CN109937761B - Greenhouse seedbed moving, inspection and seedling supplementing robot - Google Patents
Greenhouse seedbed moving, inspection and seedling supplementing robot Download PDFInfo
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- CN109937761B CN109937761B CN201910316790.7A CN201910316790A CN109937761B CN 109937761 B CN109937761 B CN 109937761B CN 201910316790 A CN201910316790 A CN 201910316790A CN 109937761 B CN109937761 B CN 109937761B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
Abstract
The present invention relates to the field of robots. Aims to provide a greenhouse seedbed moving inspection seedling supplementing robot; the robot has three functions of identifying the quality of the seedlings, rejecting the bad seedlings and transplanting the good seedlings, and can move directionally in space to realize continuous seedling detection and compensation. The technical scheme is as follows: the greenhouse seedbed moving inspection seedling supplementing robot comprises a controller; the method is characterized in that: the robot also comprises two guide rails which are arranged in parallel, a rack which can move along the guide rails, a seedbed which is horizontally arranged below the rack and is used for placing a seedling tray to be replaced, a plurality of power mechanisms which are arranged at the bottom of the rack and enable the rack to move along the guide rails, a seedling supplementing platform which is fixed on the rack and is used for placing a seedling supplementing tray to be replaced, a sliding mechanism which is arranged above the seedbed and can be movably positioned on the rack, and a seedling transplanting mechanism which is driven by the sliding mechanism and moves back and forth between the seedling supplementing platform and the seedbed to transplant seedlings.
Description
Technical Field
The invention relates to the field of robots, in particular to a greenhouse seedbed moving inspection seedling supplementing robot which can be used for identifying the quality of seedlings and taking, sending and supplementing the seedlings in a space moving mode based on vision.
Background
At present, the greenhouse agricultural production area in China reaches 120 ten thousand hm3, and meanwhile, China is also the country with the largest vegetable production quantity in the world, but most of the operation process is still in the manual operation in the aspect of indoor mechanical cultivation. The quality of the seedlings determines the yield of the vegetables, but at present, the quality of the seedlings is still manually distinguished, and the bad seedlings are manually removed and the good seedlings are supplemented. This results in a reduction in vegetable production efficiency, while greatly aggravating vegetable labor costs and hindering the scale production of vegetables.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a greenhouse seedbed moving, routing inspection and seedling supplementing robot; the robot has three functions of identifying the quality of seedlings, rejecting the bad seedlings and transplanting the good seedlings, and can directionally move in space to realize continuous seedling inspection and supplement work, promote mechanical automation of the vegetable seedling inspection and supplement process, improve the working efficiency, reduce the labor cost and realize the large-scale production of vegetables.
The technical scheme provided by the invention is as follows:
the greenhouse seedbed moving inspection seedling supplementing robot comprises a controller; the method is characterized in that: the robot also comprises two guide rails which are arranged in parallel, a frame which can move along the guide rails, a seedbed which is horizontally arranged below the frame and is used for placing a seedling tray to be replaced, a plurality of power mechanisms which are arranged at the bottom of the frame and enable the frame to move along the guide rails, a seedling supplementing platform which is fixed on the frame and is used for placing a seedling supplementing tray to be replaced, a sliding mechanism which is arranged above the seedbed and is movably positioned on the frame, and a seedling transplanting mechanism which is driven by the sliding mechanism and moves back and forth between the seedling supplementing platform and the seedbed to transplant seedlings; the machine frame is respectively provided with a first camera for identifying excellent seedlings in the replacement seedling tray and a second camera for identifying inferior seedlings in the seedling tray to be replaced; the sliding mechanism, the power mechanism, the seedling transplanting mechanism, the first camera and the second camera are respectively electrically connected with the controller so as to ensure the working cooperation of the mechanisms.
The power mechanism comprises a Z-direction cylinder body vertically fixed at the bottom of the rack, a first servo motor fixedly connected with the tail end of a piston rod of the Z-direction cylinder, a rotating plate driven by the first servo motor and capable of rotating for a certain angle around a vertical axis, a roller in rolling fit with the guide rail and a reducer motor driving the roller to roll through a horizontal shaft; the roller and the reducer motor are positioned on the bottom surface of the rotating plate so as to integrally rotate along with the rotating plate.
