CN108934562B - Automatic molding mechanism cultivated in a pot - Google Patents
Automatic molding mechanism cultivated in a pot Download PDFInfo
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- CN108934562B CN108934562B CN201810702006.1A CN201810702006A CN108934562B CN 108934562 B CN108934562 B CN 108934562B CN 201810702006 A CN201810702006 A CN 201810702006A CN 108934562 B CN108934562 B CN 108934562B
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- 238000000465 moulding Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 230000001681 protective effect Effects 0.000 claims description 18
- 210000001161 mammalian embryo Anatomy 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000004382 potting Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 3
- 238000007493 shaping process Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 10
- 238000004804 winding Methods 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 6
- 230000001105 regulatory effect Effects 0.000 abstract description 5
- 238000003898 horticulture Methods 0.000 abstract 1
- 238000010413 gardening Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Botany (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Prostheses (AREA)
Abstract
The invention relates to an automatic molding mechanism for a potted plant, which comprises a position adjusting mechanism, a multi-degree-of-freedom adjusting arm, a binding piece, an industrial personal computer and a 3D camera, wherein the multi-degree-of-freedom adjusting arm is arranged on the position adjusting mechanism, one end of the binding piece is connected with the movable end of the multi-degree-of-freedom adjusting arm, the other end of the binding piece is used for being connected with a branch of the potted plant, and the position adjusting mechanism, the multi-degree-of-freedom adjusting arm and the 3D camera are respectively and electrically connected with the industrial. The invention has the beneficial effects that: through introducing industrial control computer, 3D camera, position control mechanism and multi freedom regulating arm and monitoring and adjusting whole molding, operating personnel only need with ligature winding on the branch that corresponds like this can, reduced the requirement at the end of the operator horticulture merit, to a great extent reduced manpower and materials, easily carry out real-time control to the molding in addition, improved figurative accuracy.
Description
Technical Field
The invention relates to the field of garden art, in particular to an automatic potted plant modeling mechanism.
Background
The potted plant is one of the excellent traditional Chinese arts, and is an art which takes plants and mountain stones as basic materials to express natural landscape in a pot. The potted plant uses plant, mountain stone, soil and water as materials, and through artistic creation and gardening cultivation, the beautiful landscape of nature is typically and intensively molded in the pot, thereby achieving the artistic effects of shrinking to the size and small in the middle, and simultaneously, the landscape is smooth and reminiscent, and the deep artistic conception is expressed just like the three-dimensional beautiful landscape area with reduced version.
The most common method for modeling plants in the existing potted plants is a metal wire winding method, which is convenient to obtain materials and has more modeling design, but the method is not easy to learn and can wind a better modeling only by a certain gardening effort.
Disclosure of Invention
The invention aims to provide an automatic potted plant modeling mechanism to overcome the defects in the prior art.
The technical scheme for solving the technical problems is as follows: the utility model provides an automatic molding mechanism cultivated in a pot, including position control mechanism, multi freedom regulating arm, the piece of ligature, industrial computer, 3D camera and the fixed base cultivated in a pot, position control mechanism sets up on the fixed base cultivated in a pot, be equipped with the holder that is used for pressing from both sides the flowerpot cultivated in a pot on the fixed base cultivated in a pot, the multi freedom regulating arm sets up on position control mechanism, the one end of ligature is connected with the expansion end of multi freedom regulating arm, the other end of ligature is used for being connected with branch cultivated in a pot, position control mechanism, multi freedom regulating arm and 3D camera are connected with industrial computer electricity respectively.
The invention has the beneficial effects that: the whole modeling is monitored and adjusted by introducing an industrial control computer, a 3D camera, a position adjusting mechanism and a multi-degree-of-freedom adjusting arm, so that an operator only needs to wind a binding piece on a corresponding branch, the requirement on gardening power of the operator is lowered, manpower and material resources are reduced to a great extent, in addition, the modeling is easily controlled in real time, and the modeling accuracy is improved; the setting of the fixing base cultivated in a pot can avoid the position to move in the molding process cultivated in a pot, and simultaneously, the whole movement in the later period is also facilitated.
On the basis of the technical scheme, the invention can be further improved as follows.
