CN103733784B - A kind of Plug seedling transplantation device and pick and place seedling-growing method - Google Patents
A kind of Plug seedling transplantation device and pick and place seedling-growing method Download PDFInfo
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- CN103733784B CN103733784B CN201310668204.8A CN201310668204A CN103733784B CN 103733784 B CN103733784 B CN 103733784B CN 201310668204 A CN201310668204 A CN 201310668204A CN 103733784 B CN103733784 B CN 103733784B
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Abstract
The invention discloses a kind of Plug seedling transplantation device and pick and place seedling-growing method, by mechanical cantilever palm, support bar, hinged screw, span adjustable plate, finger telescopic drive unit, fingertip motions driver element, the driving cable wire of fingertip motions, function block, Plug seedling gripping, this device refers to that body, finger tip etc. form.Fingertip motions driver element is affixed with driving cable wire; Finger tip tip inside is hinged rotationally with finger body, affixed with driving cable wire outside finger tip end; Control to drive cable wire along the axial way moving of fingertip motions drive sleeve by fingertip motions driver element; Finger body, finger tip, fingertip motions driver element, finger telescopic drive unit are uniformly distributed along the circumference, and are at least two groups.Fingertip motions driver element of the present invention is made up of the hydraulic cylinder A be positioned on function block, avoid to be nested in drive and refer to the hydraulic cylinder B that body moves, decrease the complexity of device, reduce processing and the required precision of assembling and difficulty of processing, the Plug seedling that can be used for different size is transplanted automatically.
Description
Technical field
The present invention relates to a kind of automatic transplanting device for Plug seedling, especially refer to that the Plug seedling of body and rotatable finger tip is transplanted automatically with gripping and pick and place seedling device.
Background technology
Vegetables, flowers and other crops factorial seedling growth are the pioneers of modern agriculture, factory farming, have become the industry tap of modern vegetables, flowers.Industrialization of seeds and seedlings has huge development potentiality, and automation nursery and equipment of transplanting seedlings are the key technology equipments of nursery industry.The Plug seedling transplantation technique starting of developed country comparatively early, Holland is extensive use automatic transplanter for plug seedling (the Pic-O-Mat PC series automatic transfer-machine etc. as Visser Group) on production of flower in the greenhouse, complete Plug seedling automatically to transplant to low-density cave dish or flowerpot from high density cave dish, operating efficiency is high.China is in the agricultural production modernization great development stage at present, but Plug seedling is planted, operation is still manually to transplant, and artificial transplanting efficiency is low, the amount of labour used large, seriously constrains the agricultural modernization level of China.Concerning China, completely by Introduced From Abroad automatic transplanter, expensive, working service cost is high, and the requirement of external transplanter to nursery and cave dish is not suitable for China's national situation.Therefore, the automatic transplanter for plug seedling of simple, cheap, the stable performance of research and development structure and relevant apparatus thereof are very urgent, have Great significance to greatly developing China's transplanting hole tray seedling technology.
In fact, the key technology that restriction Plug seedling is transplanted automatically is the method and apparatus of automatic potted-seedling picking.At present, the Plug seedling such as China vegetables, flowers generally adopt the seedling medium nursery based on meadow peat, the Plug seedling alms bowl body fibre structure that this seedling medium is cultivated is poor, the gripping method adopted is improper, be easy to be caught broken Plug seedling alms bowl body or the inadequate Plug seedling of gripping power comes off, greatly reduce the success rate of automatic seedling taking, cannot production application be met.
As the core work parts of automatic potted-seedling picking mechanism, get seedling end effector and get seedling by manual for replacement, its work object is when trying one's best no seedling injury, out, is that on-line equipment and the automatic transplanting of realization of liberation hand labour is successfully crucial by Plug seedling gripping from disk hole cave, cave.External greenhouse Plug seedling automatic transfer-machine extensively adopts pneumatic four finger paws to get seedling, such as Dutch Pic-O-Mat PC series automatic transfer-machine, Italian Transplanter RW series transplanter etc., get seedling speed and to get in seedling quality performance good, but complex structure, system cost is large, and is not suitable for the Plug seedling of China.Foreign scholar Ting, K.C. et al., Ryu, K.H. the people such as et al. in succession develops and gets seedling end effector, consider not injure seedling, avoid the factors such as plant leaf, make full use of pneumatics and sensor technology, demonstrate from experimental study angle feasibility and the reliability that seedling is got in spininess clamping.
