CN113853965B - Stock feeding method and device for melon and fruit grafting - Google Patents
Stock feeding method and device for melon and fruit grafting Download PDFInfo
- Publication number
- CN113853965B CN113853965B CN202111191805.5A CN202111191805A CN113853965B CN 113853965 B CN113853965 B CN 113853965B CN 202111191805 A CN202111191805 A CN 202111191805A CN 113853965 B CN113853965 B CN 113853965B
- Authority
- CN
- China
- Prior art keywords
- stock
- limiting
- revolution
- rootstock
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
-
- 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
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/32—Automatic apparatus therefor
-
- 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
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/38—Holding; Ligating
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Botany (AREA)
- Developmental Biology & Embryology (AREA)
- Environmental Sciences (AREA)
- Cultivation Of Plants (AREA)
Abstract
The invention discloses a stock feeding method and a stock feeding device for melon and fruit grafting. The invention comprises a revolution motor, a stock revolution structure, a revolution arm and a limit support flat plate; a stock revolution structure is fixedly arranged on the upper surface of the revolution motor; a shaft lever in the stock revolution structure is fixedly connected with an output shaft of a revolution motor; the lower surfaces of two sides of the revolution arm are symmetrically provided with rotation motors; the lower surfaces of the two ends of the limiting support flat plate are provided with limiting motors; and two ends of the limiting support flat plate are provided with limiting clamps. According to the invention, the revolution motor drives the revolution arm to rotate, so that the stock is switched between the feeding station and the receiving station, the rotation motor drives the stock to rotate through the gear, the position of the stock matrix is determined by utilizing the upward extension of the matrix limiting cylinder, and the stock and the rotation mechanism rotate together to ensure the effective rotation of the stock, the leaf unfolding direction of the stock is determined through camera shooting and digital image processing, so that the accurate cutting of the cutter edge is ensured, and the grafting efficiency and the survival rate are ensured.
Description
Technical Field
The invention belongs to the technical field of melon grafting equipment, and particularly relates to a stock feeding method and device for melon and fruit grafting.
Background
At present, the feeding module has two modes of full-automatic feeding and manual feeding. The existing equipment adopting a full-automatic feeding mode adopts a finished product manipulator to respectively feed stocks and scion seedlings, and has the defects that the action speed of the existing finished product manipulator is low, the requirement on grafting speed cannot be met, and the cost of the adopted finished product manipulator is too high. The manual feeding mode has the difference of quality in the convenience and the adaptability of the seedlings.
The korean equipment needs to be manually fed into the gap between two scion seedlings, and has a requirement for positioning feeding, and before the material taking manipulator arrives, an operator cannot leave his hands, and there is a disadvantage that the cotyledon direction of the stock seedling needs to be adjusted to a required direction by the feeding operator, and the equipment itself cannot adjust the cutting direction of the cotyledon.
The stock feeding of the Holland is realized by using a plug tray for batch feeding, but the grafting mode is a flat grafting method, and the grafting mode is not good.
The stock feeding mode of Taiwan is that the stock is manually put into a cutting position for feeding, the feeding mode still needs to be fed and positioned, and the grafting mode only aims at solanaceae and can not graft melon scions.
The feeding mode is closely related to the subsequent operation of the equipment, and the feeding mode influences the operation capacity of the subsequent equipment, so that the good feeding mode has important significance.
The utility model provides a it is convenient to the material loading, can satisfy melon branch of academic or vocational study class and solanaceae class grafting object as the design target, in order to realize the requirement of melon branch of academic or vocational study class plant grafting, need rotate and adjust the position to the stock and find suitable cutting position, and this process is accomplished by manual work entirely, consequently leads to cutting inefficiency, the problem that cutting position precision is not enough.