The sliding mechanism comprises an X lead screw sliding table which spans above the seedbed and can horizontally slide on the machine frame along the length direction of the seedbed, and a sliding plate which is horizontally positioned on the X lead screw sliding table along the width direction of the seedbed.
The seedling transplanting mechanism comprises a mounting frame fixed at the bottom of the sliding plate, a plurality of upper arms which are uniformly arranged in a radial shape by taking the mounting frame as a center, a plurality of driving motors which are fixed on the mounting frame and drive the upper arms to swing one by one, a plurality of lower arms which are respectively hinged at the tail ends of the upper arms, and an end effector which is hinged at the tail ends of the lower arms and moves vertically to grab seedlings; the upper arms, the driving motors and the lower arms are the same in number and are in one-to-one correspondence.
The end effector comprises a fixed frame hinged at the tail ends of a plurality of lower arms, a second servo motor vertically installed on the fixed frame, a lead screw vertically arranged and fixedly connected with a motor shaft of the second servo motor, a push plate sleeved outside the lead screw in a penetrating manner and matched with the lead screw to vertically move, a plurality of push rods vertically fixed at the bottom of the push plate, a guide block hinged at the tail ends of the push rods, and a plurality of seedling claws uniformly hinged at the bottom of the fixed frame and forming a certain angle with the axis of the lead screw to grab seedlings; the push rods, the guide blocks and the seedling claws are the same in number and are in one-to-one correspondence; the guide block is sleeved on the seedling claw in a penetrating mode and is in sliding fit with the seedling claw so as to control the seedling claw to be folded or unfolded.
The seedbed comprises a bottom frame formed by splicing a plurality of steel pipes and a steel plate horizontally laid on the bottom frame to place the seedling tray to be replaced; the steel plate is provided with a plurality of through holes for draining water.
The seedling supplementing platform comprises two fixing plates which are fixed on the frame in parallel along the width direction of the seedbed and two guide plates which are arranged on the fixing plates in parallel along the length direction of the seedbed and used for limiting the replacement seedling tray; the space between the two guide plates is respectively suitable for the size of the replacement seedling tray.
And two sides of the roller are respectively provided with a limiting wheel used for acting with the side surface of the guide rail so as to limit the roller on the guide rail.
The invention has the beneficial effects that:
according to the greenhouse seedbed moving inspection seedling supplementing robot, the advantages and disadvantages of seedlings on a seedling supplementing platform and a seedbed are efficiently identified through the first camera and the second camera; the sliding mechanism and the seedling transplanting mechanism are used for realizing efficient alignment seedling taking and accurate seedling planting in the seedling transplanting process, reducing seedling damage and improving the survival rate of seedlings; realize the directional removal in space of robot through power unit to guarantee that seedling transplanting mechanism is corresponding with the seedling tray of waiting to replace that the bed of a seedbed is not patrolled and mended all the time, thereby realize the continuous automated work of robot, improve the work efficiency of mending seedlings, realize the large-scale production that the vegetables seedling was examined and mended.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the present invention moving in the X direction.
Fig. 3 is a schematic perspective view of the power mechanism according to the present invention.
Fig. 4 is a schematic perspective view of the second power mechanism of the present invention (hiding the motor support cover and the roller support cover).
Fig. 5 is a schematic perspective view of the sliding mechanism of the present invention.
FIG. 6 is a schematic perspective view of a seedling transplanting mechanism according to the present invention.
Fig. 7 is a perspective view of an end effector according to the present invention.
FIG. 8 is a schematic perspective view showing the structure of the seedbed of the present invention (with part of the seedbed hidden).
Fig. 9 is a schematic perspective view of the seedling tray of the present invention.