Although what the units such as China Taiwan, Agricultural University Of Nanjing, Agricultural University Of Shenyang manufactured experimently out some similar four finger paws gets seedling end effector, structure is simple, but finger is fixing to be shaped, the flexible realization in mechanical finger of four gripping pins is only utilized to get seedling, very flexible, is difficult to the generation of avoiding hindering seedling and hindering alms bowl body situation.
Patent application CN102948292A discloses a kind of automatic seedling taking device, relate to a kind of two to refer to that four pin Plug seedling are transplanted automatically and pick and place seedling-growing method, minitype cylinder piston rod promotes gripping pin and stretches out from the mechanical finger opened and inject Plug seedling alms bowl body, mechanical finger closes up under rubber finger air bag deflation acting force of the spring to be clutched Plug seedling alms bowl body and realizes getting seedling, and then mechanical finger opens under the air-blowing of rubber finger air bag promotes, minitype cylinder piston rod promotes gripping pin and retracts from mechanical finger and depart from the realization of Plug seedling alms bowl body and put seedling.This invention complex structure, needs rubber to point air bag deflation air-blowing, tightens up spring and struts and tighten up, the wayward poor stability of gripping power, and when getting seedling, gripping power is excessive is easily caught broken pot seedling, and the too small Plug seedling of gripping power easily drops, and it is low to get seedling success rate, easily hinders seedling.
For this reason, first keep forging ahead on the basis of seedling end effector both at home and abroad digesting and assimilating, need further research meet China's transplanting hole tray seedling requirement get seedling-growing method and seedling end effector is got in exploitation accordingly, should structure simple, ensure again that seedling-damaging ratio is little, get seedling success rate and flexibility high, and can manufacturing cost be reduced.
Summary of the invention
The object of the present invention is to provide a kind of Plug seedling transplantation device and pick and place seedling-growing method, simple in guarantee structure, seedling-damaging ratio is little, get seedling success rate high with flexibility while, reduction manufacturing cost.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of Plug seedling transplantation device
,comprise the mechanical cantilever palm (1) connected with transplanting mechanism system, hinged screw (2), point telescopic drive unit (3), refer to body (9) with the affixed support bar (4) of mechanical cantilever palm, span adjustable plate (5), function block (6), the Plug seedling gripping affixed with finger telescopic drive unit (3); It is characterized in that: also comprise the fingertip motions driver element (11) be arranged on function block (6), the driving cable wire (8) controlling fingertip motions and finger tip (10); Described fingertip motions driver element (11) is affixed with driving cable wire (8); Finger tip (10) tip inside is hinged rotationally with finger body (9), affixed with driving cable wire (8) outside finger tip (10) end; Described fingertip motions driver element (11) controls to drive cable wire (8) along fingertip motions drive sleeve (7) axial way moving; Described finger body (9), finger tip (10), fingertip motions driver element (11), finger telescopic drive unit (3) are uniformly distributed along the circumference, and are at least two groups; The motion of described finger body (9) is driven by hydraulic cylinder B; Described fingertip motions driver element (11) is made up of hydraulic cylinder A; Described hydraulic cylinder A is arranged on function block (6) instead of is nested in drive and refers to the hydraulic cylinder B that body moves.
Described hydraulic cylinder A can be replaced by pneumatic cylinder A; Hydraulic cylinder B can be replaced by pneumatic cylinder B.
