CN109743933A - A kind of pot seedling device for eliminating and its elimination method inferior for vegetable transplanting machine - Google Patents
A kind of pot seedling device for eliminating and its elimination method inferior for vegetable transplanting machine Download PDFInfo
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- CN109743933A CN109743933A CN201910064203.XA CN201910064203A CN109743933A CN 109743933 A CN109743933 A CN 109743933A CN 201910064203 A CN201910064203 A CN 201910064203A CN 109743933 A CN109743933 A CN 109743933A
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Abstract
The present invention provides a kind of pot seedling device for eliminating and its elimination method inferior for vegetable transplanting machine, the present invention is by being provided with spring between two supports in the robot, the spring is jointly fixed two supports by attachment base and two connecting rods, drive disk two sides are provided with the boss that thickness gradually changes, the lever being fitted on boss always is provided on the inside of support, driving mechanism drives drive disk to rotate and the free end of lever is made successively to be fitted in can be realized at the different-thickness of boss the spacing between soil humidity sensor and the oxygen-containing quantity sensor of soil is adjusted by belt, after manipulator is inserted into soil, being turned down the spacing between soil humidity sensor and the oxygen-containing quantity sensor of soil by driving mechanism can be completed grasping movement, the present invention can be by adjusting crawl of the final drop point site of lever to manipulator Dynamics is adjusted, and is highly suitable for grabbing seedling soil alms bowl.
Description
Technical field
The invention belongs to agricultural planting machinery technical fields, and in particular to a kind of pot seedling inferior for vegetable transplanting machine picks
Except device and its elimination method.
Background technique
It is important link during vegetables and flowers the factorial production that pot seedling is transplanted automatically, is to realize hothouse production factory
Change, automation and intensive basis.Currently, this technology is in external wide popularization and application.Industrialization of seeds and seedlings has huge
Development potentiality, automation nursery and transplant seedlings equipment be nursery industry key technology equip.Begin from the last century 20's, perhaps
Crop Potted-seedling transplanting technology research work is successively carried out in more countries and regions.Up to the present, this technology is widely answered
Production for various vegetables and flowers and a small amount of industrial crops.It, can be at abroad, Japan develops culturing and transplanting seedlings robot
Culturing and transplanting seedlings operation is completed in facility.The greenhouse of Holland and 90 % of the U.S. for producing fresh flower and ornamental plant, production process to
Mechanization, automation direction development.Culturing and transplanting seedlings robot has been succeeded in developing and has been greatlyd improve in production application in greenhouse
Labor productivity improves the production environment of agricultural, improves operation quality.Holland is widely used in alms bowl on production of flower in the greenhouse
Seedling automatic transplanter is transplanted automatically in completing pot seedling from high density hole tray to low-density hole tray or flowerpot, and operating efficiency is high.?
The country, pot seedling transfer production mechanization and automation research work in agricultural facility are still in laboratory test conceptual phase,
Due to many, research work of the China in terms of industrialized agriculture production automation is made slow progress, and causes domestic at present use
Potted-seedling transplanting it is mechanical most rely on imports, seriously restrict hothouse production to batch production and intensivization development.Automatic pot seedling
The development of transplanter has wide demand space and popularization and application foreground with popularization.Wherein pot seedling device for eliminating inferior is automatic
The core component and execution unit of pot seedling transplanter, design integrate agronomy, machinery, control and computer technology, it
Structure design and simulation study are the design basis of pot seedling automatic transplanting.Due to the particularity of agriculture production environment, it is applied to
The manipulator of industrial circle can not directly meet the requirement of agricultural operation.Therefore, development is structurally reasonable, performance is stable, efficient elder generation
Into pot seedling device for eliminating inferior be to realize agricultural production whole-course automation and intelligentized premise.
Summary of the invention
The object of the present invention is to provide a kind of pot seedling device for eliminating and its elimination method inferior for vegetable transplanting machine, should
Device can carry out automatic rejection to the seedling inferior in seed plate, and have the characteristics that accurate positioning, high degree of automation.
