CN105103742A - Automatic strip seedling transplantation device - Google Patents
Automatic strip seedling transplantation device Download PDFInfo
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- CN105103742A CN105103742A CN201510514225.3A CN201510514225A CN105103742A CN 105103742 A CN105103742 A CN 105103742A CN 201510514225 A CN201510514225 A CN 201510514225A CN 105103742 A CN105103742 A CN 105103742A
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Abstract
The invention relates to an automatic strip seedling transplantation device. The device comprises a workbench carrying seedlings, a multi-axis robot hand, a vacuum adsorbing picking-up mechanism, a vision camera, a vacuum pressure sensor, and a vacuum generating device. The vision camera is above the workbench; the multi-axis robot hand, which receives an output result of the vision camera, moves corresponding to the workbench; the vacuum adsorbing picking-up mechanism, which is disposed at the multi-axis robot hand, is above the workbench; the vacuum generating device and the vacuum adsorbing picking-up mechanism form a vacuum air passage; and the vacuum pressure sensor, which detects the vacuum air passage, is electrically connected to the multi-axis robot hand. According to the device provided by the invention, gentle pick-up and transplantation of the strip seedling can be realized, thereby lowering a damage rate of a seedling stalk during transplantation of a strip seedling. The invention belongs to the field of flowers and vegetables transplantation machinery.
Description
Technical field
The present invention relates to flowers, vegetable transplants machinery field, particularly relate to the automatic transplantation device of a kind of strip seedling.
Background technology
Current existing transplanting machine, using crops and vegetables as transplanting the more of object, the main form of mechanical type gripping rice shoot that adopts is transplanted, and this kind of mode is applicable to tufted tufted seedling more.Because the plants stems stalk of strip seedling is usually very small and weak, the mode therefore according to mechanical grip transplants strip seedling, will very easily cause seedling to damage.In addition, the equipment of existing clamping rice shoot, less to the accommodation of plants stems stalk, adopt the mode of positioning clamping cannot ensure the harmless transplanting of rice shoot.
Summary of the invention
For the technical problem existed in prior art, the object of the invention is: provide a kind of strip seedling automatic transplantation device, realize transplanting the flexibility pickup of strip seedling, reduce the loss percentage of seedling stem stalk in strip sprigging process.
In order to achieve the above object, the present invention adopts following technical scheme:
The automatic transplantation device of a kind of strip seedling, comprises the workbench, multi-spindle machining hand, vacuum suction pick-up mechanism, vision camera, vacuum pressure sensor, the vacuum generating device that are loaded with seedling; Described vision camera is positioned at the top of workbench, receive the multi-spindle machining palmistry of vision camera Output rusults to working table movement, be arranged on the top that multi-spindle machining vacuum suction pick-up mechanism is on hand positioned at workbench, described vacuum generating device and vacuum suction pick-up mechanism form a vacuum air-channel, and the vacuum pressure sensor detecting vacuum air-channel is connected with multi-spindle machining torch.After adopting this structure, vision camera judges seedling position on the table, after multi-spindle machining hand receives the judged result of vision camera, vacuum suction pick-up mechanism is driven to move quickly into directly over seedling, slow down afterwards and move down, when apart from strip seedling certain distance, vacuum generating device, by vacuum air-channel, makes vacuum suction pick-up mechanism adsorb seedling; After seedling is adsorbed, when vacuum pressure sensor detects that the vacuum on vacuum air-channel acquires a certain degree, be judged as completing the absorption to seedling, vacuum pressure sensor outputs signal to multi-spindle machining hand, instructs multi-spindle machining hand to carry out the operation of next link.
Vacuum suction pick-up mechanism comprises and is arranged on multi-spindle machining connecting rod on hand, the cavity body being arranged on connecting rod lower end, adsorption tube, supporting sleeve; Be arranged on the adsorption tube of cavity body lower end to communicate with the cavity in cavity body, described supporting sleeve is sleeved on adsorption tube, and described cavity body is connected on vacuum air-channel.After adopting this structure, supporting sleeve plays the effect keeping adsorption tube shape, and adsorption tube is connected on vacuum air-channel by the cavity in cavity body, thus adsorption tube can adsorb seedling.
Vacuum suction pick-up mechanism also comprises power source, is arranged on the lower end of connecting rod described cavity body rotary type, and the one end of the power source that driven cavity body rotates is fixed on the upper end of connecting rod, and the other end is fixed in cavity body.After adopting this structure, power source driven cavity body rotates, and then drives adsorption tube to rotate.