Pick and place seedling-growing method according to described a kind of Plug seedling transplantation device, it is characterized in that comprising the following steps:
Step one, by transplanting mechanism system move described device to for get seedling cave dish top get seedling position, the piston rod of the hydraulic cylinder B of finger telescopic drive unit (3) drives Plug seedling gripping to refer to body (9) downwards and drives finger tip (10) vertically to move downward, and makes finger body (9) insert cave dish downwards along Plug seedling alms bowl body edge-perpendicular;
Step 2, when finger tip (10) is inserted into Plug seedling alms bowl body bottom position, the hydraulic cylinder A of fingertip motions driver element (11) starts working, the piston rod of hydraulic cylinder A controls to drive cable wire (8) axially to move down along fingertip motions drive sleeve (7), finger tip (10) is rotated around the hinged place of finger tip (10) with finger body (9), finger tip points to horizontal direction, inserts and gets Plug seedling;
Step 3, device described in transplanting mechanism system drive moves disengaging vertically upward and gets seedling cave dish, and move to for putting dish top, seedling cave, then device described in translation makes Plug seedling insert along alms bowl body edge and puts seedling cave dish vertically downward;
Step 4, when Plug seedling is inserted into cave tray bottom, the piston rod of the hydraulic cylinder A of fingertip motions driver element (11) controls to drive cable wire (8) axially to move up along fingertip motions drive sleeve (7), make finger tip (10) around it and refer to that the hinged place of body (9) rotates, finger tip directed in orthogonal is downward, puts seedling cave dish to be transplanted to by Plug seedling;
Step 5, the piston rod of the hydraulic cylinder B of finger telescopic drive unit (3) upwards drives Plug seedling gripping to refer to body (9) and drives finger tip (10) vertically to move upward, and Plug seedling is put into seedling cave dish;
Step 6, under the driving of transplanting mechanism system, described device moves disengaging vertically upward puts seedling cave dish, described device is moved to the origin position of replanting system vertical direction; And enter next from step one to the circulation of step 6.
The automatic replanting system of a kind of Plug seedling, is characterized in that: comprise above-described a kind of Plug seedling transplantation device.
the present invention has beneficial effect.The present invention adopts multiple Plug seedling gripping to refer to body vertical direction insertion Plug seedling, and after inserting Plug seedling, finger tip rotates to horizontal direction, and imitate finger and hold tightly and hold up action, gripping is stablized; Structure is simple, avoids clamping air bag and tightens up complex structure that spring causes and the defect such as gripping power is unstable, prevent Plug seedling to be caught broken or come off, ensure that and get seedling success rate, reducing again the generation of hindering growth of cereal crop seedlings condition; The present invention refers to that body and finger tip drive and can take pneumatic or surge, and operation is simple and reliable, and flexibility is high.The present invention drives hydraulic cylinder A or the pneumatic cylinder A of fingertip motions, be positioned on function block block, thus avoid be nested in drive refer to, in the hydraulic cylinder B that body moves or pneumatic cylinder B, decrease the complexity of device, reduce processing and the required precision of assembling and difficulty of processing, reduce cost.
Accompanying drawing explanation
Fig. 1 is Plug seedling automatic replanting system schematic diagram front view.
Fig. 2 is Plug seedling automatic replanting system schematic diagram vertical view.
Fig. 3 is Plug seedling transplantation device of the present invention.
Fig. 4 is fingertip motions drives structure of the present invention.
Fig. 5 is finger tip of the present invention and refers to that body, finger tip and fingertip motions drive the connected mode between cable wire.
Fig. 6 is the transplanting process that transplantation device of the present invention picks and places seedling Plug seedling.
In figure: 1-mechanical cantilever palm; 2-hinged screw; 3-finger telescopic drive unit; 4-support bar; 5-span adjustable plate; 6-function block; 7-fingertip motions drive sleeve; 8-drive cable wire; 9-refer to body; 10-finger tip; 11-fingertip motions driver element; 12-cave dish transmission system; 13-transplanting mechanism system; 14-ccd video camera; 15-image recognition processing system; 16-control system; 17-dish conveyer belt of transplanting seedlings; 18-dish of transplanting seedlings; 19-plant seedling dish conveyer belt; 20-plant seedling dish; 21-fingertip motions drives cylinder; 22-refer to body and finger tip articulation place; 23-drive cable wire and finger tip fixing position.
Embodiment
Below in conjunction with accompanying drawing, structure of the present invention, principle and the course of work are described further.It is pointed out that embodiment is only illustrate the present invention, not as the restriction to the open scope of the present invention.
Fig. 1 and Fig. 2 is the automatic replanting system schematic diagram of Plug seedling, comprises cave dish transmission system 12; Transplanting mechanism system 13; Ccd video camera 14; Image recognition processing system 15; Control system 16; Transplant seedlings and coil conveyer belt 17; Comprise multiple dish 18 of transplanting seedlings getting seedling cave dish A; Plant seedling dish conveyer belt 19; Comprise multiple cultivation seedling dish 20 putting seedling cave dish B.
