CN112106499A - Double-cylinder driving type pot seedling transplanting and clamping device based on vision - Google Patents
Double-cylinder driving type pot seedling transplanting and clamping device based on vision Download PDFInfo
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- CN112106499A CN112106499A CN202011183518.5A CN202011183518A CN112106499A CN 112106499 A CN112106499 A CN 112106499A CN 202011183518 A CN202011183518 A CN 202011183518A CN 112106499 A CN112106499 A CN 112106499A
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- connecting rod
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- vision
- clamping device
- pot seedling
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- 230000007246 mechanism Effects 0.000 claims description 8
- 238000002054 transplantation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention designs a double-cylinder driving type pot seedling transplanting and clamping device based on vision, which consists of a connecting line (1), a cylinder (2), a connecting rod (3), a clamping piece (4), an industrial camera (5), a lighting lamp (6) and a clamping piece fixing plate (7).
Description
Technical Field
The invention relates to a seedling taking and clamping device applied to a pot seedling full-automatic transplanter, and belongs to the field of agricultural machinery.
Background
The transplanting machine series products produced in China mainly take a semi-automatic transplanting machine as a main part, the plug seedling taking of the semi-automatic transplanting machine is still carried out manually, the production efficiency is low, the production cost is high, and the direct influence is generated on agricultural production and economic development, so that the development of a full-automatic transplanting machine is a problem to be solved by the current box. The research of the full-automatic transplanter is started late and is in a vigorous development stage. The core problem of the full-automatic transplanting machine is the seedling taking problem of pot seedlings, a seedling taking mechanism is a key factor for restricting the development of the automatic transplanting machine, and an end effector directly acts on a pot seedling substrate and has a crucial influence on the seedling taking success rate. The seedling emergence rate of one hundred percent is difficult to guarantee in the cultivation process. The seedling picking and the seedling supplementing are mainly carried out in an artificial mode, and because the seedling at the position of the unqualified hole has poor growth potential or does not emerge, the matrix is not easy to take out by hands, thereby wasting time and labor. Therefore, the clamping device with the detection function and high operation efficiency has very important significance for improving the transplanting survival rate and the transplanting efficiency of the full-automatic transplanter.
Disclosure of Invention
The invention aims to solve the problems and provides a vision-based double-cylinder driving pot seedling transplanting and clamping device, which simplifies the mechanism to the maximum extent, reduces the pot seedling damage rate, and can detect the cavities and defective seedlings of plug seedlings through an industrial camera, thereby improving the pot seedling transplanting success rate.
The technical scheme adopted by the invention is as follows.
The utility model provides a device is got to double-cylinder drive formula alms bowl seedling transplantation clamp based on vision, it includes and comprises connecting wire (1), cylinder (2), connecting rod (3), clamping piece (4), industry camera (5), light (6), fixed plate (7), fixed column (8), connecting rod (9), and cylinder (2), connecting rod (3), clamping piece (4), fixed plate (7) constitute a slider-crank mechanism, and cylinder (2) are the initiative piece.
Two connecting rods (3) on the left side symmetrically distribute on two sides of the connecting rod (9), one end of the connecting rod (3) and the tail end of the cylinder (2) form a movable hinge, and the other end of the connecting rod is fixed on the connecting rod (9). And the two connecting rods (3) on the left and the two connecting rods (3) on the right are symmetrically distributed on two sides of the center line of the industrial camera (5).
The two clamping pieces (4) on the left side are symmetrically distributed on two sides of the connecting rod (9) and fixed on the connecting rod (3). And the two clamping pieces (4) on the left and the two clamping pieces (4) on the right are symmetrically distributed on two sides of the central line of the industrial camera (5).
The connecting rod (9) and the fixing column (8) form a movable hinge.
The vision-based double-cylinder driving type pot seedling transplanting and clamping device is characterized in that the two fixing columns (8) are symmetrically distributed on two sides of the center line of the industrial camera (5) and fixed on the fixing plate (7).
The vision-based double-cylinder driving type pot seedling transplanting and clamping device is characterized in that the two illuminating lamps (6) are symmetrically distributed on two sides of the central line of the industrial camera (5) and are fixed on the cylinder (2).
Description of the drawings.
Fig. 1 is an isometric view of the mechanism.
Fig. 2 is a front view of the mechanism.
Fig. 3 is a side view of the mechanism.
Fig. 4 is an isometric view of a cylinder.
Fig. 5 is a front view of an industrial camera.
Fig. 6 is a front view of the illumination lamp.
Detailed description of the preferred embodiments.
Example 1: when the seedling taking device works, firstly, the illuminating lamp is adjusted to proper brightness by the controller, the industrial camera carries out pattern recognition on the plug seedling tray, whether seedlings exist in tray holes in the plug seedling tray or not is detected, and if no seedlings exist, the seedling taking device is driven by the mechanical arm to move to the position above the next tray hole.
Example 2: under the condition that seedlings exist in the tray holes, the double cylinders drive the slider-crank mechanisms to clamp the pot seedling substrates, and the pot seedlings are taken out and put into a planting device to be planted under the driving of the mechanical arms.
Claims (6)
1. The utility model provides a device is got to double-cylinder drive formula alms bowl seedling transplantation clamp based on vision, it includes and comprises connecting wire (1), cylinder (2), connecting rod (3), clamping piece (4), industry camera (5), light (6), fixed plate (7), fixed column (8), connecting rod (9), and cylinder (2), connecting rod (3), clamping piece (4), fixed plate (7) constitute a slider-crank mechanism, and cylinder (2) are the initiative piece.