01-guide rail, 02-power mechanism, 0201-Z direction cylinder, 0203-guide cylinder, 0204-motor support cover, 0205-rotation plate, 0206-roller support cover, 0207-reducer motor, 0208-first seated bearing, 0209-first servo motor, 0210-second seated bearing, 0211-roller, 0212-transmission shaft, 0213-limit wheel, 03-frame, 04-replanting platform, 0401-fixing plate, 0402-guide plate, 05-replacement seedling tray, 06-first camera, 07-sliding mechanism, 0701-carriage, 0702-Y slide block, 0703-Y screw slide block, 0704-X screw slide block, 0705-X slide block, 0706-slide block, 0707-stepping motor, 08-seedling transplanting mechanism, 0801-mounting rack, 0802-drive motor, 0803-upper arm, 0804-lower arm, 0805-end, 0805-second servo motor, 080501-power mechanism, push plate 080502, 08032-080504-fixing rack, 503-second servo motor, and guide plate, 080505-push rod, 080506-guide block, 080507-seedling claw, 080508-bearing, 09-seedbed, 0901-underframe, 0902-steel pipe, 10-second camera, and 11-tray to be replaced.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
For convenience of description, the present embodiment adopts X, Y, Z coordinate system, wherein the X axis and the Y axis form a horizontal plane (wherein the Y axis is the length direction of the seedbed, i.e. the left and right direction in FIG. 1), and the positive direction of the Z axis is vertical to the X-Y plane and upward.
In the conventional vegetable seedling supplementing technology, superior seedlings of a replacement seedling tray 05 (shown in fig. 9) on a seedling supplementing platform 04 are selected, and inferior seedlings of a seedling tray 11 to be replaced on a seedbed 09 are transplanted and replaced, so that high-quality seedlings are ensured to be planted on the seedbed; because of high labor intensity and low production efficiency of frequent manual operation, the invention develops the greenhouse seedbed moving inspection seedling-supplementing robot.
As shown in fig. 1, the greenhouse seedbed moving inspection seedling-supplementing robot provided by the invention comprises two guide rails 11, a seedbed 09, a frame 03, a plurality of (four in the figure) power mechanisms 02, a seedling-supplementing platform 04, a sliding mechanism 07, a seedling transplanting mechanism 08, a first camera 06 and a second camera 10, wherein the power mechanisms are mounted on the frame.
The two guide rails are arranged in parallel at a certain interval; the seedbed is horizontally arranged between the two guide rails along the length direction of the guide rails and is used for fixedly placing a seedplate to be replaced. The seedbed includes a base 0901 and a steel plate; the underframe is formed by splicing a plurality of steel pipes 902 (the invention adopts a welding mode), and steel plates are horizontally laid on the underframe so as to be convenient for placing seedling trays to be replaced; the steel plate is also provided with a plurality of through holes for draining accumulated water on the working surface (as shown in figure 8). The seedbed used by the invention can store 8 seedtrays to be replaced at most, and can be increased or decreased according to actual requirements.
As shown in fig. 3 and 4, the four power mechanisms are respectively arranged on the four support legs of the frame and movably positioned on the guide rails to drive the robot to directionally move along the guide rails, so that the seedling transplanting mechanism is ensured to always correspond to the seedling tray to be replaced which is not patrolled and examined on the seedbed, and the continuous automatic work of the robot is realized. Each power mechanism comprises a Z-direction cylinder 0201, a guide cylinder 0203, a motor supporting cover 0204, a rotating plate 0205, a roller supporting cover 0206, a reducer motor 0207, a first belt seat bearing 0208, a first servo motor 0209, a second belt seat bearing 0210, a roller 0211, a transmission shaft 0212 and a limiting wheel 0213.