Fig. 3 shows Plug seedling transplantation device of the present invention.Comprise mechanical cantilever palm 1, hinged screw 2, finger telescopic drive unit 3, support bar 4, span adjustable plate 5, function block 6, the Plug seedling gripping affixed with finger telescopic drive unit 3 refer to body 9; Described device also comprises the fingertip motions driver element 11 be arranged on function block 6, controls driving cable wire 8, the finger tip 10 of fingertip motions; Drive cable wire 8 can along the axial way moving of fingertip motions drive sleeve 7 under the effect of fingertip motions driver element 11, finger tip 10 under driving cable wire 8 to act on can around its with refer to body 9 hinged centered by rotate.Fingertip motions driver element 11 is made up of hydraulic cylinder A, and hydraulic cylinder A is positioned on function block 6; By hydraulic cylinder B and the Plug seedling gripping affixed with it, finger telescopic drive unit 3 refers to that body 9 forms.
Fig. 4 and Fig. 5 shows finger tip 10, fingertip motions driver element 11 and driving cable wire 8, refers to the concrete connected mode of body 9.Finger tip 10 with refer to that body 9 is hinged and affixed with driving cable wire 8, under driving cable wire 8 to act on can around finger tip 10 with refer to that the hinged place of body 9 be rotated.
What Fig. 6 showed Plug seedling transplantation device picks and places seedling process.Concrete steps are as follows: step one, mobile described device gets seedling position to for getting above the dish of seedling cave, the piston rod of the hydraulic cylinder B of finger telescopic drive unit 3 drives Plug seedling gripping to refer to body 9 downwards and drives finger tip 10 vertically to move downward, and makes finger body 9 insert cave dish downwards along Plug seedling alms bowl body edge-perpendicular; Step 2, when finger tip 10 is inserted into Plug seedling alms bowl body bottom position, the hydraulic cylinder A of fingertip motions driver element 11 starts working, the piston rod of hydraulic cylinder A controls to drive cable wire 8 axially to move down along fingertip motions drive sleeve 7, finger tip 10 is rotated around the hinged place of finger tip 10 with finger body 9, finger tip points to horizontal direction, inserts and gets Plug seedling; Step 3, device described in transplanting mechanism system drive moves disengaging vertically upward and gets seedling cave dish, and move to for putting dish top, seedling cave, then device described in translation makes Plug seedling insert along alms bowl body edge and puts seedling cave dish vertically downward; Step 4, when Plug seedling is inserted into cave tray bottom, the piston rod of the hydraulic cylinder A of fingertip motions driver element 11 controls to drive cable wire 8 axially to move up along fingertip motions drive sleeve 7, make finger tip 10 around it and refer to that the hinged place of body 9 rotates, finger tip directed in orthogonal is downward, puts seedling cave dish to be transplanted to by Plug seedling; Step 5, the piston rod of the hydraulic cylinder B of finger telescopic drive unit 3 upwards drives Plug seedling gripping to refer to body 9 and drives finger tip 10 vertically to move upward, and Plug seedling is put into seedling cave dish; Step 6, under the driving of transplanting mechanism system, described device moves disengaging vertically upward puts seedling cave dish, described device is moved to the origin position of replanting system vertical direction; And enter next from step one to the circulation of step 6.Wherein move integrally and pick and place seedling device, namely the mechanism of mechanical cantilever palm 1 is techniques well known, can be traditional feed screw nut guiding rail mechanism, also can be robot for space driving etc.; Fingertip motions driver element 11 controls to drive cable wire 8 to follow and refers to that body 9 vertical synchronization campaign is also techniques well known, all in scope disclosed by the invention.
Claims (4)
1. a Plug seedling transplantation device
,comprise the mechanical cantilever palm (1) connected with transplanting mechanism system, hinged screw (2), point telescopic drive unit (3), refer to body (9) with the affixed support bar (4) of mechanical cantilever palm, span adjustable plate (5), function block (6), the Plug seedling gripping affixed with finger telescopic drive unit (3); It is characterized in that: also comprise the fingertip motions driver element (11) be arranged on function block (6), the driving cable wire (8) controlling fingertip motions and finger tip (10); Described fingertip motions driver element (11) is affixed with driving cable wire (8); Finger tip (10) tip inside is hinged rotationally with finger body (9), affixed with driving cable wire (8) outside finger tip (10) end; Described fingertip motions driver element (11) controls to drive cable wire (8) along fingertip motions drive sleeve (7) axial way moving; Described finger body (9), finger tip (10), fingertip motions driver element (11), finger telescopic drive unit (3) are uniformly distributed along the circumference, and are at least two groups; The motion of described finger body (9) is driven by hydraulic cylinder B; Described fingertip motions driver element (11) is made up of hydraulic cylinder A; Described hydraulic cylinder A is arranged on function block (6) instead of is nested in drive and refers to the hydraulic cylinder B that body moves.