Furthermore, the position adjusting mechanism comprises a base, a guide rail, a sliding seat, a first stepping motor and a driving gear, wherein the guide rail is arranged on the base, the sliding seat is movably arranged on the guide rail, the first stepping motor is arranged on the sliding seat, the driving gear is arranged on an output shaft of the first stepping motor, and a tooth socket meshed with the driving gear is arranged on the base; the signal input end of the first stepping motor is electrically connected with the signal output end of the industrial personal computer; the multi-degree-of-freedom adjusting arm is arranged on the sliding seat.
The adoption of the further beneficial effects is as follows: the position of the multi-degree-of-freedom adjusting arm can be adjusted in real time, and the adjustment is convenient.
Furthermore, the base is annular, tooth grooves are formed in the whole outer circumferential surface of the base, and the guide rail is annular.
The adoption of the further beneficial effects is as follows: the branch cultivated in a pot conveniently carries out 360 all-round models.
Further, the multi-degree-of-freedom adjusting arm comprises a mounting frame, a second stepping motor, a lifting mechanism, an angle adjusting mechanism and an electric control telescopic mechanism, wherein the mounting frame is arranged on the sliding seat, the second stepping motor is arranged on the mounting frame, the lifting mechanism is arranged on an output shaft of the second stepping motor, one end of the angle adjusting mechanism is connected with the lifting end of the lifting mechanism, the other end of the angle adjusting mechanism is connected with the electric control telescopic mechanism, and the binding piece is connected with the telescopic end of the electric control telescopic mechanism; the signal input end of the second stepping motor is electrically connected with the signal output end of the industrial personal computer; the signal input end of the lifting mechanism, the signal input end of the angle adjusting mechanism and the signal input end of the electric control telescopic mechanism are respectively electrically connected with the signal output end of the industrial personal computer.
The adoption of the further beneficial effects is as follows: can effectively realize the adjustment of multiple degrees of freedom, and can model potted plants of multiple different sizes and more comprehensively model the potted plants.
Furthermore, the multi-freedom-degree adjusting arm further comprises a rotary table, one end of the rotary table is connected with an output shaft of the second stepping motor, and the other end of the rotary table is connected with the lifting mechanism.
The adoption of the further beneficial effects is as follows: the stability of being connected between elevating system and the second step motor can be promoted.
Furthermore, the angle adjusting mechanism comprises a first mounting seat, a second mounting seat and a third stepping motor, the first mounting seat is arranged at the lifting end of the lifting mechanism, the third stepping motor is fixed on the first mounting seat, one end of the second mounting seat is connected with an output shaft of the third stepping motor, the other end of the second mounting seat is connected with the electric control telescopic mechanism, and a signal input end of the third stepping motor is electrically connected with a signal output end of the industrial computer.
The adoption of the further beneficial effects is as follows: the included angle between the electric control telescopic mechanism and the lifting mechanism can be effectively adjusted, and the electric control telescopic mechanism is convenient to adjust and easy to control.
Further, the lifting mechanism is an electric push rod; the electric control telescopic mechanism is an electric push rod.
The adoption of the further beneficial effects is as follows: simple structure, convenient operation and good stability.
Further, the ligature piece includes the haulage rope, and the winding of the one end of haulage rope is on potted plant's branch, and the other end of haulage rope is connected with automatically controlled telescopic machanism's flexible end.
Furthermore, the ligature piece still includes the protective sheath, and the protective sheath is used for wrapping up branch cultivated in a pot, and the one end that automatically controlled telescopic machanism was kept away from to the haulage rope is connected with the protective sheath.
The adoption of the further beneficial effects is as follows: the winding mark on the branch can be prevented.
Furthermore, the multi-degree-of-freedom adjusting arm further comprises a tension sensor, the tension sensor is arranged at the telescopic end of the electric control telescopic mechanism, one end, far away from the protective sleeve, of the traction rope is connected with the tension sensor, and the signal output end of the tension sensor is electrically connected with the signal input end of the industrial computer.
The adoption of the further beneficial effects is as follows: the current tensile force that receives of crooked molding branch is convenient for accurate understanding to guarantee that the molding is accurate goes on.