Disclosure of Invention
The invention aims to provide a stock feeding method and a device for melon and fruit grafting, wherein a revolution motor drives a male rotating arm to rotate, so that the stock is switched between a feeding station and a receiving station, the work efficiency is improved by the alternate switching of two hole trays, an autorotation motor drives the stock to autorotate through a gear, the stock matrix position is determined by utilizing the upward extension of a matrix limiting cylinder, and the autorotate motor autorotates with an autorotating mechanism to ensure the stock to autorotate effectively, the stock leaf unfolding direction is determined through camera shooting and digital image processing, so that the cut edge cutting accuracy of a cutter is ensured, and the grafting efficiency and the survival rate are ensured. The problems that the existing stock grafting cutting efficiency is low and the accuracy of a cutting position is not enough are solved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a stock feeding method for melon and fruit grafting, which comprises the following steps:
step S1: placing the stock to be grafted and the matrix of the root on a limiting table of the device;
step S2: the revolution motor rotates to drive the revolution arm to rotate;
step S3: when the male rotating arm rotates, the self-rotating motor rotates;
step S4: a first gear of the self-rotating motor drives a second gear to rotate, so that the first rotating shaft rotates along with the second gear;
step S5: the stock on the limiting table rotates along with the limiting table;
step S6: the method comprises the following steps that a camera shoots a plurality of rootstock pictures at different angles with a projection plate as a background in the rotation process of the rootstock;
step S7: calculating the optimal cutting angle of the rootstock by an image processing technology;
in step S7, the optimal cutting angle of the rootstock is calculated as follows:
step S71: the rootstock rotates, the rootstock is shot at intervals of angles, the leaf spread size of the rootstock is calculated through image processing, and series data are obtained:
{(x 0 ,y 0 ),(x 1 ,y 1 ),...(x i ,y i ),},i∈[0,N-1]
in the formula, x is an image acquisition angle, and y is a leaf span size;
step S72: implementing functions through the data
Fitting;
step S73: setting a linear function as the following y ═ a0+ a1 ^ x + a2 ^ x ^2+ a3 ^ x ^3+ a4 ^ x ^4, and calculating the optimal coefficient through multiple groups of sampling;
step S74: obtaining optimal coefficient, calculating function
X _ max of (1);
step S75: and obtaining the optimal cutting angle of the rootstock according to the value of x _ max.
The invention relates to a stock feeding device for melon and fruit grafting, which comprises a revolution motor, a stock revolution structure, a revolution arm and a limiting support flat plate, wherein the stock feeding device comprises a feeding mechanism, a feeding mechanism and a control mechanism;
a 'n' -shaped bracket is fixed on the upper surface of the revolution motor; the top end of the n-shaped bracket is fixedly provided with a stock revolution structure;
the stock revolution structure is a pipe body; a bearing is rotatably arranged at the top end of the pipe body; a shaft lever is rotatably arranged in the bearing; the bottom end of the shaft lever passes through the inverted V-shaped bracket and is fixedly connected with an output shaft of the revolution motor; the top end of the shaft lever is fixed in the middle of the lower surface of the revolution arm;
a limiting support vertical plate is vertically arranged in the middle of the upper surface of the revolution arm; a limiting support flat plate is fixed at the top end of the limiting support vertical plate; the lower surfaces of two sides of the revolution arm are symmetrically provided with rotation motors; one end of an output shaft of the rotation motor penetrates through the revolution arm and is provided with a first gear; a first rotating shaft is rotatably arranged at two ends of the male rotating arm; a second gear is sleeved on the first rotating shaft; the top end of the first rotating shaft is provided with a limiting table; the first gear and the second gear are meshed with each other;
the lower surfaces of the two ends of the limiting support flat plate are provided with limiting motors; limiting clamps are arranged at two ends of the limiting support flat plate; the limiting support flat plate is Z-shaped; a clamping groove is formed at the connecting position of the transverse plate and the two vertical plates of the limiting support flat plate; the draw-in groove is used for joint projection board, projection board dead ahead is provided with the camera.
As a preferable technical scheme, screw holes are formed in four corners of the upper surface of the revolution motor; two ends of the n-shaped bracket are matched with the screw holes through bolts, and the n-shaped bracket is fixed on the revolution motor.
As a preferred technical scheme, a first L-shaped plate is arranged on the first rotating shaft; a substrate limiting cylinder is arranged on a vertical plate of the first L-shaped plate; a second L-shaped plate is fixed on a piston of the substrate limiting cylinder; a limiting frame is fixed at the top end of the vertical plate of the second L-shaped plate; the limiting frame is sleeved on the first rotating shaft.
As a preferred technical scheme, one end of an output shaft of the limit motor is provided with a worm; a third L-shaped plate is sleeved on the output shaft of the limiting motor; a second rotating shaft is rotatably arranged on a transverse plate of the third L-shaped plate; a third gear is arranged on the second rotating shaft; the third gear is meshed with the worm.
