CN103636331B - A kind of quick tree-remover of tissue cultured seedling based on cut and implantation method thereof - Google Patents
A kind of quick tree-remover of tissue cultured seedling based on cut and implantation method thereof Download PDFInfo
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- CN103636331B CN103636331B CN201310647031.1A CN201310647031A CN103636331B CN 103636331 B CN103636331 B CN 103636331B CN 201310647031 A CN201310647031 A CN 201310647031A CN 103636331 B CN103636331 B CN 103636331B
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Abstract
The present invention relates to a kind of quick tree-remover of tissue cultured seedling based on cut and implantation method thereof, it includes workbench, the female bottle being arranged on workbench two ends moves into conveyer belt and sub-bottle removal conveyer belt, the female bottle removal conveyer belt and the sub-bottle that are arranged on workbench the 3rd end move into conveyer belt, arrange on the table and be positioned at female bottle conveying mechanism that female bottle moves into the centrage point of intersection of conveyer belt and female bottle removal conveyer belt, arrange on the table and be positioned at the sub-bottle conveying mechanism that sub-bottle moves into the centrage point of intersection of conveyer belt and sub-bottle removal conveyer belt, it is separately positioned on female bottle conveying mechanism and the cap-opening mechanism of sub-bottle conveying mechanism the 4th end and closing mechanism and is arranged on female bottle conveying mechanism and the transplanting mechanism of sub-bottle conveying mechanism the 3rd end.It also includes the seedling picking mechanism being arranged between female bottle conveying mechanism and sub-bottle conveying mechanism, is arranged on seedling picking mechanism and the screen mechanism transplanted between mechanism and is fastenedly connected in transplanting mechanism one end and is positioned at the mechanism of being completely cured above female bottle conveying mechanism.
Description
Technical field
The present invention relates to a kind of tissue cultured seedling and transplant mechanism, especially with regard to a kind of based on cut for plant fast propagation
The upright quick tree-remover of strip tissue cultured seedling and implantation method thereof in Subculture.
Background technology
Plant fast propagation technology refers to a kind of method for culturing seedlings utilizing plant tissue culture technique to carry out plant propagation, due to it
Breeding cycle is short, breeding environment controllability is strong and some are difficult to the plant thing of self-reproduction or self-reproduction existing defects
The features such as the kind suitability is strong are widely used to the breeding of detoxic seedling, ornamental flower, commodity trees etc..Plant fast propagation skill
The operating procedure of art generally comprises the acquisition of outer implant, inducing culture, successive transfer culture, root culture and strongization cultivation, whole
Individual fast numerous process needs to put into substantial amounts of labour force, especially successive transfer culture and needs to be divided into every tissue cultured seedling little stem section
Always work during the amount of labour needed for the most each stem section implanted device culture bottle, successive transfer culture being accounted for whole quick propagating and cultivating
The overwhelming majority of amount, the most traditional successive transfer culture constrains the development of plant fast propagation technology significantly.Japan, Britain and
The ground such as TaiWan, China have developed the automatic machinery for successive transfer culture respectively, but it the most once takes a tissue cultured seedling and enters
Row node identification, cutting and migration process, one cycle of operation of this automatic machinery can only process a tissue cultured seedling,
And one bottle of tissue cultured seedling need to carry out the image procossing number of times equal with tissue cultured seedling strain number in bottle, therefore exist inefficiency,
High in cost of production defect.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide one be capable of batch quickly seedling taking, identify, cut,
The quick tree-remover of tissue cultured seedling based on cut of screen and implantation method thereof.
For achieving the above object, the present invention takes techniques below scheme: a kind of tissue cultured seedling based on cut quickly moves
Planting machine, it includes: a workbench, and a female bottle being symmetricly set on described workbench two ends moves into conveyer belt and sub-bottle moves
Go out conveyer belt, one be symmetricly set on described workbench the 3rd end female bottle removal conveyer belt and sub-bottle move into conveyer belt, one
Rotate and be arranged on described workbench and be positioned at described female bottle immigration conveyer belt and the centrage intersection point of female bottle removal conveyer belt
Female bottle conveying mechanism at place, a rotation is arranged on described workbench and is positioned at described sub-bottle and moves into conveyer belt and the shifting of sub-bottle
Go out the sub-bottle conveying mechanism of the centrage point of intersection of conveyer belt, one respectively fastening be arranged on described female bottle conveying mechanism and son
The cap-opening mechanism of bottle conveying mechanism the 4th end and closing mechanism and a fastening are arranged on described female bottle conveying mechanism and sub-bottle
The transplanting mechanism of conveying mechanism the 3rd end；It is characterized in that: it also includes that a fastening is arranged on described female bottle conveying mechanism
And the seedling picking mechanism between sub-bottle conveying mechanism, one is arranged on described seedling picking mechanism and the screen mechanism transplanted between mechanism
And one be fastenedly connected and transplant mechanism one end described and be positioned at the mechanism of being completely cured above described female bottle conveying mechanism；Wherein,
Described seedling picking mechanism includes a support, a 3DOF Cartesian robot arm, a camera, a plate, a seedling taking
Paw and a laser instrument；Described support is fastenedly connected on the workbench between female bottle conveying mechanism and sub-bottle conveying mechanism
Surface, the x-axis level of described 3DOF Cartesian robot arm is fastenedly connected the upper side frame of described support, y-axis and x
Axle is vertical and can move left and right along x-axis, and z-axis is both perpendicular to x-axis and y-axis, and z-axis not only can move up and down but also can
Move forward and backward along y-axis；Described camera perpendicular fastener connects the downside of y-axis one end and described camera and z-axis homonymy, institute
State connecting plate level and be fastenedly connected the lower end of z-axis；Described seedling taking paw perpendicular fastener is connected to described connecting plate near institute
Stating on the downside of one end of female bottle conveying mechanism, described laser instrument is fastenedly connected on the downside of the other end of described connecting plate；Described
Mechanism of being completely cured includes a link, a cylinder, a plate, a cutting knife and a motor；The side of described link is erected
Transplant seedlings on the bar of mechanism's support adjacent with described female bottle conveying mechanism described in being directly fastenedly connected, the top of described link
Being fastenedly connected described cylinder, the telescopic end of described cylinder is fastenedly connected described connecting plate, and described connecting plate is rotationally connected
Described cutting knife, the rotating shaft of described cutting knife connects the output shaft of described motor, and the fastening of described motor is arranged on described connecting plate
On；Described cutting knife is positioned at the top of described female bottle conveying mechanism.