In order to achieve the above object, the technical scheme adopted by the invention is that: a kind of poor quality on vegetable transplanting machine
Pot seedling device for eliminating, the rack including portal frame and below portal frame are provided with conveyer belt at the top of rack, on conveyer belt
It is provided with the seed plate moved synchronously with conveyer belt, horizontal displacement platform is installed on the portal frame, is slided on horizontal displacement platform
It is dynamic to be provided with slide I, vertical displacement platform is installed, vertical displacement platform is arranged along the vertical direction and vertical displacement on slide I
Both platform and horizontal displacement platform are vertically arranged, and sliding is provided with slide II on vertical displacement platform, and slide II passes through power
Arm is connected with manipulator, and the driving mechanism for driving manipulator movement is provided on power arm.
Further, the driving mechanism includes motor III, belt, belt pulley I and belt pulley II, the motor of motor III
Axis is connected behind the top of power arm with belt pulley I, and belt pulley II is located at the bottom end of power arm and belt pulley II and belt pulley I
Positioned at the same side of power arm, belt pulley II is connected with belt pulley I by belt, and belt pulley II is connected with manipulator and belt pulley
II is symmetricly set on the two sides of power arm with manipulator.
Further, the manipulator includes connecting shaft, connecting plate, drive disk and attachment base, connecting plate and belt pulley
II is symmetricly set on the two sides of power arm, and side of the connecting plate far from power arm, II company of being set in of belt pulley is arranged in drive disk
One end of spindle, the other end of connecting shaft sequentially pass through power arm bottom end and connecting plate after be connected with drive disk, connecting plate
Bottom end is wholely set the attachment base, and two groups of clamping devices are provided on attachment base and two groups of clamping devices are symmetricly set on
The two sides of drive disk, two groups of clamping devices by spring be connected, the clamping device include arc-shaped connecting rod, support and
The lever of installation on the support, wherein one end of connecting rod are fixedly connected with support, and the other end of connecting rod is hinged on attachment base
It is interior, it is provided with boss on two end faces of drive disk and two boss are symmetrical arranged, the boss is arc-shaped and the curvature of boss
Identical as the curvature of drive disk, the arc length of boss accounts for the 1/4~1/3 of drive disk arc length, and the thickness of the boss gradually thickens, and two
The bottom end of the support is respectively arranged with soil humidity sensor and the oxygen-containing quantity sensor of soil.
Further, the lever is overlapped with the central axis of connecting shaft and the free end of lever is fitted in boss always
On.
Further, the horizontal displacement platform includes lead screw I and the motor being connected with lead screw I I.
Further, the vertical displacement platform includes lead screw II and the motor being connected with lead screw II II.
A kind of elimination method of the pot seedling device for eliminating inferior on vegetable transplanting machine, which is characterized in that the rejecting side
Method the following steps are included:
Step 1, the seedling for needing to reject in seed plate: being transported to the lower section of horizontal displacement platform by conveyer belt by seedling positioning,
Then start motor I, make vertical displacement platform and manipulator along lead screw I move to the seedling for needing to reject in seed plate just on
Side；
Step 2 adjusts manipulator: starting motor III, motor III drive drive disk to rotate and make the free end of lever by belt
It is fitted at the relatively thin position of boss, lever drives support to rotate along connecting rod so that the soil that two support bottom ends are arranged in is wet
Spacing between degree sensor and the oxygen-containing quantity sensor of soil becomes larger；
Step 3, humidity and measurement of oxygen content: starting motor II moves downward manipulator along lead screw II, so that soil moisture
In sensor and the oxygen-containing quantity sensor insertion seed plate of soil, soil humidity sensor and the oxygen-containing quantity sensor of soil are in seed plate
Soil carries out humidity and measurement of oxygen content；
Step 4, bad seedling are rejected: starting motor III, motor III drive drive disk to rotate and paste the free end of lever by belt
It closes at the thicker position of boss, lever drives support to rotate along connecting rod so that the soil moisture of two support bottom ends is arranged in
Spacing between sensor and the oxygen-containing quantity sensor of soil becomes smaller, and then starts motor II, transports manipulator upwards along lead screw II
It is dynamic, it completes bad seedling and rejects.