Drawings
FIG. 1 is a schematic view of a part of the automatic molding mechanism for potted plants according to the present invention;
FIG. 2 is a schematic view of a portion of the structure of FIG. 1;
fig. 3 is an electrical schematic diagram of the automatic potting mechanism according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, 2 and 3, the automatic potted plant modeling mechanism comprises a position adjusting mechanism 1, a multi-degree-of-freedom adjusting arm 2, a binding piece 3, an industrial personal computer 4, a 3D camera 5 and a potted plant fixing base 6, wherein the position adjusting mechanism 1 is arranged on the potted plant fixing base 6, a clamping seat 610 for clamping a potted plant flowerpot is arranged on the potted plant fixing base 6, the multi-degree-of-freedom adjusting arm 2 is arranged on the position adjusting mechanism 1, one end of the binding piece 3 is connected with the movable end of the multi-degree-of-freedom adjusting arm 2, the other end of the binding piece 3 is used for being connected with a branch on a potted plant, the position adjusting mechanism 1 is electrically connected with the industrial personal computer 4, the multi-degree-of freedom adjusting arm 2 is electrically connected with the industrial personal computer 4, and a signal output end of the 3D camera.
As shown in fig. 2, the specific structure of the position adjustment mechanism 1 is as follows:
the position adjusting mechanism 1 includes a base 110, a guide rail 120, a slider 130, a first stepping motor 140 and a drive gear 150, wherein, the guide rail 120 is arranged on the base 110, the guide rail 120 can be integrated with the base 110 or connected with the base 110 through screws, the slide carriage 130 is movably arranged on the guide rail 120, the first stepping motor 140 is vertically arranged on the slide carriage 130, the driving gear 150 is arranged on the output shaft of the first stepping motor 140, the base 110 is provided with a tooth socket 111 meshed with the driving gear 150, the signal input end of the first stepping motor 140 is electrically connected with the signal output end of the industrial personal computer 4, the industrial personal computer 4 controls the first stepping motor 140 to start, the first stepping motor 140 drives the driving gear 150 to rotate, since the tooth grooves 111 on the base 110 are engaged with the driving gear 150, the sliding base 130 will move along the guide rail 120, and the multi-degree-of-freedom adjusting arm 2 will follow the movement of the sliding base 130. In the actual design process, the base 110 may be in a shape of a long strip, an arc, or a circular ring, in this embodiment, the base 110 is preferably in a shape of a circular ring, the entire outer circumferential surface of the base 110 is provided with the tooth grooves 111, so as to form a structure similar to a gear, the guide rail 120 may be in a shape of a long strip, an arc, or a circular ring, because the base 110 is in a shape of a circular ring, the guide rail 120 is also designed in a shape of a circular ring, and the guide rail 120 and the base 110 are.
Fixed baseplate 6 cultivated in a pot includes chassis 620 and holder 610, chassis 620 is circularly, and the inner circle fixed connection of chassis 620 and base 110, holder 610 sets up on chassis 620, holder 610 includes multi-petal chuck and lock sleeve, and the multi-petal chuck sets up on chassis 620, and in this embodiment, the multi-petal chuck passes through the bolt fastening on chassis 620, lock sleeve and multi-petal chuck threaded connection, and the flowerpot cultivated in a pot is arranged in the multi-petal chuck after press from both sides tightly in the multi-petal chuck through the lock sleeve effect.
As shown in fig. 2, the multi-degree-of-freedom adjusting arm 2 has the following specific structure:
the multi-degree-of-freedom adjusting arm 2 comprises a mounting frame 210, a second stepping motor 220, a lifting mechanism 230, an angle adjusting mechanism 240 and an electric control telescopic mechanism 250, wherein the mounting frame 210 is fixed on the sliding seat 130 through screws, the mounting frame 210 is of an n-shaped structure, the second stepping motor 220 is vertically arranged on the mounting frame 210, the second stepping motor 220 is connected with the mounting frame 210 through screws, the lifting mechanism 230 is arranged on an output shaft of the second stepping motor 220, one end of the angle adjusting mechanism 240 is connected with a lifting end of the lifting mechanism 230, the other end of the angle adjusting mechanism 240 is connected with the electric control telescopic mechanism 250, a binding piece 3 is connected with a telescopic end of the electric control telescopic mechanism 250, a signal input end of the second stepping motor 220 is electrically connected with a signal output end of the industrial personal computer 4, and a signal input end of the lifting mechanism 230 is electrically connected with, the signal input end of the angle adjusting mechanism 240 is electrically connected to the signal output end of the industrial computer 4, and the signal input end of the electrically controlled telescoping mechanism 250 is electrically connected to the signal output end of the industrial computer 4, wherein the lifting mechanism 230 is preferably an electric push rod, and may also be an electric cylinder or a screw rod transmission mechanism, and the electrically controlled telescoping mechanism 250 is an electric push rod, and may also be an electric cylinder or a screw rod transmission mechanism.