As a preferred technical scheme, the limiting clamp comprises a driven clamp and a driving clamp; one side of one end of the driven clamp is provided with a limiting rod; one end of the driving clamp is provided with a limiting groove matched with the limiting rod; the other end of the driving clamp is fixedly arranged at the top end of the second rotating shaft.
As a preferred technical scheme, a clamping cavity is formed between a limiting rod of the driven clamp and the driving clamp; the clamping cavity is used for clamping the trunk of the stock; the root of the stock is wrapped with a matrix; the substrate is placed on a limit table.
As a preferred technical scheme, the substrate is an inverted trapezoidal table; the matrix is lifted along with the limiting frame to realize the height adjustment of the rootstock.
The invention has the following beneficial effects:
the rotation motor drives the stock to rotate through the gear, the position of the stock matrix is determined by utilizing the upward extension of the matrix limiting cylinder, and the stock matrix rotates together with the rotation mechanism to ensure the effective rotation of the stock.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a stock feeding device for melon and fruit grafting;
FIG. 2 is a schematic view of the revolving motor;
FIG. 3 is a schematic view of the revolving structure of the rootstock;
fig. 4 is a schematic structural view of the male rotating arm;
FIG. 5 is a schematic structural view of a vertical spacing support plate;
FIG. 6 is a schematic structural view of a position-limiting support plate;
FIG. 7 is a schematic structural view of a limiting motor;
in the drawings, the reference numbers indicate the following list of parts:
1-revolution motor, 2-stock revolution structure, 3-revolution arm, 4-limit support flat plate, 5-limit support vertical plate, 6-rotation motor, 7-limit motor, 8-limit clamp, 9-matrix limit cylinder, 10-stock, 11-camera, 101- 'Ji' type bracket, 102-output shaft, 103-screw hole, 201-bearing, 202-shaft rod, 301-first rotating shaft, 302-second gear, 303-limit table, 304-first L-shaped plate, 401-clamping groove, 601-first gear; 701-worm, 702-third L-shaped plate, 703-second rotating shaft, 704-third gear, 801-driven clamp, 802-driving clamp, 803-limiting rod, 804-limiting groove, 901-piston, 902-second L-shaped plate, 903-limiting frame and 1001-substrate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to a stock feeding method for melon and fruit grafting, which comprises the following steps:
step S1: placing the stock to be grafted and the matrix of the root on a limiting table of the device;
step S2: the revolution motor rotates to drive the revolution arm to rotate;
step S3: when the male rotating arm rotates, the self-rotating motor rotates;
step S4: a first gear of the rotation motor drives a second gear to rotate, so that the first rotating shaft rotates along with the second gear;
step S5: the stock on the limiting table rotates along with the limiting table;
step S6: the method comprises the following steps that a camera shoots a plurality of rootstock pictures at different angles with a projection plate as a background in the rotation process of the rootstock;
step S7: calculating the optimal cutting angle of the stock by an image processing technology;
in step S7, the optimal cutting angle of the rootstock is calculated as follows:
step S71: the method comprises the following steps of rotating a stock, shooting the stock at intervals of angles, and calculating the leaf spread size of the stock through image processing to obtain series data:
{(x 0 ,y 0 ),(x 1 ,y 1 ),...(x i ,y i ),},i∈[0,N-1]
in the formula, x is an image acquisition angle, and y is a leaf span size;
step S72: implementing functions through the data
Fitting;
step S73: setting a linear function as the following y ═ a0+ a1 ^ x + a2 ^ x ^2+ a3 ^ x ^3+ a4 ^ x ^4, and calculating optimal coefficients through multiple groups of sampling;
step S74: obtaining optimal coefficient, calculating function
The extreme value x _ max of (c);
step S75: and obtaining the optimal cutting angle of the rootstock according to the value of x _ max.
Referring to fig. 1, the invention relates to a stock feeding device for melon and fruit grafting, which comprises a revolution motor 1, a stock revolution structure 2, a revolution arm 3 and a limit support plate 4;
referring to fig. 2, a "n" shaped bracket 101 is fixed on the upper surface of the revolving motor 1; the top end of the n-shaped bracket 101 is fixedly provided with a stock revolution structure 2; screw holes 103 are formed in four corners of the upper surface of the revolution motor 1; the two ends of the 'n' shaped bracket 101 are mutually matched with the screw holes 103 through bolts, so that the 'n' shaped bracket 101 is fixed on the revolution motor 1.