The Z-direction cylinder is vertically arranged on a support leg of the rack, and a piston rod of the Z-direction cylinder is connected with a motor base of the first servo motor so as to drive the first servo motor to move in the Z direction; a guide cylinder is sleeved outside a piston rod of the Z-direction cylinder in a penetrating mode and used for assisting the piston rod to move on one hand and protecting the piston rod on the other hand. The first servo motor is arranged in the motor support cover, and a motor shaft of the first servo motor vertically penetrates through a second bearing with a seat downwards (the second bearing with the seat is fixed at the bottom of the motor support cover) to be fixedly connected with the rotating plate so as to drive the rotating plate to rotate for a certain angle in a horizontal plane (namely an X-Y plane). The bottom of the rotating plate is vertically connected with a roller supporting cover, the inner side and the outer side of the roller supporting cover are respectively positioned on a transmission shaft which is horizontally arranged through a first bearing with a seat, and a roller is fixed on the transmission shaft. The roller is matched with the guide rail to form a rolling pair; and two sides of the roller are respectively provided with a limiting wheel used for acting with the side surface of the guide rail so as to limit the roller on the guide rail. The speed reducer motor is also fixedly installed at the bottom of the rotating plate, wherein an output shaft of the speed reducer motor drives a transmission shaft through a transmission part (a preferred gear set), so that the roller rolls along the guide rail, and then the robot is driven to move along the direction of the guide rail (the movement distance is consistent with the length of the seedling tray to be replaced), so that the next row of seedling trays to be replaced participates in the work. In the working process, when the direction of the guide rail is changed, the Z-direction cylinder contracts to separate the roller from the guide rail, then the first servo motor is controlled to rotate the rotating plate to a certain angle (the angle is matched with the direction of the guide rail) to change the direction of the roller, and then the Z-direction cylinder is extended to match the roller with the guide rail, so that the directional motion of the robot in the space can be realized.
As shown in fig. 1, the replanting platform is used for fixing and placing a replacement replanting tray, and comprises two fixing plates 0401 and two guide plates 0402. The two fixing plates are fixed on the frame in parallel along the width direction of the seedbed (namely the X-axis direction, the same below), and the distance between the two fixing plates is smaller than the width of the replacement seedling tray (so that the seedling tray can be placed on the fixing plates); two deflectors are along the length direction (Y axle direction, same down) parallel mount of seedbed on the fixed plate, and its interval suits with the length of replacement seedling tray for it is spacing to lead to replacement seedling tray. The seedling supplementing platform is located above the seedbed so as to ensure that the seedling supplementing platform can always provide excellent seedlings for the seedbed in the process that the robot moves along the guide rail.
As shown in fig. 5, the sliding mechanism is arranged above the seedbed and is used as a power source to drive the seedling transplanting mechanism to move in an X-Y horizontal plane. The sliding mechanism comprises a sliding frame 0701, two Y lead screw sliding tables 0703, two Y sliding blocks 0702, two X lead screw sliding tables 0704, two X sliding blocks 0705, a sliding plate 0706 and four stepping motors 0707. The two Y-shaped screw rod sliding tables are respectively fixed on the machine frame in parallel along the length direction of the seedbed; y sliders are installed on the two Y lead screw sliding tables in a matched mode, and the Y sliders on the two Y lead screw sliding tables slide synchronously along the length direction of the seedbed under the action of the Y lead screw sliding tables. The two X lead screw sliding tables are arranged in parallel along the width direction of the seedbed, and two ends of the two X lead screw sliding tables are fixedly connected with the two Y sliding blocks into a whole through the sliding frame respectively so as to be driven by the Y lead screw sliding tables to move; x sliding blocks are installed on the two X lead screw sliding tables in a matched mode, and the two X sliding blocks are in sliding fit with the X lead screw sliding tables and move synchronously along the width direction of the seedbed. The sliding plate is fixedly connected with the two X sliding blocks and moves along with the two X sliding blocks. Above every Y lead screw slip table and every X lead screw slip table are equallyd divide and are driven by a step motor and rotate respectively. In the working process, when the stepping motor drives the Y lead screw sliding table to rotate, the Y lead screw sliding table drives the Y sliding block to move along the length direction of the seedbed, and further drives the sliding plate to move along the length direction of the seedbed; when step motor ordered about X lead screw slip table and rotated, X lead screw slip table drove the X slider and removes along the width direction of seedbed, and then drove the sliding plate and remove along the width direction of seedbed.
As shown in fig. 6, the seedling transplanting mechanism is driven by the sliding mechanism and reciprocates between the seedling supplementing platform and the seedbed to perform seedling transplanting. The seedling transplanting mechanism comprises an installation frame 0801, a driving motor 0802, an upper arm 0803, a lower arm 0804 and an end effector 0805. In the invention, three driving motors, three upper arms and three lower arms are in one-to-one correspondence. The mounting frame is fixed at the bottom of the sliding plate; the three upper arms are radially arranged on the mounting frame, and the three driving motors are also fixed on the mounting frame; one ends of the three upper arms are respectively and fixedly connected with the rotating shafts of the three driving motors, and the other ends of the three upper arms are respectively hinged with the top ends of the three lower arms; the tail ends of the three lower arms are radially hinged on the end effector to drive the end effector to move along the vertical direction so as to grab the seedlings.