Described workbench and described female bottle move into conveyer belt, female bottle removes conveyer belt, sub-bottle moves into conveyer belt and sub-bottle
A breach is all offered in removal conveyer belt joint place, described workbench is positioned at female bottle immigration conveyer belt and female bottle removal transmits
At band and sub-bottle move into conveyer belt and sub-bottle removal conveyer belt centrage point of intersection all offer a through hole.
Described female bottle conveying mechanism include a motor, a little gear, a gear wheel, a hollow rotating shaft, a bearing, one
Bearing block, a lower rotary table, a connecting seat, a top rotary table, an annular retaining ring, several pillars and some bottle lid slideways；
On the vertical a connection piece being held within described workbench lower surface of described motor, the output shaft of described motor connects institute
Stating little gear, described little gear engages described gear wheel, and the centre bore fixed cover of described gear wheel is located at described hollow turn
The bottom of axle, the top of described hollow rotating shaft arranges a locating flange, and described hollow rotating shaft is rotated by described bearing and props up
In the through hole that support is offered on described workbench, described bearing sleeve is located at outside described hollow rotating shaft and is fastened by screw
It is connected to the lower surface of described workbench so that described bearing is seated in wherein；Described hollow rotating shaft upper surface uses flange
Dish and the screw described lower rotary table of fixing connection, described lower rotary table outward flange circumferentially spaced set is some for card dress mother
The half round cut of bottle, described lower rotary table center offers the circular hole of a diameter and described hollow rotating shaft equal diameters, described under
The upper surface of rotating disk is fastenedly connected the bottom of described connection seat, the center of described connection seat offer a diameter with described lower turn
The circular hole that disk center's Circularhole diameter is equal, the top of described connection seat arranges the second flange, and described top rotary table passes through screw
Being fastenedly connected on described second flange, described top rotary table outward flange is the most equidistantly offered some for card dress mother
The half round cut of bottle, and the shape of described top rotary table, size and gap position are identical with described lower rotary table；Described bottle
Lid slideway is 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 used for receiving
Bottle cap also makes bottle cap slip in the passage being made up of the centre bore of described top rotary table, connection seat, lower rotary table and hollow rotating shaft；
Described annular retaining ring is looped around described top rotary table by being equidistantly fastenedly connected the described pillar in described worktable upper surface
And the outside between lower rotary table, and described annular retaining ring offers and half at the half round cut of described top rotary table and lower rotary table
The circle equal-sized breach of breach, the semicircle that described annular retaining ring is contained in described top rotary table and lower rotary table for protection card lacks
Female bottle in Kou.
Described transplanting mechanism includes that the second support, the second 3DOF Cartesian robot arm and one transplant paw；Described
Second support is fastenedly connected the middle position of the described workbench in described screen mechanism one end, described second 3DOF
The x-axis of Cartesian robot arm is fastenedly connected the upper side frame of described support, and y-axis is vertical with x-axis and can be along about x-axis
Mobile, z-axis is both perpendicular to x-axis and y-axis, and z-axis not only can move up and down but also can move forward and backward along y-axis, described
Transplant paw and fix the bottom connecting described z-axis.
Described sub-bottle conveying mechanism include the second motor, a shaft coupling, a drive shaft, the second bearing, the second bearing block,
Second lower rotary table, a flat key, an axle sleeve, the second top rotary table, some second pillars and the second annular retaining ring；Wherein,
Described second motor is held within another connector of described workbench lower surface, the output shaft of described second motor
Connected one end of described drive shaft by described shaft coupling, described drive shaft is rotatably supported in institute by described second bearing
Stating in another through hole offered on workbench, described second bearing sleeve is located at outside described drive shaft and is fastened by screw
It is connected to the lower surface of described workbench so that described second bearing is seated on described second bearing block；Described drive shaft
The other end be set in its outside described axle sleeve by described flat key is bonded, the upper and lower surface of described axle sleeve passes through spiral shell
Bolt is respectively symmetrically and is fastenedly connected described second top rotary table and the second lower rotary table；Described second top rotary table, the second lower rotary table,
The structure of 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 cultured seedling quick tree-remover conveying tissue cultured seedling is divided into female bottle input station by tissue cultured seedling migration process, is uncapped
Station, seedling taking station, station of being completely cured, screen station, transplanting station, closing lid station, sub-bottle output station, sub-bottle
Input station and female bottle output station；It comprises the following steps: 1) female bottle moves into conveyer belt feeding growth inside group training
Female bottle of Seedling, arrives female bottle input station, and now female bottle is just stuck in the top rotary table of female bottle conveying mechanism and lower rotary table
In half round cut；2) female bottle conveying mechanism drives the female bottle being installed on the half round cut of top rotary table and lower rotary table along ring
Shape back-up ring rotate clockwise 90 ° to UNCAPPING STATION, start cap-opening mechanism, open the bottle cap of female bottle；3) female bottle conveyer
Structure continues to rotate clockwise 45 ° of time-outs, and bottle cap is put into the bottle lid slideway of female bottle conveying mechanism, bottle cap by cap-opening mechanism
Along the passage landing being made up of top rotary table, connection seat, lower rotary table and hollow rotating shaft center hole, female bottle conveying mechanism continues
Continue and rotate clockwise 45 ° of arrival seedling taking stations；4) startup seedling picking mechanism is to seedling taking station, and seedling taking paw enters female bottle will
In bottle, all tissue cultured seedlinies take out, and seedling taking paw clamping tissue cultured seedling moves to station of being completely cured, and starts mechanism of being completely cured, cut-out group