Compared with prior art, the beneficial effects of the present invention are: the present invention passes through horizontal displacement platform and conveyer belt to seedling
Pot seedling inferior in disk is positioned, and is downwardly into soil after the completion of positioning by vertical displacement platform courses manipulator, soil
Earth humidity sensor and the oxygen-containing quantity sensor of soil carry out humidity and measurement of oxygen content to the soil in seed plate, and two in manipulator
It is provided with spring between a support, which is jointly fixed two supports by attachment base and two connecting rods and makes two
There is certain spacing, drive disk two sides are set between the oxygen-containing quantity sensor of soil humidity sensor and soil being arranged on a support
It is equipped with the boss that thickness gradually changes, the lever being fitted on boss always is provided on the inside of support, driving mechanism passes through skin
It can be realized with driving drive disk to rotate and being fitted in the free end of lever successively at the different-thickness of boss to soil moisture
Spacing between sensor and the oxygen-containing quantity sensor of soil is adjusted, will be native by driving mechanism after manipulator is inserted into soil
Spacing between earth humidity sensor and the oxygen-containing quantity sensor of soil, which is turned down, can be completed grasping movement, and the present invention can pass through tune
The grasping force of manipulator is adjusted in the final drop point site of section lever, can both prevent grasping force is smaller can not grab
Problem is easy seedling soil alms bowl grabbing bad problem, is highly suitable for grabbing seedling soil alms bowl prevented also from grasping force is larger
It takes, and seedling soil alms bowl will not be damaged.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is the connection relationship diagram of vertical displacement platform, power arm and manipulator in the present invention；
Fig. 4 is the connection relationship diagram of manipulator and belt pulley II in the present invention；
Fig. 5 is the positional diagram of drive disk in the present invention, lever and support；
Fig. 6 is the circuit diagram in the present invention in soil humidity sensor；
Marked in the figure: 1, portal frame, 2, rack, 3, conveyer belt, 4, seed plate, 5, slide I, 6, slide II, 7, power arm, 8, machinery
Hand, 801, connecting shaft, 802, connecting plate, 803, drive disk, 804, attachment base, 805, spring, 806, connecting rod, 807, support,
808, lever, 809, boss, 9, driving mechanism, 901, motor III, 902, belt, 903, belt pulley I, 904, belt pulley II, 10,
Soil humidity sensor, 11, the oxygen-containing quantity sensor of soil, 12, lead screw I, 13, motor I, 14, lead screw II, 15, motor II.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached in the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, a kind of pot seedling device for eliminating inferior on vegetable transplanting machine, including portal frame 1 and position
Rack 2 in 1 lower section of portal frame, the top of rack 2 are provided with conveyer belt 3, and fortune synchronous with conveyer belt 3 is provided on conveyer belt 3
Dynamic seed plate 4 is equipped with horizontal displacement platform on the portal frame 1, and the horizontal displacement platform includes lead screw I 12 and and lead screw
I connected motor I 13.Sliding is provided with slide I 5 on horizontal displacement platform, and vertical displacement platform is equipped on slide I 5, described
Vertical displacement platform includes lead screw II 14 and the motor being connected with lead screw II II 15, vertical displacement platform be arranged along the vertical direction and
Both vertical displacement platform and horizontal displacement platform are vertically arranged, and sliding is provided with slide II 6 on vertical displacement platform, such as Fig. 3
Shown, slide II 6 is connected by power arm 7 with manipulator 8, and the driving acted for driving manipulator 8 is provided on power arm 7
Mechanism 9, the driving mechanism 9 include motor III 901, belt 902, belt pulley I 903 and belt pulley II 904, motor III 901
Motor shaft through power arm 7 top after be connected with belt pulley I 903, belt pulley I 903 is set in the end of motor shaft, belt
It takes turns the bottom end that II 904 are located at power arm 7 and belt pulley II 904 and belt pulley I 903 is located at the same side of power arm 7, belt pulley II
904 are connected with belt pulley I 903 by belt 902, and belt pulley II 904 is connected with manipulator 8 and belt pulley II 904 and manipulator 8
It is symmetricly set on the two sides of power arm 7.