The absorption end of adsorption tube is the absorption lip of arc, and the diameter of the absorption bilabial of lip and the stem stalk of seedling adapts, and described supporting sleeve is flat shape near one end of absorption lip.After adopting this structure, supporting sleeve is flat shape near one end of absorption lip, ensure that the shape of absorption lip, makes the shape of adsorbing lip be the bar gap-like similar to seedling, thus after absorption lip absorption seedling, seedling just seals up absorption lip.
Adsorption tube is made up of the yielding flexible pipe of rubber-like, described supporting sleeve by deformable and the material with support force make.After adopting this structure, yielding due to adsorption tube, makes adsorption tube can be arranged to the shape of the absorption lip of arc under the effect of supporting sleeve, also can adapt to the seedling of the stem stalk of different-diameter simultaneously.
Vacuum generating device is connected with cavity body by the first tracheae, and described vacuum generating device, the first tracheae, cavity body form a vacuum air-channel.After adopting this structure, adsorption tube communicates with the cavity of cavity body, realizes the absorption to seedling.
The signal output part of vacuum pressure sensor is connected with multi-spindle machining torch, and vacuum air-channel test side is connected on the first tracheae by the second tracheae.After adopting this structure, vacuum pressure sensor can detect the change of the vacuum of the first tracheae, can transmit relevant information simultaneously, and guide the motion of multi-spindle machining hand to multi-spindle machining hand.
The automatic transplantation device of a kind of strip seedling also comprises vision detection system and control device, and vision detection system is provided with described vision camera, and vision detection system connects with control device, and the control chirokinesthetic control device of multi-spindle machining and multi-spindle machining palmistry connect.After adopting this structure, after vision camera obtains seedling information on the table, through the further process information of vision detection system, and the information after process is passed to control device, thus control device controls the motion of multi-spindle machining hand.
Connecting rod is fixed on multi-spindle machining on hand by holder.After adopting this structure, structure is simple, easily connecting rod is fixed on multi-spindle machining on hand.
The slewing area of cavity body is 0 ° ~ 90 °.After adopting this structure, after absorption seedling, seedling is level, and after cavity body rotates 90 °, seedling is vertical state.
Generally speaking, tool of the present invention has the following advantages:
1. the present invention can greatly reduce the damage ratio of seedling stem stalk in migration process, can adapt to the seedling of the stem stalk of different-diameter simultaneously.
2. the present invention is arranged vacuum generating device, vacuum suction pick-up mechanism can adsorb seedling, prevent the impaired of seedling.
3. absorption lip of the present invention can wrap seedling, and seedling seals up absorption lip, prevents seedling from coming off.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Fig. 2 is the structural representation of vacuum suction pick-up mechanism.
Fig. 3 is the installation diagram of cavity body, adsorption tube, supporting sleeve.
Fig. 4 is the structural representation of supporting sleeve.
The structural representation of Fig. 5 to be seedling be level.
The structural representation of Fig. 6 to be seedling be vertical state.
Wherein, 1 is workbench, and 2 is vision camera, 3 is vacuum pressure sensor, and 4 is the first tracheae, and 5 is the second tracheae, 6 is vacuum generating device, and 7 is multi-spindle machining hand, and 8 is vacuum suction pick-up mechanism, 9 is seedling, and 10 is holder, and 11 is power source, 12 is adsorption tube, 13 is supporting sleeve, and 14 is cavity body, and 15 is connecting rod.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
Shown in composition graphs 1, the automatic transplantation device of a kind of strip seedling comprises the workbench, multi-spindle machining hand, vacuum suction pick-up mechanism, vision detection system, vacuum pressure sensor, vacuum generating device, the control device that are loaded with seedling.Described vision detection system is provided with vision camera, and vision camera is positioned at the top of workbench, and vision camera is arranged on multi-spindle machining on hand, and vision camera can be taken pictures to the seedling on workbench.Multi-spindle machining hand is arranged near workbench, and multi-spindle machining hand can working table movement relatively.Vacuum suction pick-up mechanism is fixed on multi-spindle machining on hand, and vacuum suction pick-up mechanism is positioned at the top of workbench.Vacuum generating device is arranged on multi-spindle machining on hand, and vacuum generating device is connected with vacuum suction pick-up mechanism by the first tracheae; Vacuum generating device, the first tracheae, vacuum suction pick-up mechanism form a vacuum air-channel.The signal output part of vacuum pressure sensor is connected with multi-spindle machining torch, and the vacuum air-channel test side of vacuum pressure sensor is connected with the first tracheae by the second tracheae, and the first tracheae and the second tracheae three-way connection link together.Described vision detection system is made up of vision camera and software kit thereof, and vision detection system connects with control device, and control device and multi-spindle machining palmistry connect.