As shown in fig. 7, the end effector (conventional device) includes a fixing frame 080502, a second servo motor 080501, a lead screw 080504, a push plate 080503, four push rods 080505, four guide blocks 080506, and four seedling claws 080507. The fixed frame is hinged with the three lower arms at equal angles, and moves in the vertical direction under the driving of the lower arms (wherein the fixed frame consists of an upper fixed plate and a lower fixed plate which are arranged in parallel up and down and four connecting rods which are vertically connected between the upper fixed plate and the lower fixed plate); and the second servo motor is vertically arranged on an upper fixing plate of the fixing frame. The lead screw is vertically arranged, one end of the lead screw is fixedly connected (connected with a coupler) with a motor shaft of the second servo motor, and the other end of the lead screw is rotatably arranged on the lower fixing plate through a bearing 080508. The push plate is sleeved outside the screw rod in a penetrating mode and matched with the screw rod through a screw rod nut, and the push plate vertically moves under the driving of the screw rod. Four push rods are uniformly and vertically fixed at the bottom of the push plate, and the tail end of each push rod is hinged with a guide block. The top ends of the four seedling claws are swingably hinged on a lower fixing plate of the fixing frame; the hinge points of the four seedling claws form a circumferential profile which is larger than the circumferential profile formed by connecting the cross sections of the four push rods, so that the axes of the seedling claws and the axis of the screw rod form a certain angle (the angle is determined according to requirements). The guide block is sleeved on the seedling claw in a penetrating mode and is in sliding fit with the seedling claw so as to control the seedling claw to be closed or opened. When the device works, the second servo motor drives the screw rod to rotate and drives the push plate matched with the screw rod to vertically move so as to drive the push rod and the guide block to vertically move; when the guide block moves upwards, the seedling claws matched with the guide block are folded inwards together; when the guide block moves downwards, the seedling claws matched with the guide block are opened outwards together, so that the grabbing or releasing action of the seedlings is completed.
The first camera and the second camera are respectively fixedly arranged on the rack and are respectively positioned at two extreme positions of the rack along the Y-axis direction, wherein the first camera is used for identifying excellent seedlings in the seedling supplementing platform; the second camera is used for identifying bad seedlings in the seedbed.
The sliding mechanism, the power mechanism, the seedling transplanting mechanism, the first camera and the second camera are respectively and electrically connected with a controller (preferably PLC; omitted in the figure) so as to ensure the working cooperation of all the mechanisms. The working position signals of each mechanism and each component are respectively transmitted to the controller by a plurality of sensors (comprising proximity switches), and then the controller respectively controls the working sequence and the action stroke of each mechanism and each component; these are conventional control techniques and are not described in detail herein.
The present invention is also configured with an air supply (preferably an air compressor; omitted from the figures) in communication with the pneumatic components (e.g., the Z-direction cylinder).