As shown in Figure 4 and Figure 5, the manipulator 8 includes connecting shaft 801, connecting plate 802, drive disk 803 and attachment base
804, connecting plate 802 is symmetricly set on the two sides of power arm 7 with belt pulley II 904, and the setting of drive disk 803 is remote in connecting plate 802
Side from power arm 7, belt pulley II 904 are set in one end of connecting shaft 801, and the other end of connecting shaft 801 sequentially passes through dynamic
It is connected after the bottom end of the arm of force 7 and connecting plate 802 with drive disk 803, the bottom end of connecting plate 802 is wholely set the attachment base
804, two groups of clamping devices are provided on attachment base 804 and two groups of clamping devices are symmetricly set on the two sides of drive disk 803, two groups
Clamping device is connected by spring 805, and the clamping device includes arc-shaped connecting rod 806, support 807 and is mounted on branch
Lever 808 on seat 807, wherein one end of connecting rod 806 are fixedly connected with support 807, and the other end of connecting rod 806 is hinged on
In attachment base 804, connecting rod 806 can rotate around attachment base 804 and support 807 and lever 808 is driven to swing back and forth, spring 805
Play a part of to tense, boss 809 is provided on two end faces of drive disk 803 and two boss 809 are symmetrical arranged, the boss
809 arc-shaped and boss 809 curvature are identical as the curvature of drive disk 803, and the arc length of boss 809 accounts for 803 arc length of drive disk
1/4~1/3, the thickness of the boss 809 gradually thickens, and the bottom end of two supports 807 is respectively arranged with soil moisture sensing
Device 10 and the oxygen-containing quantity sensor 11 of soil, soil humidity sensor 10 and the oxygen-containing quantity sensor 11 of soil to the soil in seed plate into
Row humidity and measurement of oxygen content, under the action of spring 805, the lever 808 is overlapped with the central axis of connecting shaft 801 and shelves
The free end of bar 808 is fitted in always on boss 809.
The preferred SOIL-1 soil humidity sensor of soil humidity sensor 10, internal circuit is as shown in fig. 6, include wet sensitive
Resistance RH, resistance R1-R9, slide rheostat RP1, slide rheostat RP2, zener diode VZ1-VZ3, operational amplifier A with
And transistor VT, humistor RH are connected in parallel between the base stage and collector of transistor VT, the emitter of VT respectively with resistance R2
One end be connected with one end of resistance R5, the other end of resistance R2 ground connection, the same phase of the other end and operational amplifier A of resistance R5
Input terminal be connected, the collector of VT is connected with one end of resistance R1, the other end of resistance R1 respectively with one end of resistance R3 and surely
The cathode of diode VZ1 is pressed to be connected, the cathode of zener diode VZ1 is also connected with one end of resistance R6, zener diode VZ1's
Plus earth, the other end of resistance R3 are grounded after being successively connected with slide rheostat RP1 and resistance R4, slide rheostat RP1's
Sliding end is connected with one end of the inverting input terminal of operational amplifier A and slide rheostat RP2 respectively, and operational amplifier A's is defeated
Controller is terminated out, and the other end of slide rheostat RP2 is connected with the cathode of zener diode VZ3, and zener diode VZ3 is just
Pole ground connection, the other end of resistance R6 are connected with one end of one end of R7 and resistance R9 respectively, the other end and resistance R8 of resistance R7
It is grounded after being connected, another termination+12V power supply of resistance R9, the both ends of resistance R7 are parallel with zener diode VZ2 and two pole of pressure stabilizing
The cathode of pipe VZ2 is connected with resistance R9, the shorted on both ends of resistance R8；The bias current of transistor VT can be changed in humistor RH
Soil humidity sensor 10 and humistor RH are inserted into soil by size, and the resistance value of humistor RH is not when experiencing humidity difference
Together, cause base current variation to change the emitter current Ie of transistor VT, voltage change is converted on resistance R2 and is passed through
Controller is delivered to after crossing operational amplifier A amplification, when practical application, first circuit system is demarcated, better simply mark
The method of determining is first to put humistor RH in water, allows humidity to be 100%RH, the gain for adjusting slide rheostat RP2 puts operation
The output of big device A is 5V, calibrates Full-span output.Humistor RH, which is dried or dried up, again makes humidity 0%RH, adjusts RP
The output 0V for making operational amplifier A, calibrates 0 output.The working curve of unknown humidity is measured with this.