Shown in composition graphs 2, described vacuum suction pick-up mechanism comprises holder, connecting rod, cavity body, adsorption tube, supporting sleeve, power source.Holder is fixed on multi-spindle machining on hand, the connecting rod of vertical shape is fixed on holder, be arranged on the lower end of connecting rod cavity body rotary type, the slewing area of described cavity body is 0 ° ~ 90 °, namely cavity body can transfer the seedling of level to vertical state, and it is larger that the slewing area of certain cavity body can be arranged.Adsorption tube is arranged on the lower end of cavity body, adsorption tube communicates with the cavity in cavity body, described supporting sleeve is sleeved on adsorption tube, and the cavity in described cavity body communicates with the first tracheae, and namely vacuum generating device, the first tracheae, cavity body form a vacuum air-channel.Described power source is shaft-like, and the one end of the power source that driven cavity body rotates is fixed on the upper end of connecting rod, and the other end is fixed in cavity body.
Shown in composition graphs 3 and Fig. 4, the absorption end of described adsorption tube is the absorption lip of arc, the i.e. lip of similar people, the diameter of the absorption bilabial of lip and the stem stalk of seedling adapts, the bilabial i.e. inwall of upper absorption lip is to the distance of the inwall of lower absorption lip, bilabial should ensure that absorption lip can wrap up strip seedling, prevents strip seedling from coming off when adsorbing lip absorption seedling.Described supporting sleeve is flat shape near one end of absorption lip, and the cross section of this supporting sleeve near one end of absorption lip can be flat kidney-shaped, also can be other shapes.Because supporting sleeve has the effect keeping adsorption tube shape, so this flat shape should ensure that absorption lip is not when adsorbing seedling, there is pre-modification in absorption lip, namely adsorbing lip is bar gap-like, when adsorbing lip absorption seedling, absorption lip wraps seedling, and seedling seals up absorption lip.Described adsorption tube is made up of the yielding flexible pipe of rubber-like, described supporting sleeve by metal or other deformables and the material with support force make.
The course of work of the automatic transplantation device of a kind of strip seedling is: when seedling is positioned at operating area, vision camera is taken pictures, judge seedling position on the table, the information that vision detection system process vision camera transmits, and the information after process is passed to control device, control device controls the motion of multi-spindle machining hand.Multi-spindle machining hand-motion vacuum suction pick-up mechanism moves quickly into directly over seedling, then decline, slow down after the diameter of stem stalk dropping to about 1.5 times of seedling and move down, when apart from strip seedling certain distance, vacuum generating device, by vacuum air-channel, makes the absorption lip on adsorption tube adsorb seedling; After seedling is adsorbed, vacuum pressure sensor detects the change of the vacuum on vacuum air-channel, when vacuum acquires a certain degree, is judged as completing the absorption to seedling, vacuum pressure sensor outputs signal to multi-spindle machining hand, instructs multi-spindle machining hand to carry out the operation of next link.After strip seedling has been adsorbed, power source driven cavity body rotates, the rotation of cavity body drives seedling to rotate, seedling is made to transfer vertical state to by level, as the structural representation of Fig. 5 to be seedling be level, the structural representation of Fig. 6 to be seedling be vertical state, then under the drive of multi-spindle machining hand, by sprigging to the blake bottle of specifying or cultivate in the dish of cave.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. the automatic transplantation device of strip seedling, is characterized in that: comprise the workbench, multi-spindle machining hand, vacuum suction pick-up mechanism, vision camera, vacuum pressure sensor, the vacuum generating device that are loaded with seedling; Described vision camera is positioned at the top of workbench, receive the multi-spindle machining palmistry of vision camera Output rusults to working table movement, be arranged on the top that multi-spindle machining vacuum suction pick-up mechanism is on hand positioned at workbench, described vacuum generating device and vacuum suction pick-up mechanism form a vacuum air-channel, and the vacuum pressure sensor detecting vacuum air-channel is connected with multi-spindle machining torch.