The operation process of the invention comprises the following steps:
the method comprises the following steps that firstly, a greenhouse seedbed is reset, a routing inspection seedling supplementing robot is moved, and a power mechanism, a seedling supplementing platform, a sliding mechanism and a seedling transplanting mechanism are located at initial positions;
placing 1 replacement seedling tray filled with seedlings on the seedling supplementing platform, and placing the seedling tray to be replaced filled with the seedlings on the seedbed;
step three, detecting the quality of the seedlings in the seedling tray to be replaced on the seedbed by a second camera, and running the step seventeen if no bad seedlings are found; if bad seedlings are found, operating the step four;
step four, rotating an X lead screw sliding table and a Y lead screw sliding table on the sliding mechanism to drive the seedling transplanting mechanism to move to the position above the inferior seedling position on the seedling tray to be replaced;
step five, three driving motors on the seedling transplanting mechanism rotate positively, the end effector is driven to move downwards through the upper arm and the lower arm until the seedling claws of the end effector are inserted into the optimal seedling taking depth of the seedlings, at the moment, the second servo motor rotates positively to drive the lead screw to rotate positively, then the push plate and the push rod are driven to move upwards, the push rod drives the guide block to move upwards, the four seedling claws are controlled to be in a closed state, and the seedling claws tightly grasp the seedlings;
step six, three driving motors on the seedling transplanting mechanism rotate reversely, and the end effector is driven to move upwards through the upper arm and the lower arm until the end effector moves to the initial height;
seventhly, rotating an X lead screw sliding table and a Y lead screw sliding table on the sliding mechanism to drive the seedling transplanting mechanism to move to an idle position beside the seedbed;
step eight, a second servo motor on the seedling transplanting mechanism rotates reversely to drive a screw rod to rotate reversely, then a push plate and a push rod are driven to move downwards, the push rod drives a guide block to move downwards to control four seedling claws to be in an open state, and the seedlings fall to an idle position beside a seedbed;
step nine, detecting the quality of the seedlings in the replacement seedling tray on the seedling supplementing platform by the first camera, if no excellent seedlings are found, replacing the replacement seedling tray, and detecting again until the excellent seedling position is detected; then, operating the step ten;
step ten, rotating an X lead screw sliding table and a Y lead screw sliding table on the sliding mechanism to drive the seedling transplanting mechanism to move to the position above the excellent seedling position of the replacement seedling tray;
step eleven, three driving motors on the seedling transplanting mechanism rotate positively, the upper arm and the lower arm drive the end effector to move downwards until the seedling claws of the end effector are inserted into the optimal seedling taking depth of the seedlings, at the moment, the second servo motor rotates positively to drive the lead screw to rotate positively, then the push plate and the push rod are driven to move upwards, the push rod drives the guide block to move upwards, the four seedling claws are controlled to be in a closed state, and the seedling claws tightly grasp the seedlings;
step twelve, the three driving motors on the seedling transplanting mechanism rotate reversely, and the end effector is driven to move upwards through the upper arm and the lower arm until the seedling transplanting mechanism moves to the initial height;
thirteen, rotating an X lead screw sliding table and a Y lead screw sliding table on the sliding mechanism to drive the seedling transplanting mechanism to move to the position above the poor seedling hole of the seedling tray to be replaced;
fourteen, driving three driving motors on the seedling transplanting mechanism to rotate forwards, driving the end effector to move downwards through an upper arm and a lower arm until the seedling claws of the end effector are inserted into the optimal seedling placing depth of the seedlings, driving a screw rod to rotate reversely by the reverse rotation of a second servo motor, then driving a push plate and a push rod to move downwards, driving a guide block to move downwards by the push rod, controlling the four seedling claws to be in an open state, and placing the seedlings at the corresponding seedling holes;
fifteen, driving three driving motors on the seedling transplanting mechanism to rotate reversely, driving the end effector to move upwards through an upper arm and a lower arm, and moving to the initial height;
sixthly, jumping to operate the step three;
seventhly, if the seedbed is not subjected to patrol supplement, the reducer motors of the four power mechanisms rotate in the positive direction to drive the rollers to move on the guide rails, so that the transplanting device is driven to move a certain distance in the Y negative direction (namely the right side of the drawing 1), the moving distance is consistent with the length of the seedling trays to be replaced, namely the next row of seedling trays to be replaced participates in the work, and the third step is executed; otherwise, running the step eighteen;
eighteen, when the seedbed is completely supplemented and bad seedlings do not exist in the seedling tray to be replaced, the reducer motors of the four power mechanisms rotate reversely to drive the rollers to move on the guide rails and return to the initial positions; and operating the step two.
The replanting platform can place 1 replacement seedling tray at most once, and the size of the replacement seedling tray cannot exceed the allowable size of the replanting platform.
The replacement seedling tray and the seedling tray to be replaced which are applied in the work of the invention are seedling trays filled with seedlings, and the front row and the rear row of holes of the seedling trays are distributed at equal intervals (as shown in figure 9).
The guide rails applied by the invention are 80X 40mm square steel pipes, and the corresponding guide rails can be arranged in the X direction (as shown in figure 2) or the Y direction or other directions according to the moving direction of the greenhouse seedbed moving inspection seedling supplementing robot.