Seedlings cultivating root；5) seedling picking mechanism continues to move to screen station, and seedling taking paw is decontroled after arriving the surface of screen mechanism
Tissue cultured seedling, tissue cultured seedling is scattered in screen mechanism, and unlatching screen mechanism will be scattered in cluster tissue cultured seedling thereon and sieve
Reason be allowed to dispersion and well-regulated arrangement on the table, screen mechanism exits station and quits work；6) at screen machine
While structure screen tissue cultured seedling, female bottle conveying mechanism continues half-twist, and empty female bottle moves to female bottle output station,
Mother's bottle is by female bottle removal transmission band removal workbench, and now the next one moves to take equipped with the female bottle treating transplantation group seedlings cultivating
Seedling station, waits seedling taking operation；7) camera being positioned on seedling picking mechanism is started, by collected by camera marshalling
The image information of tissue cultured seedling is also sent to computer and carries out image procossing, and computer identification also calculates each strain tissue cultured seedling
On each node i.e. position of cut point；Seedling picking mechanism is respectively moved to the position of each cut point and opens laser simultaneously
Device, is just cut each cut point identified by laser instrument, completes seedling taking machine after the cutting of all cut points
Structure moves to seedling taking station；8) while by laser instrument cutting tissue cultured seedling node, sub-bottle moves into conveyer belt and cuts to be installed
The sub-bottle cutting rear tissue cultured seedling is delivered to sub-bottle input station, and sub-bottle conveying mechanism rotates clockwise 90 °, will be installed on it
On sub-bottle be delivered to transplant station, wait graft procedure；9) open transplanting mechanism and move to the node location of tissue cultured seedling,
Transplanting paw is picked up and is cut tissue cultured seedling section and move to transplant station, transplants paw by Seedling section intron bottle, tree-remover
Structure repeats this operation；10) when in a sub-bottle transplanting to set quantity Seedling section time, sub-bottle conveying mechanism continue up time
Pin rotates 90 °, and the sub-bottle installing Seedling section arrives closing lid station, and closing mechanism captures and is placed on the bottle on top rotary table in advance
Lid is to its closing lid, and now the next one waits that transplanting sub-bottle moves to transplant station；Repeat step 9)～10) worked
Cheng Zhizhi takes the Seedling section on workbench, and the sub-bottle having transplanted Seedling section is defeated by sub-bottle removal conveyer belt in sub-bottle output station
Go out workbench.
Due to the fact that and take above technical scheme, it has the advantage that 1, due to female bottle and the sub-bottle of the present invention defeated
The rotating disk sending mechanism uses circle, and the conveyer belt that is movable into and out of female bottle and sub-bottle turns at circular female bottle and sub-bottle supply
Circumference 90 ° of settings of difference of dish, therefore compact integral structure, each arrangement of mechanism are reasonable.2, taking due to the present invention
Seedling mechanism once takes out all tissue cultured seedlinies in a female bottle and carries out cutting lateral root, and therefore work efficiency is high.3, due to this
All tissue cultured seedlinies in one female bottle were disperseed and aligned transfer before cut by invention by screen mechanism, therefore
It can be avoided that the node of individual plant tissue cultured seedling overlaps, it is achieved thereby that one bottle of tissue cultured seedling only need to carry out an image procossing, subtract
Lack the number of times of cycle of operation.4, use the node of cut tissue cultured seedling due to the present invention, not only eliminate tradition and cut
Complicated machinery mechanism needed for cutter, it is thus also avoided that brought viral communication reused by tradition cutting knife, in addition,
Also improve cutting efficiency.5, cluster strip tissue cultured seedling during the present invention is applicable not only to plant tissue culture Subculture
Rapid transplant operation, it is possible to make it be applicable to the quick of other strip plant seedling by changing the structural parameters of the present invention
Transplant, therefore there is the strongest suitability.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the quick tree-remover of tissue cultured seedling 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 the quick tree-remover of tissue cultured seedling
Fig. 4 is the structural representation of the seedling picking mechanism of the quick tree-remover of tissue cultured seedling
Fig. 5 is the structural representation of the mechanism of being completely cured of the quick tree-remover of tissue cultured seedling
Fig. 6 is the structural representation of the mechanism of transplanting seedlings of the quick tree-remover of tissue cultured seedling
Fig. 7 is the structural representation of the sub-bottle conveying mechanism of the quick tree-remover of tissue cultured seedling
Detailed description of the invention
With embodiment, the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention includes that the female bottle of a workbench 1, moves into the female bottle conveyer of conveyer belt 2,
Structure 3, one cap-opening mechanism 4, seedling picking mechanism 5, one be completely cured screen mechanism of mechanism 6, one 7, transplant mechanism 8,
Female bottle removal sub-bottle of conveyer belt 9, moves into conveyer belt 10, son bottle conveying mechanism 11, closing mechanism 12 and
Sub-bottle removal conveyer belt 13.Sub-bottle removal conveyer belt 13 and female bottle move into conveyer belt 2 and are symmetricly set on workbench 1
The left and right sides, sub-bottle moves into conveyer belt 10 and female bottle removal conveyer belt 9 is arranged on and removes conveyer belt 13 with sub-bottle respectively
Move on rear side of the workbench 1 that conveyer belt 2 is adjacent with mother's bottle, and female bottle moves into conveyer belt 2, female bottle removes conveyer belt 9,
It is concordant with the upper plane of workbench 1 with the working face of sub-bottle removal conveyer belt 13 that sub-bottle moves into conveyer belt 10.Sub-bottle
Conveying mechanism 11 and female bottle conveying mechanism 3 rotate with the longitudinal section of workbench 1 for the plane of symmetry and are arranged on workbench 1,
Sub-bottle conveying mechanism 11 and female bottle conveying mechanism 3 front end are respectively provided with closing mechanism 12 and cap-opening mechanism 4, and sub-bottle is defeated
Send and between mechanism 11 and female bottle conveying mechanism 3, seedling picking mechanism 5 is set, the workbench 1 at seedling picking mechanism 5 rear is arranged
Screen mechanism 7, on the workbench 1 at screen mechanism 7 rear, fixing connection transplants mechanism 8, transplants the right support of mechanism 8
The upper mechanism 6 of being completely cured that is connected.