The oxygen-containing quantity sensor 11 of soil is preferably the oxygen-containing quantity sensor of ICTO2 soil, is carried out based on galvanic principles
Measurement.Therefore, ICTO2 is a passive sensor, does not need any voltage input.Its response time is only 1 second or so, essence
Exactness is up to 0.001V.The sensor itself also has thermocouple compensation circuit, can carry out temperature-compensating automatically.And the sensor
It is coated with Teflon protective coating, and is process by the plastic material of long-life, working life is longer.
This programme is advanced optimized, control cabinet (control cabinet not drawn in the figure), control cabinet are installed on the portal frame 1
Inside be provided with host computer and controller, the input terminal of controller is connected with host computer, the output end of controller respectively with conveyer belt
3, horizontal displacement platform, vertical displacement platform and driving mechanism 9 are connected, in order to achieve the best use effect, if seed plate 4 by
Dry row hole tray forms, and the gap of permeable laser is provided between adjacent rows hole tray, the inside of rack 2 is provided with fiber amplifier
Device, the input terminal and output end of fiber amplifier are separately positioned on the two sides inner wall of rack 2 and the input terminal of fiber amplifier
It is connected with the input terminal of controller with output end, conveyer belt 3 drives seed plate 4 mobile, when seed plate 4 moves to fiber amplifier
When, seed plate 4 can shelter from the laser of input terminal sending, and the output end of fiber amplifier can not receive laser, at this moment will produce
A raw pulse signal, is once counted by controller；When moving to next line hole tray, laser is occluded again, and carries out one
Secondary counting, and so on, seed plate often walks a line all can be by number of note, that is, the mark to coordinate position in seed plate horizontal direction
It is fixed.Fiber amplifier is every to penetrate a gap, completes primary counting, is automatically positioned to realize to the pot seedling inferior on seed plate 4
Purpose.Herein it should be noted that seed plate 4 is before being transported to fiber amplifier, can be taken pictures by video camera to seed plate 4
And it is transferred to host computer (link of taking pictures does not embody on the diagram), host computer can be handled photo analysis, show that needs pick
The coordinate of the seedling removed, such as (2,3) represent the second row third column, and when it is 2 that fiber amplifier, which counts also, controller can make to pass
Band is sent to stop operating, mechanical arm can reject the tertial seedling of the second row.