In addition, the multi-degree-of-freedom adjustment arm 2 further includes a turntable 260, the turntable 260 is disposed on an output shaft of the second stepping motor 220, and the lifting mechanism 230 is disposed on the turntable 260.
As shown in fig. 2, the specific structure of the angle adjustment mechanism 240 is as follows:
the angle adjusting mechanism 240 includes a first mounting seat 241, a second mounting seat 242 and a third stepping motor 243, the first mounting seat 241 is arranged at the lifting end of the lifting mechanism 230, the third stepping motor 243 is fixed on the first mounting seat 241, one end of the second mounting seat 242 is connected with the output shaft of the third stepping motor 243, the other end of the second mounting seat 242 is connected with the electric control telescopic mechanism 250, and the signal input end of the third stepping motor 243 in the angle adjusting mechanism 240 is electrically connected with the signal output end of the industrial computer 4.
As shown in fig. 2, the binding member 3 includes a pulling rope 320, one end of the pulling rope 320 is wound on the potted branch, the other end of the pulling rope 320 is connected with the telescopic end of the electric control telescopic mechanism 250, in order to prevent the branch from winding the trace, the binding member 3 further includes a protective sleeve 310 for wrapping the potted branch, the protective sleeve 310 is made of cotton material such as sponge, the protective sleeve 310 is of a sticky hasp structure, the sticky hasp structure can be wound and adhered on the branch needing to be shaped, the protective sleeve 310 is used for winding and adhering on the branch needing to be shaped so as to prevent the trace from winding on the branch, one end of the pulling rope 320 is connected with the protective sleeve 310, the other end of the pulling rope 320 is connected with the telescopic end of the electric control telescopic mechanism 250, the length of the pulling rope 320 is as short as possible, and therefore the direction can be freely controlled during.
In addition, the multi-degree-of-freedom adjusting arm 2 further comprises a tension sensor 270, the tension sensor 270 is arranged at the telescopic end of the electronic control telescopic mechanism 250, one end, far away from the protective sleeve 310, of the traction rope 320 is connected with the tension sensor 270, and the signal output end of the tension sensor 270 is electrically connected with the signal input end of the industrial computer 4.
A potting modeling method comprises the following steps:
s100, placing a potted modeling embryo needing bending modeling in an area surrounded by a guide rail 120, then acquiring 3D image information of the potted modeling embryo through a 3D camera 5, and transmitting the 3D image information to an industrial control computer 4;
s200, the industrial control computer 4 carries out simulation modeling on the potted modeling embryo according to the acquired 3D image information and modeling requirement information input by a user, and calculates the stress point, the stress direction and the stress size of the branch needing to be bent and modeled;
s300, the industrial control computer 4 controls the position adjusting mechanism 1 to be started, the position adjusting mechanism 1 drives the multi-degree-of-freedom adjusting arm 2 to move, and the real-time relative position of the multi-degree-of-freedom adjusting arm 2 relative to the calculated bent modeling branch is obtained through the 3D camera 5;
s400, after the multi-degree-of-freedom adjusting arm 2 moves to a designated position, an operator wraps the protective sleeve 310 on the calculated stress point of the bent modeling branch and winds the protective sleeve 310 by using the traction rope 320;
s500, the industrial control computer 4 controls the second stepping motor 220, the lifting mechanism 230, the angle adjusting mechanism 240 and the electronic control telescopic mechanism 250 to start according to the calculated stress direction, so that the tension direction of the traction rope 320 on the branches is coincided with the calculated stress direction, meanwhile, the 3D camera 5 and the tension sensor 270 are used for monitoring in real time until the stress direction and the stress size of the bent modeling branches under the current stress point reach the modeling requirements, and the current state is kept for a certain time until the modeling of the bent modeling branches is completed.