As shown in Figure 1 and Figure 2, workbench 1 is the desk that a table top is thicker, and workbench 1 arranged on left and right sides is symmetrical
One breach is set, is respectively used to laminating and sub-bottle removal conveyer belt 13 and female bottle immigration conveyer belt 2, workbench 1 are set
Rear side be symmetrical arranged two breach, be respectively used to laminating and sub-bottle is set moves into conveyer belt 10 and female bottle removal conveyer belt 9,
At the cross central line of workbench 1, one through hole is respectively set with the position of intersecting point of the vertical centrage of two breach of rear side,
It is respectively used to a chapelet bottle conveying mechanism 11 and the bearing of female bottle conveying mechanism 3.
As it is shown on figure 3, female bottle conveying mechanism 3 include a motor 3-0, a little gear 3-1, a gear wheel 3-2, one
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 secured in place
On a connection piece of workbench 1 lower surface, the output shaft of motor 3-0 connects little gear 3-1, little gear 3-1 and nibbles
Closing 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, hollow rotating shaft 3-3
Top one locating flange is set, hollow rotating shaft 3-3 is rotatably supported in offer on workbench 1 logical by bearing 3-4
In hole, bearing block 3-5 be set in hollow rotating shaft 3-3 outer and by screw be fastenedly connected workbench 1 lower surface with
Bearing 3-4 is made to be seated in wherein.Hollow rotating shaft 3-3 upper surface uses ring flange and screw fixing connection lower rotary table 3-6,
Lower rotary table 3-6 outward flange circumferentially spaced set four is for blocking the half round cut of the female bottle of dress, lower rotary table 3-6 center
Offering the circular hole of a diameter and the equal diameters of hollow rotating shaft 3-3, the upper surface of lower rotary table 3-6 is fastenedly connected connection seat
The bottom of 3-7, the center connecting seat 3-7 offers the circular hole of a diameter and lower rotary table 3-6 center hole equal diameters,
The top connecting seat 3-7 is also provided with a flange, and top rotary table 3-8 is fastenedly connected by screw and is connecting seat 3-7 top
On flange, top rotary table 3-8 outward flange the most equidistantly offers four half round cut for the card female bottle of dress, and on
The shape of rotating disk 3-8, size and gap position are identical with lower rotary table 3-6.Four bottle lid slideway 3-11 tilted
Circumferentially being set in qually spaced in the centre of the adjacent half round cut of top rotary table 3-8, bottle lid slideway 3-11 is used for receiving bottle cap also
Bottle cap is made to slip into by top rotary table 3-8, connect what the center hole of seat 3-7, lower rotary table 3-6 and hollow rotating shaft 3-3 was constituted
In passage.Annular retaining ring 3-9 is looped around at four pillar 3-10 of workbench 1 upper surface by being equidistantly fastenedly connected
Outside between top rotary table 3-8 and lower rotary table 3-6, and annular retaining ring 3-9 is top rotary table 3-8's and lower rotary table 3-6
Offering breach equal-sized with half round cut at half round cut, annular retaining ring 3-9 is contained in top rotary table 3-8 for protection card
With the female bottle in the half round cut of lower rotary table 3-6.
When motor 3-0 starts, driving little gear 3-1 to rotate, little gear 3-1 drives the gear wheel 3-2 being engaged with
Rotating, hollow rotating shaft 3-3 rotates with gear wheel 3-2, drives lower turn be fixed together with hollow rotating shaft 3-3
Dish 3-6, connection seat 3-7 rotate together with top rotary table 3-8, thus will be positioned over top rotary table 3-8 and lower rotary table 3-6
Four half round cut in female bottle be transported to different stations.
As shown in Figure 1 and Figure 2, closing mechanism 12 is identical with cap-opening mechanism 4, simply presss from both sides the direction of motion phase of lid paw
Instead, closing mechanism 12 is that the bottle cap being transmitted to culture bottle below is built and opened with the function of cap-opening mechanism 4.
Relate in the concrete structure of female bottle cap-opening mechanism 4 and the patent of invention of Application No. " 201110082646.5 " uncaps
Mechanism is identical, therefore repeats no more.