2. a kind of Plug seedling transplantation device according to claim 1, is characterized in that: described hydraulic cylinder A can be replaced by pneumatic cylinder A; Hydraulic cylinder B can be replaced by pneumatic cylinder B.
3. according to claim 1 a kind of Plug seedling transplantation device pick and place seedling-growing method, it is characterized in that comprising the following steps:
Step one, by transplanting mechanism system move described device to for get seedling cave dish top get seedling position, the piston rod of the hydraulic cylinder B of finger telescopic drive unit (3) drives Plug seedling gripping to refer to body (9) downwards and drives finger tip (10) vertically to move downward, and makes finger body (9) insert cave dish downwards along Plug seedling alms bowl body edge-perpendicular;
Step 2, when finger tip (10) is inserted into Plug seedling alms bowl body bottom position, the hydraulic cylinder A of fingertip motions driver element (11) starts working, the piston rod of hydraulic cylinder A controls to drive cable wire (8) axially to move down along fingertip motions drive sleeve (7), finger tip (10) is rotated around the hinged place of finger tip (10) with finger body (9), finger tip points to horizontal direction, inserts and gets Plug seedling;
Step 3, device described in transplanting mechanism system drive moves disengaging vertically upward and gets seedling cave dish, and move to for putting dish top, seedling cave, then device described in translation makes Plug seedling insert along alms bowl body edge and puts seedling cave dish vertically downward;
Step 4, when Plug seedling is inserted into cave tray bottom, the piston rod of the hydraulic cylinder A of fingertip motions driver element (11) controls to drive cable wire (8) axially to move up along fingertip motions drive sleeve (7), make finger tip (10) around it and refer to that the hinged place of body (9) rotates, finger tip directed in orthogonal is downward, puts seedling cave dish to be transplanted to by Plug seedling;
Step 5, the piston rod of the hydraulic cylinder B of finger telescopic drive unit (3) upwards drives Plug seedling gripping to refer to body (9) and drives finger tip (10) vertically to move upward, and Plug seedling is put into seedling cave dish;
Step 6, under the driving of transplanting mechanism system, described device moves disengaging vertically upward puts seedling cave dish, described device is moved to the origin position of replanting system vertical direction; And enter next from step one to the circulation of step 6.
4. the automatic replanting system of Plug seedling, is characterized in that: comprise the Plug seedling transplantation device that one of claim 1-3 is described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310668204.8A CN103733784B (en) | 2013-12-11 | 2013-12-11 | A kind of Plug seedling transplantation device and pick and place seedling-growing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310668204.8A CN103733784B (en) | 2013-12-11 | 2013-12-11 | A kind of Plug seedling transplantation device and pick and place seedling-growing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103733784A CN103733784A (en) | 2014-04-23 |
| CN103733784B true CN103733784B (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310668204.8A Expired - Fee Related CN103733784B (en) | 2013-12-11 | 2013-12-11 | A kind of Plug seedling transplantation device and pick and place seedling-growing method |
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| CN (1) | CN103733784B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108513773A (en) * | 2018-05-31 | 2018-09-11 | 重庆市飞龙种业有限责任公司 | Green capsicum shifting apparatus |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0712569B1 (en) * | 1994-11-17 | 2000-01-05 | YANMAR AGRICULTURAL EQUIPMENT Co., Ltd. | Transplanter |
| NL1035036C2 (en) * | 2008-02-18 | 2009-08-19 | Sluiter Techniek B V | Method for repotting plants, as well as a plant head and a device provided with a plant head. |
| CN102948292A (en) * | 2012-11-22 | 2013-03-06 | 江苏大学 | Automatic potted seedling transplanting, picking and placing method based on two mechanical fingers and four clamp pins |
| CN103069954B (en) * | 2012-12-17 | 2015-02-11 | 江苏大学 | Seedling taking end performer of automatic plug seedling transplanting machine |
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- 2013-12-11 CN CN201310668204.8A patent/CN103733784B/en not_active Expired - Fee Related
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