In the present invention, only a single force point of a single branch is processed, if multiple force points of multiple branches need to be processed simultaneously, multiple multi-degree-of-freedom adjustment arms 2, a slide seat 130, a first stepping motor 140, and a driving gear 150 may be added to complete the processing, and the specific processing method is the same as that of the single force point of the single branch, and therefore, detailed descriptions thereof are omitted here.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (3)
1. An automatic molding mechanism for potted plants is characterized by comprising a position adjusting mechanism (1), a multi-degree-of-freedom adjusting arm (2), a binding piece (3), an industrial personal computer (4), a 3D camera (5) and a potted plant fixing base (6), the position adjusting mechanism (1) is arranged on the potted plant fixing base (6), a clamping seat (610) for clamping a potted flower pot is arranged on the potted plant fixing base (6), the multi-degree-of-freedom adjusting arm (2) is arranged on the position adjusting mechanism (1), one end of the binding piece (3) is connected with the movable end of the multi-degree-of-freedom adjusting arm (2), the other end of the binding piece (3) is used for being connected with a branch of a potted plant, and the position adjusting mechanism (1), the multi-degree-of-freedom adjusting arm (2) and the 3D camera (5) are respectively and electrically connected with the industrial personal computer (4);
the position adjusting mechanism (1) comprises a base (110), a guide rail (120), a sliding seat (130), a first stepping motor (140) and a driving gear (150), wherein the guide rail (120) is arranged on the base (110), the sliding seat (130) is movably arranged on the guide rail (120), the first stepping motor (140) is arranged on the sliding seat (130), the driving gear (150) is arranged on an output shaft of the first stepping motor (140), and a tooth groove (111) meshed with the driving gear (150) is formed in the base (110); the signal input end of the first stepping motor (140) is electrically connected with the signal output end of the industrial personal computer (4); the multi-degree-of-freedom adjusting arm (2) is arranged on the sliding seat (130);
the base (110) is annular, tooth grooves (111) are formed in the whole outer circumferential surface of the base (110), and the guide rail (120) is annular;
the multi-degree-of-freedom adjusting arm (2) comprises an installation frame (210), a second stepping motor (220), a lifting mechanism (230), an angle adjusting mechanism (240) and an electric control telescopic mechanism (250), wherein the installation frame (210) is arranged on the sliding seat (130), the second stepping motor (220) is arranged on the installation frame (210), the lifting mechanism (230) is arranged on an output shaft of the second stepping motor (220), one end of the angle adjusting mechanism (240) is connected with the lifting end of the lifting mechanism (230), the other end of the angle adjusting mechanism (240) is connected with the electric control telescopic mechanism (250), and the binding piece (3) is connected with the telescopic end of the electric control telescopic mechanism (250); the signal input end of the second stepping motor (220) is electrically connected with the signal output end of the industrial personal computer (4); the signal input end of the lifting mechanism (230), the signal input end of the angle adjusting mechanism (240) and the signal input end of the electric control telescopic mechanism (250) are respectively electrically connected with the signal output end of the industrial personal computer (4);
the angle adjusting mechanism (240) comprises a first mounting seat (241), a second mounting seat (242) and a third stepping motor (243), the first mounting seat (241) is arranged at the lifting end of the lifting mechanism (230), the third stepping motor (243) is fixed on the first mounting seat (241), one end of the second mounting seat (242) is connected with an output shaft of the third stepping motor (243), the other end of the second mounting seat (242) is connected with the electric control telescopic mechanism (250), and a signal input end of the third stepping motor (243) is electrically connected with a signal output end of the industrial computer (4);
the binding piece (3) comprises a traction rope (320), one end of the traction rope (320) is wound on potted branches, and the other end of the traction rope (320) is connected with the telescopic end of the electric control telescopic mechanism (250);