As shown in Figure 1, Figure 2, Figure 4 shows, seedling picking mechanism 5 includes a support 5-1, a 3DOF rectangular coordinate machinery
Arm 5-2, a camera 5-3, a plate 5-4, an a seedling taking paw 5-5 and laser instrument 5-6.Support 5-1 fastens
It is connected between female bottle conveying mechanism 3 and sub-bottle conveying mechanism 11 on workbench 1,3DOF Cartesian robot arm
The x-axis level of 5-2 is fastenedly connected the upper side frame of support 5-1, and y-axis is vertical with x-axis and can move left and right along x-axis, z
Axle is both perpendicular to x-axis and y-axis, and z-axis not only can move up and down but also can move forward and backward along y-axis.Camera 5-3 is vertical
It is fastenedly connected the downside in y-axis one end, and camera 5-3 and z-axis homonymy, connecting plate 5-4 level is fastenedly connected at z
The lower end of axle.Seedling taking paw 5-5 perpendicular fastener is connected to the connecting plate 5-4 following table near female bottle conveying mechanism 3 one end
Face, 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, be completely cured mechanism 6 include an inverted L-shaped link 6-0, a cylinder 6-1, one
Inverted L-shaped connecting plate 6-2, a cutting knife 6-3 and a motor 6-4.Wherein vertical for link 6-0 side is fastenedly connected shifting
On the right-hand rod of the support 8-0 of Seedling mechanism 8, the upper surface of the horizontal side of link 6-0 is fastenedly connected cylinder 6-1,
The height of link 6-0 is the top making cutting knife 6-3 be positioned at female bottle, and side vertical for connecting plate 6-2 is fastenedly connected gas
The telescopic end of cylinder 6-1, the upper surface rotation of the horizontal side of connecting plate 6-2 arranges cutting knife 6-3, motor 6-4 and fastens even
Being connected on the lower surface of connecting plate 6-2, the output shaft of motor 6-4 connects the rotating shaft of cutting knife 6-3 to drive cutting knife 6-3 to turn
Dynamic.During work, motor 6-4 open, disc cutter 6-3 rotate, and have cylinder 6-1 drive disc cutter 6-3 to
Front motion thus cut off tissue cultured seedling root.
As shown in Figure 1 and Figure 2, screen mechanism 7 is fastenedly connected the center rear of the upper surface of workbench 1, screen machine
The concrete structure of structure 7 is identical with the screen mechanism related in the patent of invention of Publication No. " CN102687666 ", therefore not
Repeat again.Screen mechanism 7 will be for cutting the cluster tissue cultured seedling dispersion after root processes and well-regulated be arranged in workbench 1
On, it is to avoid the overlapping of tissue cultured seedling is beneficial to the camera 5-3 identification to each tissue cultured seedling node.
As shown in Figure 1, Figure 2, Figure 6 shows, transplant mechanism 8 and include a support 8-0, a 3DOF rectangular coordinate machinery
Arm 8-1 and one transplants paw 8-2.Support 8-0 is fastenedly connected the central position of the workbench 1 at seedling picking mechanism 5 rear
Putting, the structure of support 8-0 is identical with the structure of support 5-1, the x-axis of 3DOF Cartesian robot arm 8-1, y
The position of x-axis, y-axis and the z-axis of the position relationship of axle and z-axis and 3DOF Cartesian robot arm 5-2
Relation is identical.Transplant paw 8-2 and fix the end connecting z-axis, transplant concrete structure and the Application No. of paw 8-2
The transplanting paw related in the patent of invention of " 20110112673.2 " is identical, therefore repeats no more.
As it is shown in fig. 7, sub-bottle conveying mechanism 11 include a motor 11-0, a shaft coupling 11-1, drive shaft 11-2,
One 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 and is positioned at workbench 1
On a connection piece of lower surface, the output shaft of motor 11-0 connects the lower end of drive shaft 11-2 by shaft coupling 11-1,
Drive shaft 11-2 is rotatably supported on workbench 1 by bearing 11-3 in another through hole offered, bearing block 11-4
It is set in outside drive shaft 11-2 and is fastenedly connected the lower surface at workbench 1 by screw so that bearing 11-3 is seated in
On bearing block 11-4.The upper end of drive shaft 11-2 is set in its outside axle sleeve 11-7 by flat key 11-6 is bonded,
The upper and lower surface of axle sleeve 11-7 is respectively symmetrically by bolt and is fastenedly connected top rotary table 11-8 and lower rotary table 11-5.Top rotary table
The structure of 11-8, lower rotary table 11-5, pillar 11-9 and annular retaining ring 11-10 and top rotary table 3-8, lower rotary table 3-6,
Pillar 3-10 is identical with the structure of annular retaining ring 3-9.
When driving motor 11-0 to start, drive shaft 11-2 is driven to rotate by shaft coupling 11-1, drive shaft 11-2
Driving the axle sleeve 11-7 being fixed together therewith to rotate, axle sleeve 11-7 drives upper and lower connected upper rotating disc 11-8
Rotate with lower rotating disc 11-5, thus by four half round cut being positioned over top rotary table 11-8 and lower rotary table 11-5
Sub-bottle is transported to different stations.
As shown in Figure 1 and Figure 2, the station of the present invention is divided into female bottle input station I, work of uncapping by tissue cultured seedling migration process
Position II, seedling taking station III, the station IV that is completely cured, screen station V, transplanting station VI, closing lid station VII, sub-bottle
Output station VIII, sub-bottle input station IX and female bottle output station X.
Using method the following detailed description of the present invention:
1) start the motor 3-0 of female bottle conveying mechanism 3, make one of them semicircle of top rotary table 3-8 and lower rotary table 3-6
The conveyer belt that breach moves into conveyer belt 2 with female bottle is corresponding, growth inside needs female bottle of transplantation group seedlings cultivating by mother's bottle
Move into conveyer belt 2 to transmit and be installed in half round cut, now arrive female bottle input station I.
2) female bottle conveying mechanism 3 drive female bottle of being installed on the half round cut of top rotary table 3-8 and lower rotary table 3-6 along
Annular retaining ring 3-9 rotate clockwise 90 ° to UNCAPPING STATION II, start cap-opening mechanism 4, open the bottle cap of female bottle.