Claims (1)
1. The greenhouse seedbed moving inspection seedling supplementing robot comprises a controller; the method is characterized in that: the robot also comprises two guide rails (01) which are arranged in parallel, a rack (03) which can move along the guide rails, a seedbed (09) which is horizontally arranged below the rack and is used for placing a seedling tray (11) to be replaced, a plurality of power mechanisms (02) which are arranged at the bottom of the rack and enable the rack to move along the guide rails, a seedling supplementing platform (04) which is fixed on the rack and is used for placing a replacement seedling tray (05), a sliding mechanism (07) which is arranged above the seedbed and is movably positioned on the rack, and a seedling transplanting mechanism (08) which is driven by the sliding mechanism and moves back and forth between the seedling supplementing platform and the seedbed to transplant seedlings; a first camera (06) for identifying excellent seedlings in the replacement seedling tray and a second camera (10) for identifying inferior seedlings in the seedling tray to be replaced are respectively arranged on the rack; the sliding mechanism, the power mechanism, the seedling transplanting mechanism, the first camera and the second camera are respectively and electrically connected with the controller so as to ensure the working cooperation of the mechanisms;
the power mechanism comprises a Z-direction cylinder (0201) body vertically fixed at the bottom of the rack, a first servo motor (0209) fixedly connected with the tail end of a piston rod of the Z-direction cylinder, a rotating plate (0205) driven by the first servo motor to rotate around a vertical axis by a certain angle, a roller (0211) in rolling fit with the guide rail and a reducer motor (0207) driving the roller to roll through a horizontal shaft; the roller and the reducer motor are positioned on the bottom surface of the rotating plate so as to integrally rotate along with the rotating plate;
the sliding mechanism comprises an X lead screw sliding table (0704) which spans above the seedbed and can horizontally slide on the rack along the length direction of the seedbed, and a sliding plate (0706) which is horizontally positioned on the X lead screw sliding table in a sliding manner along the width direction of the seedbed;
the seedling transplanting mechanism comprises an installation frame (0801) fixed at the bottom of the sliding plate, a plurality of upper arms (0803) uniformly arranged in a radial shape by taking the installation frame as the center, a plurality of driving motors (0802) fixed on the installation frame and driving the upper arms to swing one by one, a plurality of lower arms (0804) respectively hinged at the tail ends of the upper arms, and an end effector (0805) hinged at the tail ends of the lower arms and moving vertically to grab seedlings; the upper arms, the driving motors and the lower arms are the same in number and are in one-to-one correspondence;
the end effector comprises a fixing frame (080502) hinged at the tail ends of a plurality of lower arms, a second servo motor (080501) vertically installed on the fixing frame, a lead screw (080504) vertically arranged and fixedly connected with a motor shaft of the second servo motor, a push plate (080503) sleeved outside the lead screw in a penetrating manner and matched with the lead screw to vertically move, a plurality of push rods (080505) vertically fixed at the bottom of the push plate, a guide block (080506) hinged at the tail ends of the push rods and a plurality of seedling claws (080507) uniformly hinged at the bottom of the fixing frame and forming a certain angle with the axis of the lead screw to grab seedlings; the push rods, the guide blocks and the seedling claws are the same in number and are in one-to-one correspondence; the guide block is sleeved on the seedling claw in a penetrating way and is in sliding fit with the seedling claw so as to control the seedling claw to fold or unfold;
the seedbed comprises a bottom frame (0902) formed by splicing a plurality of steel pipes and a steel plate (0901) horizontally laid on the bottom frame to place a seeddisk to be replaced; the steel plate is provided with a plurality of through holes for draining water;
the seedling supplementing platform comprises two fixing plates (0401) which are fixed on the frame in parallel along the width direction of the seedbed and two guide plates (0402) which are arranged on the fixing plates in parallel along the length direction of the seedbed and used for limiting the replaced seedling tray; the space between the two guide plates is respectively suitable for the size of the replacement seedling tray;
and two sides of the roller are respectively provided with a limiting wheel (0213) which is used for acting with the side surface of the guide rail so as to limit the roller on the guide rail.
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|---|---|---|---|---|
| CN110637644B (en) * | 2019-08-20 | 2021-09-10 | 江苏大学 | Facility flower carrying cooperative operation control method for seedbed pot culture |
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