A kind of elimination method of the pot seedling device for eliminating inferior on vegetable transplanting machine, which includes following step
It is rapid:
Seedling positioning: the seedling for needing to reject in seed plate 4 is transported under horizontal displacement platform by step 1 by conveyer belt 3
Then side starts motor I 13, vertical displacement platform and manipulator 8 is made to move to the children for needing to reject in seed plate 4 along lead screw I 12
The surface of seedling；
Step 2 adjusts manipulator: starting motor III 901, motor III 901 drive drive disk 803 to rotate and make by belt 902
The free end of lever 808 is fitted at the relatively thin position of boss 809, and lever 808 drives support 807 to make along the rotation of connecting rod 806
The spacing that must be arranged between the soil humidity sensor 10 of two 807 bottom ends of support and the oxygen-containing quantity sensor 11 of soil becomes larger；
Step 3, humidity and measurement of oxygen content: starting motor II 15 moves downward manipulator 8 along lead screw II 14, so that soil
Humidity sensor 10 and the oxygen-containing quantity sensor 11 of soil are inserted into seed plate 4, soil humidity sensor 10 and soil oxygen content sensing
Device 11 carries out humidity and measurement of oxygen content to the soil in seed plate 4；
Step 4, bad seedling are rejected: starting motor III 901, motor III 901 drive drive disk 803 to rotate and make shelves by belt 902
The free end of bar 808 is fitted at the thicker position of boss 809, lever 808 drive support 807 along connecting rod 806 rotate so that
The spacing being arranged between the soil humidity sensor 10 of two 807 bottom ends of support and the oxygen-containing quantity sensor 11 of soil becomes smaller, so
Start motor II 15 afterwards, move upwards manipulator 8 along lead screw II 14, completes bad seedling and reject.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (7)
1. a kind of pot seedling device for eliminating inferior on vegetable transplanting machine, including portal frame (1) and it is located at below portal frame (1)
Rack (2), be provided with conveyer belt (3) at the top of rack (2), be provided on conveyer belt (3) and move synchronously with conveyer belt (3)
Seed plate (4), it is characterised in that: be equipped with horizontal displacement platform on the portal frame (1), slide and be provided on horizontal displacement platform
Slide I (5) is equipped with vertical displacement platform on slide I (5), and vertical displacement platform is arranged along the vertical direction and vertical displacement is flat
Both platform and horizontal displacement platform are vertically arranged, and sliding is provided with slide II (6) on vertical displacement platform, and slide II (6) passes through
Power arm (7) is connected with manipulator (8), and the driving mechanism (9) for driving manipulator (8) movement is provided on power arm (7).
2. a kind of pot seedling device for eliminating inferior on vegetable transplanting machine according to claim 1, it is characterised in that: institute
Stating driving mechanism (9) includes motor III (901), belt (902), belt pulley I (903) and belt pulley II (904), motor III
(901) motor shaft is connected behind the top of power arm (7) with belt pulley I (903), and belt pulley II (904) is located at power arm
(7) bottom end and belt pulley II (904) and belt pulley I (903) is located at the same side of power arm (7), belt pulley II (904) and skin
Belt wheel I (903) by belt (902) be connected, belt pulley II (904) be connected with manipulator (8) and belt pulley II (904) and machinery
Hand (8) is symmetricly set on the two sides of power arm (7).
3. a kind of pot seedling device for eliminating inferior on vegetable transplanting machine according to claim 2, it is characterised in that: institute
Stating manipulator (8) includes connecting shaft (801), connecting plate (802), drive disk (803) and attachment base (804), connecting plate (802)
The two sides of power arm (7) are symmetricly set on belt pulley II (904), drive disk (803) setting is in connecting plate (802) far from power
The side of arm (7), belt pulley II (904) are set in one end of connecting shaft (801), and the other end of connecting shaft (801) sequentially passes through
The bottom end of power arm (7) and connecting plate (802) are connected with drive disk (803) afterwards, and the bottom end of connecting plate (802) is wholely set
The attachment base (804) stated is provided with two groups of clamping devices on attachment base (804) and two groups of clamping devices is symmetricly set on drive disk
(803) two sides, two groups of clamping devices are connected by spring (805), and the clamping device includes arc-shaped connecting rod
(806), support (807) and the lever (808) being mounted on support (807), wherein one end of connecting rod (806) and support
(807) it is fixedly connected, the other end of connecting rod (806) is hinged in attachment base (804), on two end faces of drive disk (803)
Be provided with boss (809) and two boss (809) be symmetrical arranged, the boss (809) is arc-shaped and the curvature of boss (809) with
The curvature of drive disk (803) is identical, and the arc length of boss (809) accounts for the 1/4~1/3 of drive disk (803) arc length, the boss (809)
Thickness gradually thicken, the bottom end of two supports (807) is respectively arranged with soil humidity sensor (10) and soil is oxygen-containing
Quantity sensor (11).
4. a kind of pot seedling device for eliminating inferior on vegetable transplanting machine according to claim 3, it is characterised in that: institute
State that lever (808) is overlapped with the central axis of connecting shaft (801) and the free end of lever (808) is fitted in boss (809) always
On.