3) female bottle conveying mechanism 3 continues to rotate clockwise 45 ° of time-outs, and bottle cap is put into female bottle conveyer by cap-opening mechanism 4
In the bottle lid slideway 3-11 of structure 3, bottle cap is along by top rotary table 3-8, connection seat 3-7, lower rotary table 3-6 and hollow rotating shaft
The passage landing that 3-3 center hole is constituted, female bottle conveying mechanism 3 continues to rotate clockwise 45 ° and arrives seedling taking station
III。
4) start seedling picking mechanism 5 to seedling taking station III, seedling taking paw 5-5 entrance female bottle to be taken by tissue cultured seedlinies all in bottle
Going out, seedling taking paw 5-5 clamping tissue cultured seedling moves to the station IV that is completely cured, and starts mechanism 6 of being completely cured, cuts off tissue cultured seedling root.
5) after seedling picking mechanism 5 continues to move to the surface that screen station V, seedling taking paw 5-5 arrive screen mechanism 7
Decontroling tissue cultured seedling, tissue cultured seedling is scattered in screen mechanism 7, opens screen mechanism 7 and will be scattered in cluster group thereon training
Seedling carries out screen and is allowed to dispersion and well-regulated is arranged on workbench 1, and screen mechanism 7 exits station V and stops work
Make.
6) while screen mechanism 7 screen tissue cultured seedling, female bottle conveying mechanism 3 continues half-twist, empty female bottle fortune
Moving to female bottle output station X, female bottle removes workbench 1 by female bottle removal transmission band 9, now next equipped with waiting to move
The female bottle planting tissue cultured seedling moves to seedling taking station III, waits seedling taking operation.
7) start the camera 5-3 being positioned on seedling picking mechanism 5, gathered the tissue cultured seedling of marshalling by camera 5-3
Image information is also sent to computer and carries out image procossing, computer identification and calculate on each strain tissue cultured seedling each
The node i.e. position of cut point.Seedling picking mechanism 5 is respectively moved to the position of each cut point and opens laser instrument 5-6 simultaneously,
By laser instrument 5-6, each cut point identified just is cut, complete seedling taking machine after the cutting of all cut points
Structure 5 moves to seedling taking station III.
8) while by laser instrument 5-6 cutting tissue cultured seedling node, sub-bottle moves into conveyer belt 10 by group after cutting to be installed
The sub-bottle of seedlings cultivating is delivered to sub-bottle input station IX, and sub-bottle conveying mechanism 11 rotates clockwise 90 °, will be installed on it
On sub-bottle be delivered to transplant station VI, wait graft procedure.
9) opening transplanting mechanism 8 and move to the node location of tissue cultured seedling, transplanting paw 8-2 picks up and cuts tissue cultured seedling section
And move to transplant station VI, transplant paw 8-2 and Seedling section intron bottle, transplanting mechanism 8 are repeated this operation.
10) when in a sub-bottle transplanting to set quantity Seedling section time, sub-bottle conveying mechanism 11 continues to rotate clockwise
90 °, the sub-bottle installing Seedling section arrives closing lid station VII, and closing mechanism 12 captures and is placed on top rotary table 11-8 in advance
On bottle cap to its closing lid, now the next one is waited to transplant sub-bottle and is moved to transplant station VI.Repeat step 9)～10)
Work process until the Seedling section that takes on workbench 1, transplanted the sub-bottle of Seedling section in sub-bottle output station IX by sub-bottle
The conveyer belt output working table 1 of removal conveyer belt 13.
Above step repeats, until having transplanted all of tissue cultured seedling.
The various embodiments described above are merely to illustrate the present invention, and the structure of the most each parts, connected mode and processing technology etc. are all
Can be varied from, every equivalents carried out on the basis of technical solution of the present invention and improvement, the most should not
Get rid of outside protection scope of the present invention.
Claims (6)
1. the quick tree-remover of tissue cultured seedling based on cut, it includes: a workbench, one is symmetricly set on institute
The female bottle stating workbench two ends moves into conveyer belt and sub-bottle removal conveyer belt, and one is symmetricly set on described workbench the 3rd end
Female bottle removal conveyer belt and sub-bottle move into conveyer belt, one rotates and is arranged on described workbench and is positioned at described female bottle and move
Entering female bottle conveying mechanism of the centrage point of intersection of conveyer belt and female bottle removal conveyer belt, a rotation is arranged on described work
On platform and be positioned at described sub-bottle and move into conveyer belt and the sub-bottle conveying mechanism of centrage point of intersection of sub-bottle removal conveyer belt,
One respectively fastening be arranged on described female bottle conveying mechanism and the cap-opening mechanism of sub-bottle conveying mechanism the 4th end and closing mechanism,
One fastening is arranged on the transplanting mechanism and of described female bottle conveying mechanism and sub-bottle conveying mechanism the 3rd end and is fastenedly connected
Described transplant mechanism one end and be positioned at the mechanism of being completely cured above described female bottle conveying mechanism；It is characterized in that: it also includes
The seedling picking mechanism and one that one fastening is arranged between described female bottle conveying mechanism and sub-bottle conveying mechanism takes described in being arranged on
Seedling mechanism and the screen mechanism transplanted between mechanism；
Wherein, described seedling picking mechanism include a support, a 3DOF Cartesian robot arm, a camera, one first
Connecting plate, a seedling taking paw and a laser instrument；Described support is fastenedly connected at female bottle conveying mechanism and sub-bottle conveying mechanism
Between worktable upper surface, the x-axis level of described 3DOF Cartesian robot arm is fastenedly connected described support
Upper side frame, y-axis is vertical with x-axis and can move left and right along x-axis, and z-axis is both perpendicular to x-axis and y-axis, and z-axis was both
Can move up and down and can move forward and backward along y-axis；Described camera perpendicular fastener connects the downside of y-axis one end and described camera
With z-axis homonymy, described first connecting plate level is fastenedly connected the lower end of z-axis；Described seedling taking paw perpendicular fastener connects
At described first connecting plate on the downside of one end of described female bottle conveying mechanism, described laser instrument is fastenedly connected described the
On the downside of the other end of a plate；
Described mechanism of being completely cured includes a link, a cylinder, one second connecting plate, a cutting knife and a motor one；Described
The side of link is vertically fastenedly connected on the described bar transplanting mechanism's support adjacent with described female bottle conveying mechanism, institute
The top stating link is fastenedly connected described cylinder, and the telescopic end of described cylinder is fastenedly connected described second connecting plate, institute
Stating and be rotationally connected described cutting knife on the second connecting plate, the rotating shaft of described cutting knife connects the output shaft of described motor one, described
Motor one fastening is arranged on described second connecting plate；Described cutting knife is positioned at the top of described female bottle conveying mechanism.
