station, and female bottle shifts out driving-belt by female bottle and shifts out workbench, now the next female bottle for the treatment of transplantation group training seedling that is equipped with moves to and gets seedling station, waits for and gets seedling operation;
7) start and be positioned at the camera on seedling picking mechanism, trained the image information of seedling and be sent to calculator carry out image processing by the group of collected by camera marshalling, each node that calculator is identified and calculated on each strain group training seedling is the position of cut point; Seedling picking mechanism moves to respectively the position of each cut point and opens laser instrument simultaneously, by laser instrument, each identified cut point is just cut, and completes after the cutting of all cut points seedling picking mechanism and moves to and get seedling station;
8) in by laser instrument cutting group training seedling node, the son bottle that son bottle immigration conveyer belt is organized training seedling afterwards by cutting to be installed is delivered to son bottle input station, son bottle conveying mechanism clockwise rotates 90 °, and the son bottle clamping is thereon delivered to transplanting station, waits for graft procedure;
9) open and transplant the node location that mechanism moves to group training seedling, transplant paw and pick up the training seedling section of cutting group and move to transplanting station, transplant paw by seedling section intron bottle, transplant mechanism and repeat this operation;
10) when in a son bottle, transplanting is to the seedling section of setting quantity, son bottle conveying mechanism continues to clockwise rotate 90 °, the son bottle that installs seedling section arrives closing lid station, and closing mechanism captures the bottle cap that is placed in advance on top rotary table to its closing lid, and now the next one is waited to transplant son bottle and moved to transplanting station; Repeating step 9) course of work～10) is until take the seedling section on workbench, and the son bottle of having transplanted seedling section shifts out conveyer belt output working table at a son bottle output station by son bottle.
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| CN201310647031.1A CN103636331B (en) | 2013-12-04 | 2013-12-04 | A kind of quick tree-remover of tissue cultured seedling based on cut and implantation method thereof |
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| CN201310647031.1A CN103636331B (en) | 2013-12-04 | 2013-12-04 | A kind of quick tree-remover of tissue cultured seedling based on cut and implantation method thereof |
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