5. a kind of pot seedling device for eliminating inferior on vegetable transplanting machine according to claim 1, it is characterised in that: institute
Stating horizontal displacement platform includes lead screw I (12) and the motor being connected with lead screw I I (13).
6. a kind of pot seedling device for eliminating inferior on vegetable transplanting machine according to claim 1, it is characterised in that: institute
Stating vertical displacement platform includes lead screw II (14) and the motor being connected with lead screw II II (15).
7. a kind of rejecting of pot seedling device for eliminating inferior on vegetable transplanting machine according to claim 1-6
Method, which is characterized in that the elimination method the following steps are included:
The seedling for needing to reject in seed plate (4) seedling positioning: is transported to horizontal displacement platform by conveyer belt (3) by step 1
Lower section, then start motor I (13), move to vertical displacement platform and manipulator (8) in seed plate (4) along lead screw I (12)
The surface for the seedling for needing to reject；
Step 2 adjusts manipulator: starting motor III (901), motor III (901) drive drive disk (803) by belt (902)
It rotates and is fitted in the free end of lever (808) at the relatively thin position of boss (809), lever (808) drives support (807) edge
Connecting rod (806) rotates so that the soil humidity sensor (10) and soil oxygen content biography two support (807) bottom ends is arranged
Spacing between sensor (11) becomes larger；
Step 3, humidity and measurement of oxygen content: starting motor II (15) moves downward manipulator (8) along lead screw II (14), makes
Soil humidity sensor (10) and the oxygen-containing quantity sensor of soil (11) are inserted into seed plate (4), soil humidity sensor (10) and
The oxygen-containing quantity sensor of soil (11) carries out humidity and measurement of oxygen content to the soil in seed plate (4)；
Step 4, bad seedling are rejected: starting motor III (901), motor III (901) drive drive disk (803) to turn by belt (902)
It moves and is fitted in the free end of lever (808) at the thicker position of boss (809), lever (808) drives support (807) along even
Extension bar (806) rotates so that the soil humidity sensor (10) and soil oxygen content sensing two support (807) bottom ends is arranged
Spacing between device (11) becomes smaller, and then starts motor II (15), moves upwards manipulator (8) along lead screw II (14), completes
Bad seedling is rejected.
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| CN201910064203.XA CN109743933B (en) | 2019-01-23 | 2019-01-23 | Inferior pot seedling removing device for vegetable transplanter and removing method thereof |
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|---|---|---|---|
| CN201910064203.XA CN109743933B (en) | 2019-01-23 | 2019-01-23 | Inferior pot seedling removing device for vegetable transplanter and removing method thereof |
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| CN109743933A true CN109743933A (en) | 2019-05-14 |
| CN109743933B CN109743933B (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111656926A (en) * | 2020-06-17 | 2020-09-15 | 方彭 | Automatic tomato transplanter with seedling tray conveying device |
| CN112400516A (en) * | 2020-11-30 | 2021-02-26 | 确山县林业技术推广站 | Forestry nursery divides fence device fast |
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| CN104704969A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Self-propelled type transplanting machine with bad seedling removing function and transplanting method |
| WO2018035314A1 (en) * | 2016-08-17 | 2018-02-22 | Freight Farms, Inc. | Modular farm with carousel system |
| CN106489390A (en) * | 2016-11-23 | 2017-03-15 | 河南科技大学 | A kind of manipulator for transplanting hole tray pot seedling |
| CN207185378U (en) * | 2017-09-04 | 2018-04-06 | 香格里拉市向忠农业综合服务有限公司 | A kind of cuttage and seedling culture disk for Chinese prickly ash |
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| CN111656926A (en) * | 2020-06-17 | 2020-09-15 | 方彭 | Automatic tomato transplanter with seedling tray conveying device |
| CN112400516A (en) * | 2020-11-30 | 2021-02-26 | 确山县林业技术推广站 | Forestry nursery divides fence device fast |
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