A kind of quick tree-remover of tissue cultured seedling based on cut, it is characterised in that: institute
State workbench and move into conveyer belt and sub-bottle removal biography with described female bottle immigration conveyer belt, female bottle removal conveyer belt, sub-bottle
Send band joint place all to offer a breach, described workbench is positioned at female bottle immigration conveyer belt and female bottle removal conveyer belt is sentenced
And sub-bottle moves into the centrage point of intersection of conveyer belt and sub-bottle removal conveyer belt and all offers a through hole.
A kind of quick tree-remover of tissue cultured seedling based on cut, it is characterised in that:
Described female bottle conveying mechanism includes a little gear of motor two, a gear wheel, a hollow rotating shaft, a bearing, an axle
Bearing, a lower rotary table, a connecting seat, a top rotary table, an annular retaining ring, several pillars and some bottle lid slideways；
On the vertical a connection piece being held within described workbench lower surface of described motor two, the output shaft of described motor two is even
Connecing described little gear, described little gear engages described gear wheel, and the centre bore fixed cover of described gear wheel is located at described sky
The bottom of heart rotating shaft, the top of described hollow rotating shaft arranges a locating flange, and described hollow rotating shaft is turned by described bearing
Moving and be supported on described workbench in the through hole offered, described bearing sleeve is located at outside described hollow rotating shaft and passes through screw
It is fastenedly connected the lower surface at described workbench so that described bearing is seated in wherein；Described hollow rotating shaft upper surface uses
Ring flange and the screw described lower rotary table of fixing connection, described lower rotary table outward flange circumferentially spaced set is some for card
The half round cut of the female bottle of dress, the circular hole of a diameter and described hollow rotating shaft equal diameters, institute are offered in described lower rotary table center
The upper surface stating lower rotary table is fastenedly connected the bottom of described connection seat, and a diameter is offered with described in the center of described connection seat
The circular hole of lower rotary table center hole equal diameters, the top of described connection seat arranges the second flange, and described top rotary table passes through
Screw is fastenedly connected on described second flange, and described top rotary table outward flange is the most equidistantly offered some for card
The half round cut of the female bottle of dress, and the shape of described top rotary table, size and gap position are identical with described lower rotary table；Institute
Stating bottle lid slideway and be circumferentially set in qually spaced in the centre of the adjacent half round cut of described top rotary table, described bottle lid slideway is used for
Receive bottle cap and make bottle cap slip into by leading to that the centre bore of described top rotary table, connection seat, lower rotary table and hollow rotating shaft is constituted
In road；Described annular retaining ring is looped around described by being equidistantly fastenedly connected the described pillar in described worktable upper surface
Outside between top rotary table and lower rotary table, and described annular retaining ring opens at the half round cut of described top rotary table and lower rotary table
If breach equal-sized with half round cut, described annular retaining ring is contained in described top rotary table and lower rotary table for protection card
Female bottle in half round cut.
4. the quick tree-remover of a kind of based on cut tissue cultured seedling as described in any one of claim 1 or 2, it is special
Levy and be: described transplanting mechanism includes that the second support, the second 3DOF Cartesian robot arm and one transplant paw；
Described second support is fastenedly connected the middle position of the described workbench in described screen mechanism one end, and the described 2nd 3 certainly
Being fastenedly connected the upper side frame of described second support by the x-axis of degree Cartesian robot arm, y-axis is vertical with x-axis and can be along x
Axle moves left and right, and z-axis is both perpendicular to x-axis and y-axis, and z-axis not only can move up and down but also can move forward and backward along y-axis,
Described transplanting paw fixes the bottom connecting described z-axis.