2. The vision-based double-cylinder driven pot seedling transplanting and clamping device as claimed in claim 1, characterized in that the two left connecting rods (3) are symmetrically distributed on both sides of the connecting rod (9), one end of the connecting rod (3) and the end of the cylinder (2) form a movable hinge, the other end is fixed on the connecting rod (9), and the two left connecting rods (3) and the two right connecting rods (3) are symmetrically distributed on both sides of the center line of the industrial camera (5).
3. The vision-based double-cylinder driven pot seedling transplanting and clamping device as claimed in claim 1, characterized in that the two left clamping pieces (4) are symmetrically distributed on both sides of the connecting rod (9) and fixed on the connecting rod (3), and the two left clamping pieces (4) and the two right clamping pieces (4) are symmetrically distributed on both sides of the center line of the industrial camera (5).
4. The vision-based double-cylinder driven pot seedling transplanting and clamping device as claimed in claim 1, wherein the connecting rod (9) and the fixed column (8) form a movable hinge.
5. The vision-based double-cylinder driven pot seedling transplanting and clamping device as claimed in claim 1, wherein the two fixing columns (8) are symmetrically distributed on two sides of the center line of the industrial camera (5) and fixed on the fixing plate (7).
6. The vision-based double-cylinder driven pot seedling transplanting and clamping device as claimed in claim 1, wherein the two illuminating lamps (6) are symmetrically distributed on both sides of the center line of the industrial camera (5) and fixed on the cylinder (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011183518.5A CN112106499A (en) | 2020-10-29 | 2020-10-29 | Double-cylinder driving type pot seedling transplanting and clamping device based on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011183518.5A CN112106499A (en) | 2020-10-29 | 2020-10-29 | Double-cylinder driving type pot seedling transplanting and clamping device based on vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112106499A true CN112106499A (en) | 2020-12-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011183518.5A Pending CN112106499A (en) | 2020-10-29 | 2020-10-29 | Double-cylinder driving type pot seedling transplanting and clamping device based on vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112106499A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112930809A (en) * | 2021-04-23 | 2021-06-11 | 石河子大学 | Automatic seedling device is got to whole row |
| CN112986245A (en) * | 2021-04-16 | 2021-06-18 | 石河子大学 | Plug seedling detection device based on vision |
| CN113207380A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Intelligent plug seedling taking device |
| CN113812243A (en) * | 2021-10-25 | 2021-12-21 | 无锡悦田农业机械科技有限公司 | Seedling taking mechanism of automatic transplanter |
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|---|---|---|---|---|
| JP2006180862A (en) * | 2004-08-04 | 2006-07-13 | Kagawa Univ | Seedling regulatory station |
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| JP2010226982A (en) * | 2009-03-26 | 2010-10-14 | Iseki & Co Ltd | Riding type seedling transplanter |
| CN104813782A (en) * | 2015-04-21 | 2015-08-05 | 江苏大学 | Tray seedling conveying, positioning and launching method for pot seedling transplanting machine |
| CN204968467U (en) * | 2015-09-15 | 2016-01-20 | 河北润衡水利景观设计研究有限公司 | Bush flowers nursery stock planter |
| CN205179712U (en) * | 2015-10-23 | 2016-04-27 | 吴婉霞 | Automatic transplanter of flowers seedling |
| CN106973602A (en) * | 2017-04-27 | 2017-07-25 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| CN206835620U (en) * | 2017-04-25 | 2018-01-05 | 石河子大学 | A kind of post rod type automatic transplanter Plug seedling conveying device |
| CN207443436U (en) * | 2017-08-29 | 2018-06-05 | 石河子大学 | A kind of clipping potted tray seedling transplanter of entire row fetches and delivers seedling device |
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
-
2020
- 2020-10-29 CN CN202011183518.5A patent/CN112106499A/en active Pending
Patent Citations (10)
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|---|---|---|---|---|
| JP2006180862A (en) * | 2004-08-04 | 2006-07-13 | Kagawa Univ | Seedling regulatory station |
| CN101180928A (en) * | 2007-12-21 | 2008-05-21 | 浙江大学 | Seedling replanting system based on machine vision |
| JP2010226982A (en) * | 2009-03-26 | 2010-10-14 | Iseki & Co Ltd | Riding type seedling transplanter |
| CN104813782A (en) * | 2015-04-21 | 2015-08-05 | 江苏大学 | Tray seedling conveying, positioning and launching method for pot seedling transplanting machine |
| CN204968467U (en) * | 2015-09-15 | 2016-01-20 | 河北润衡水利景观设计研究有限公司 | Bush flowers nursery stock planter |
| CN205179712U (en) * | 2015-10-23 | 2016-04-27 | 吴婉霞 | Automatic transplanter of flowers seedling |
| CN206835620U (en) * | 2017-04-25 | 2018-01-05 | 石河子大学 | A kind of post rod type automatic transplanter Plug seedling conveying device |
| CN106973602A (en) * | 2017-04-27 | 2017-07-25 | 石河子大学 | A kind of new transplanter takes automatically feeds device |
| CN207443436U (en) * | 2017-08-29 | 2018-06-05 | 石河子大学 | A kind of clipping potted tray seedling transplanter of entire row fetches and delivers seedling device |
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112986245A (en) * | 2021-04-16 | 2021-06-18 | 石河子大学 | Plug seedling detection device based on vision |
| CN112930809A (en) * | 2021-04-23 | 2021-06-11 | 石河子大学 | Automatic seedling device is got to whole row |
| CN113207380A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Intelligent plug seedling taking device |
| CN113812243A (en) * | 2021-10-25 | 2021-12-21 | 无锡悦田农业机械科技有限公司 | Seedling taking mechanism of automatic transplanter |
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Application publication date: 20201222 |
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