the binding piece (3) further comprises a protective sleeve (310), the protective sleeve (310) is used for wrapping potted branches, and one end, far away from the electric control telescopic mechanism (250), of the traction rope (320) is connected with the protective sleeve (310);
the multi-degree-of-freedom adjusting arm (2) further comprises a tension sensor (270), the tension sensor (270) is arranged at the telescopic end of the electric control telescopic mechanism (250), one end, far away from the protective sleeve (310), of the traction rope (320) is connected with the tension sensor (270), and the signal output end of the tension sensor (270) is electrically connected with the signal input end of the industrial computer (4);
the potting modeling method comprises the following steps:
s100, placing a potted modeling embryo needing bending modeling in an area surrounded by a guide rail (120), then acquiring 3D image information of the potted modeling embryo through a 3D camera (5), and transmitting the 3D image information to an industrial control computer (4);
s200, performing simulated modeling on the potted modeling embryo by the industrial control computer (4) according to the acquired 3D image information and modeling requirement information input by a user, and calculating the stress point, the stress direction and the stress size of the branch needing to be bent and modeled;
s300, an industrial control computer (4) controls the position adjusting mechanism (1) to be started, the position adjusting mechanism (1) drives the multi-degree-of-freedom adjusting arm (2) to move, and the real-time relative position of the multi-degree-of-freedom adjusting arm (2) relative to the calculated bent and shaped branches is obtained through a 3D camera (5);
s400, after the multi-degree-of-freedom adjusting arm (2) moves to the designated position, an operator wraps the protective sleeve (310) on the calculated stress point of the bent modeling branch and winds the protective sleeve (310) by using a traction rope (320);
s500, the industrial control computer (4) controls the second stepping motor (220), the lifting mechanism (230), the angle adjusting mechanism (240) and the electric control telescopic mechanism (250) to be started according to the calculated stress direction, so that the tension direction of the traction rope (320) to the branches is coincided with the calculated stress direction, meanwhile, real-time monitoring is carried out through the 3D camera (5) and the tension sensor (270) until the stress direction and the size of the bent modeling branch under the current stress point reach the modeling requirements, and the current state is kept for a certain time until the modeling of the bent modeling branch is completed.
2. A potted plant automatic molding mechanism according to claim 1, characterized in that the multi-degree of freedom adjusting arm (2) further comprises a rotating disc (260), one end of the rotating disc (260) is connected with the output shaft of the second stepping motor (220), and the other end is connected with the lifting mechanism (230).
3. A potted plant auto-shaping mechanism according to claim 1 wherein said lifting mechanism (230) is a power push rod; the electric control telescopic mechanism (250) is an electric push rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810702006.1A CN108934562B (en) | 2018-06-30 | 2018-06-30 | Automatic molding mechanism cultivated in a pot |
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|---|---|---|---|
| CN201810702006.1A CN108934562B (en) | 2018-06-30 | 2018-06-30 | Automatic molding mechanism cultivated in a pot |
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| CN108934562B true CN108934562B (en) | 2021-07-02 |
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| CN114982507A (en) * | 2022-07-20 | 2022-09-02 | 重庆三峡农业科学院(重庆市万州区甘宁蚕种场) | Citrus flower, fruit, branch and leaf sunny trimming and adjusting system and adjusting method |
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| CN207125050U (en) * | 2017-09-13 | 2018-03-23 | 四川信息职业技术学院 | Can automatic drip pour the nursery stock support meanss of nutrient solution |
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Effective date of registration: 20231124 Address after: 5th Floor, No. 27 Xibin Road, Wulijie Town, Yongchun County, Quanzhou City, Fujian Province, 362601 Patentee after: Quanzhou Kaiye Weaving Co.,Ltd. Patentee after: Fujian Quanzhou Wanpinxiang Tea Industry Co.,Ltd. Address before: Room 06, 13 / F, unit 6, building 6, R & D building, phase II, laser engineering design headquarters, No. 3 Guanggu Avenue, Donghu New Technology Development Zone, Hongshan District, Wuhan City, Hubei Province (201734) Patentee before: WUHAN BAIQI TECHNOLOGY Co.,Ltd. |