A kind of quick tree-remover of tissue cultured seedling based on cut, it is characterised in that: institute
State sub-bottle conveying mechanism include the second motor, a shaft coupling, a drive shaft, the second bearing, the second bearing block, second
Lower rotary table, a flat key, an axle sleeve, the second top rotary table, some second pillars and the second annular retaining ring；Wherein, described
Second motor is held within another connector of described workbench lower surface, and the output shaft of described second motor passes through
Described shaft coupling connects one end of described drive shaft, and described drive shaft is rotatably supported in described work by described second bearing
In another through hole offered in station, described second bearing block is arranged on outside described drive shaft and is fastenedly connected by screw
At the lower surface of described workbench so that described second bearing is seated on described second bearing block；Described drive shaft another
One end is set in its outside described axle sleeve by described flat key is bonded, and the upper and lower surface of described axle sleeve is divided by bolt
Not symmetry is fastenedly connected described second top rotary table and the second lower rotary table；Described second top rotary table, the second lower rotary table, second
The structure of 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. the transplanting of the quick tree-remover of tissue cultured seedling based on cut as described in any one of Claims 1 to 5
Method, the station of tissue cultured seedling quick tree-remover conveying tissue cultured seedling is divided into female bottle input station by tissue cultured seedling migration process, is opened
Lid station, seedling taking station, station of being completely cured, screen station, transplanting station, closing lid station, sub-bottle output station, son
Bottle input station and female bottle output station；It comprises the following steps:
1) female bottle moves into conveyer belt feeding growth inside female bottle of tissue cultured seedling, arrives female bottle input station, now female bottle
Just it is stuck in female top rotary table of bottle conveying mechanism and the half round cut of lower rotary table；
2) female bottle conveying mechanism drives the female bottle being installed on the half round cut of top rotary table and lower rotary table suitable along annular retaining ring
Hour hands rotation 90 °, to UNCAPPING STATION, starts cap-opening mechanism, opens the bottle cap of female bottle；
3) female bottle conveying mechanism continues to rotate clockwise 45 ° of time-outs, and bottle cap is put into female bottle conveying mechanism by cap-opening mechanism
In bottle lid slideway, the passage landing that bottle cap edge is made up of top rotary table, connection seat, lower rotary table and hollow rotating shaft center hole,
Female bottle conveying mechanism continues to rotate clockwise 45 ° and arrives seedling taking station；
4) start seedling picking mechanism to be taken out by all tissue cultured seedlinies in bottle to seedling taking station, seedling taking paw entrance female bottle, seedling taking hands
Pawl clamping tissue cultured seedling moves to station of being completely cured, and starts mechanism of being completely cured, cuts off tissue cultured seedling root；
5) seedling picking mechanism continues to move to screen station, and seedling taking paw decontrols tissue cultured seedling after arriving the surface of screen mechanism,
Tissue cultured seedling is scattered in screen mechanism, opens screen mechanism and will be scattered in cluster tissue cultured seedling thereon and carry out screen and be allowed to point
Dissipate and well-regulated arrangement on the table, screen mechanism exits station and quits work；
6) while screen mechanism screen tissue cultured seedling, female bottle conveying mechanism continues half-twist, and empty female bottle moves to
Female bottle output station, female bottle is by female bottle removal transmission band removal workbench, now next equipped with treating transplantation group seedlings cultivating
Female bottle move to seedling taking station, wait seedling taking operation；
7) camera being positioned on seedling picking mechanism is started, by the image information of the tissue cultured seedling of collected by camera marshalling also
It is sent to computer carry out image procossing, computer identification each node calculated on each strain tissue cultured seedling and i.e. cut
The position of point；Seedling picking mechanism is respectively moved to the position of each cut point and opens laser instrument simultaneously, by laser instrument to institute
The each cut point identified just cuts, and after completing the cutting of all cut points, seedling picking mechanism moves to seedling taking station；
8) while by laser instrument cutting tissue cultured seedling node, sub-bottle moves into conveyer belt by tissue cultured seedling after cutting to be installed
Sub-bottle is delivered to sub-bottle input station, and sub-bottle conveying mechanism rotates clockwise 90 °, will be installed on sub-bottle thereon conveying
To transplanting station, wait graft procedure；
9) opening transplanting mechanism and move to the node location of tissue cultured seedling, transplanting paw is picked up and is cut tissue cultured seedling section and move
To transplanting station, transplant paw and Seedling section intron bottle, transplanting mechanism are repeated this operation；
10) when in a sub-bottle transplanting to set quantity Seedling section time, sub-bottle conveying mechanism continues to rotate clockwise 90 °,
The sub-bottle installing 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,
Now the next one waits that transplanting sub-bottle moves to transplant station；Repeat step 9)～10) work process until taking work
Seedling section in station, the sub-bottle having transplanted Seedling section is removed conveyer belt output working table in sub-bottle output station by sub-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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| CN103947348B (en) * | 2014-04-22 | 2016-04-06 | 华南农业大学 | A kind of two-freedom manipulator, pull out rice seedling throwing mechanism, control circuit and control method |
| CN107813303A (en) * | 2017-12-05 | 2018-03-20 | 广东职业技术学院 | A kind of seedling culture hole plate pick-and-place manipulator |
| CN108323290A (en) * | 2018-04-19 | 2018-07-27 | 石河子大学 | A kind of New Rotary transplanter takes throwing device automatically |
| CN109673518A (en) * | 2019-02-27 | 2019-04-26 | 重庆大学 | A kind of tissue-cultured seedling mechanization transplantation method |
| CN110548160B (en) * | 2019-10-24 | 2020-11-27 | 池州市金艺新材料有限公司 | Sterilizing and disinfecting device for plastic products |
| CN112703900B (en) * | 2020-12-27 | 2023-07-21 | 安徽思嘉瑞机械设备有限公司 | Tightening device for bundling machine pickup |
| CN114568306B (en) * | 2022-03-14 | 2024-07-09 | 甘肃省农业科学院马铃薯研究所 | Full-automatic high-throughput tissue culture and rapid propagation device for potato tissue culture seedlings |
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| MX2010008867A (en) * | 2008-02-15 | 2010-08-31 | Syngenta Participations Ag | Cutting machine. |
| NL2003072C2 (en) * | 2009-06-23 | 2010-12-27 | Wijnker Mechanisatie B V | PLANT DEVICE AND METHOD FOR PLANTING HOLDERS WITH GROWING MATERIAL IN A SUBSTRATE. |
| CN102177851B (en) * | 2011-04-01 | 2012-10-24 | 中国农业大学 | Uncover mechanism for culture bottles and operating method thereof |
| CN102598930B (en) * | 2012-03-19 | 2013-12-25 | 中国农业大学 | Tissue culture seedling automatic transplanting mechanism and seedling transplanting method thereof |
| TW201338694A (en) * | 2012-03-22 | 2013-10-01 | Year Sing Entpr Co Ltd | Flower planting machine and automated operation process thereof |
| CN102687666B (en) * | 2012-06-15 | 2013-10-30 | 中国农业大学 | Vibration and airflow combined screening straightening-out mechanism |
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