Referring to fig. 3, the stock revolution structure 2 is a tube; a bearing 201 is rotatably arranged at the top end of the tube body; a shaft rod 202 is rotatably mounted in the bearing 201; the bottom end of the shaft lever 202 passes through the 'n' -shaped bracket 101 to be fixedly connected with the output shaft 102 of the revolution motor 1; the top end of the shaft lever 202 is fixed in the middle of the lower surface of the male rotating arm 3;
referring to fig. 4-5, a vertical limiting and supporting plate 5 is vertically disposed in the middle of the upper surface of the revolving arm 3; a limiting support flat plate 4 is fixed at the top end of the limiting support vertical plate 5; the lower surfaces of two sides of the male rotating arm 3 are symmetrically provided with self-rotating motors 6; one end of an output shaft of the rotation motor 6 penetrates through the male rotating arm 3 and is provided with a first gear 601; a first rotating shaft 301 is rotatably arranged at two ends of the male rotating arm 3; a second gear 302 is sleeved on the first rotating shaft 301; the top end of the first rotating shaft 301 is provided with a limiting table 303; the first gear 601 and the second gear 302 are meshed with each other; a first L-shaped plate 304 is arranged on the first rotating shaft 301; a substrate limiting cylinder 9 is arranged on a vertical plate of the first L-shaped plate 304; a second L-shaped plate 902 is fixed on a piston 901 of the substrate limiting cylinder 9; a limiting frame 903 is fixed at the top end of the vertical plate of the second L-shaped plate 902; the position limiting frame 903 is sleeved on the first rotating shaft 301.
Referring to fig. 6, the lower surfaces of the two ends of the limiting support plate 4 are provided with limiting motors 7; the two ends of the limiting support flat plate 4 are provided with limiting clamps 8; the limiting support flat plate 4 is Z-shaped; a clamping groove 401 is formed at the connecting position of the transverse plate and the two vertical plates of the limiting support flat plate 4; the clamping groove 401 is used for clamping a projection plate, a camera 11 is arranged right in front of the projection plate, the camera 11 collects projection of the rootstock 10 on the projection plate, and the optimal cutting angle is calculated according to change of leaf extension length in the projection, so that the rootstock 10 is controlled to rotate to the optimal position.
Referring to fig. 7, one end of the output shaft of the limit motor 7 is provided with a worm 701; a third L-shaped plate 702 is sleeved on an output shaft of the limiting motor 7; a second rotating shaft 703 is rotatably installed on a transverse plate of the third L-shaped plate 702; a third gear 704 is arranged on the second rotating shaft 703; the third gear 704 is intermeshed with the worm 701.
The limiting clamp 8 comprises a driven clamp 801 and a driving clamp 802; one side of one end of the driven clamp 801 is provided with a limiting rod 803; one end of the active clamp 802 is provided with a limit groove 804 which is matched with the limit rod 803; the other end of the active clamp 802 is fixedly mounted on the top end of the second rotating shaft 703.
A clamping cavity is formed between the limiting rod 803 of the driven clamp 801 and the driving clamp 802; the clamping cavity is used for clamping the trunk of the stock 10; the root of the rootstock 10 is wrapped with a matrix 1001; the substrate 1001 is placed on the stop 303; the substrate 1001 is an inverted trapezoidal platform; the matrix 1001 is lifted along with the limiting frame 903 to realize height adjustment of the rootstock 10; because the matrix 1001 is an inverted trapezoidal table, the minimum end of the inverted trapezoidal table can penetrate through the limiting frame 903, and the maximum end of the inverted trapezoidal table is larger than the area of the limiting frame 903, in the lifting process of the limiting frame 903, the matrix 1001 can be separated from the limiting frame 303 by the limiting frame 903 and the height of the rootstock 10 can be adjusted along with the lifting of the limiting frame 303 until the rootstock 10 reaches the optimal cutting height, and when the limiting frame 903 descends, the matrix 1001 can be driven to descend until the matrix 1001 falls on the limiting frame 303.