2. according to the automatic transplantation device of a kind of strip seedling according to claim 1, it is characterized in that: described vacuum suction pick-up mechanism comprises and is arranged on multi-spindle machining connecting rod on hand, the cavity body being arranged on connecting rod lower end, adsorption tube, supporting sleeve; Be arranged on the adsorption tube of cavity body lower end to communicate with the cavity in cavity body, described supporting sleeve is sleeved on adsorption tube, and described cavity body is connected on vacuum air-channel.
3. according to the automatic transplantation device of a kind of strip seedling according to claim 2, it is characterized in that: described vacuum suction pick-up mechanism also comprises power source, be arranged on the lower end of connecting rod described cavity body rotary type, the one end of the power source that driven cavity body rotates is fixed on the upper end of connecting rod, and the other end is fixed in cavity body.
4. according to the automatic transplantation device of a kind of strip seedling according to claim 3, it is characterized in that: the absorption end of described adsorption tube is the absorption lip of arc, the diameter of the absorption bilabial of lip and the stem stalk of seedling adapts, and described supporting sleeve is flat shape near one end of absorption lip.
5. according to the automatic transplantation device of a kind of strip seedling according to claim 4, it is characterized in that: described adsorption tube is made up of the yielding flexible pipe of rubber-like, described supporting sleeve by deformable and the material with support force make.
6. according to the automatic transplantation device of a kind of strip seedling according to claim 2, it is characterized in that: described vacuum generating device is connected with cavity body by the first tracheae, described vacuum generating device, the first tracheae, cavity body form a vacuum air-channel.
7. according to the automatic transplantation device of a kind of strip seedling according to claim 6, it is characterized in that: the signal output part of described vacuum pressure sensor is connected with multi-spindle machining torch, and vacuum air-channel test side is connected on the first tracheae by the second tracheae.
8. according to the automatic transplantation device of a kind of strip seedling according to claim 1, it is characterized in that: it also comprises vision detection system and control device, vision detection system is provided with described vision camera, vision detection system connects with control device, and the control chirokinesthetic control device of multi-spindle machining and multi-spindle machining palmistry connect.
9., according to the automatic transplantation device of a kind of strip seedling according to claim 2, it is characterized in that: described connecting rod is fixed on multi-spindle machining on hand by holder.
10. according to the automatic transplantation device of a kind of strip seedling according to claim 5, it is characterized in that: the slewing area of described cavity body is 0 ° ~ 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510514225.3A CN105103742A (en) | 2015-08-20 | 2015-08-20 | Automatic strip seedling transplantation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510514225.3A CN105103742A (en) | 2015-08-20 | 2015-08-20 | Automatic strip seedling transplantation device |
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| CN105103742A true CN105103742A (en) | 2015-12-02 |
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| CN201510514225.3A Pending CN105103742A (en) | 2015-08-20 | 2015-08-20 | Automatic strip seedling transplantation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111903516A (en) * | 2020-07-03 | 2020-11-10 | 华南农业大学 | Strip tissue culture seedling inoculation device |
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| JPH10215614A (en) * | 1997-02-05 | 1998-08-18 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Seedling filling device |
| JPH10262465A (en) * | 1997-03-19 | 1998-10-06 | Yanmar Agricult Equip Co Ltd | Pot tray packing device |
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2015
- 2015-08-20 CN CN201510514225.3A patent/CN105103742A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10215614A (en) * | 1997-02-05 | 1998-08-18 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Seedling filling device |
| JPH10262465A (en) * | 1997-03-19 | 1998-10-06 | Yanmar Agricult Equip Co Ltd | Pot tray packing device |
| CN1559195A (en) * | 2003-07-21 | 2005-01-05 | Matrix transplanting method for plant and its equipment | |
| CN2715494Y (en) * | 2004-07-17 | 2005-08-10 | 朱昌 | Automatic transplanting device |
| CN201008266Y (en) * | 2007-03-27 | 2008-01-23 | 重庆北卡农业科技有限公司 | Automatic seedling transplanter |
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| CN102717379A (en) * | 2012-06-29 | 2012-10-10 | 苏州晟成新能源科技有限公司 | Transplanting manipulator with absorption system |
| CN103416139A (en) * | 2012-11-15 | 2013-12-04 | 华中农业大学 | Artemisia selengensis cutting machine |
Non-Patent Citations (1)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111903516A (en) * | 2020-07-03 | 2020-11-10 | 华南农业大学 | Strip tissue culture seedling inoculation device |
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Application publication date: 20151202 |