One specific application of this embodiment is:
placing the rootstock 10 to be grafted and the matrix 1001 at the root on a limiting table 303 of the device, rotating a revolution motor 1, and controlling a revolution arm 3 to rotate for rotating the rootstock 10 to a shooting position; when the rootstock 10 to be grafted rotates to a shooting position, the rotation motor 6 is started, the first gear 601 of the rotation motor 6 drives the second gear 302 to rotate, so that the first rotating shaft 301 rotates along with the first gear, and the rootstock 10 on the limiting table 303 also rotates along with the first gear;
the camera device takes a plurality of rootstock 10 photos at different angles by taking the projection plate as a background according to different rotating angles of the rootstock 10; in the process of rotating shooting, the angle of each rotation is generated in a control mode, namely known data, if the spanwise direction is calculated, namely the initial angle is calculated, the rotation of the spanwise direction at the current position can be known, and finally the spanwise direction is rotated to the required cutting position. And starting the substrate limiting cylinder 9 according to the calculated cutting position, lifting the rootstock 10 by the limiting frame 903 to move up and down to the position needing to be cut, and finishing the cutting of the rootstock 10 by the rootstock cutter.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a stock loading attachment for melon and fruit grafting, includes revolution motor (1), stock revolution structure (2), revolution arm (3) and spacing dull and stereotyped (4) of supporting, its characterized in that:
a 'n' -shaped bracket (101) is fixed on the upper surface of the revolution motor (1); the top end of the 'n' -shaped bracket (101) is fixedly provided with a stock revolution structure (2);
the stock revolution structure (2) is a pipe body; a bearing (201) is rotatably arranged at the top end of the pipe body; a shaft lever (202) is rotatably arranged in the bearing (201); the bottom end of the shaft lever (202) passes through the 'n' -shaped bracket (101) and is fixedly connected with an output shaft (102) of the revolution motor (1); the top end of the shaft lever (202) is fixed in the middle of the lower surface of the male rotating arm (3);
a limit supporting vertical plate (5) is vertically arranged in the middle of the upper surface of the male rotating arm (3); a limiting support flat plate (4) is fixed at the top end of the limiting support vertical plate (5); the lower surfaces of two sides of the male rotating arm (3) are symmetrically provided with self-rotating motors (6); one end of an output shaft of the rotation motor (6) penetrates through the common rotating arm (3) and is provided with a first gear (601); a first rotating shaft (301) is rotatably arranged at two ends of the male rotating arm (3); a second gear (302) is sleeved on the first rotating shaft (301); the top end of the first rotating shaft (301) is provided with a limiting table (303); the first gear (601) and the second gear (302) are meshed with each other;
the lower surfaces of two ends of the limiting support flat plate (4) are provided with limiting motors (7); limiting clamps (8) are arranged at two ends of the limiting support flat plate (4);
the limiting support flat plate (4) is Z-shaped; a clamping groove (401) is formed at the connecting position of the transverse plate and the two vertical plates of the limiting support flat plate (4); the clamping groove (401) is used for clamping a projection plate, and a camera (11) is arranged right in front of the projection plate.
2. The rootstock feeding device for melon and fruit grafting according to claim 1, wherein screw holes (103) are formed in four corners of the upper surface of the revolution motor (1); two ends of the 'n' -shaped bracket (101) are mutually matched with the screw holes (103) through bolts, and the 'n' -shaped bracket (101) is fixed on the revolution motor (1).
3. The rootstock feeding device for melon and fruit grafting according to claim 1, wherein the first rotating shaft (301) is provided with a first L-shaped plate (304); a substrate limiting cylinder (9) is mounted on a vertical plate of the first L-shaped plate (304); a second L-shaped plate (902) is fixed on a piston (901) of the substrate limiting cylinder (9); a limiting frame (903) is fixed at the top end of the vertical plate of the second L-shaped plate (902); the limiting frame (903) is sleeved on the first rotating shaft (301).
4. The rootstock feeding device for melon and fruit grafting according to claim 1, wherein one end of an output shaft of the limiting motor (7) is provided with a worm (701); a third L-shaped plate (702) is sleeved on an output shaft of the limiting motor (7); a second rotating shaft (703) is rotatably arranged on a transverse plate of the third L-shaped plate (702); a third gear (704) is arranged on the second rotating shaft (703); the third gear (704) is meshed with the worm (701).
5. The rootstock feeding device for melon and fruit grafting as claimed in claim 1 or 4, wherein the limiting clamp (8) comprises a driven clamp (801) and a driving clamp (802); one side of one end of the driven clamp (801) is provided with a limiting rod (803); one end of the active clamp (802) is provided with a limit groove (804) which is matched with the limit rod (803); the other end of the active clamp (802) is fixedly arranged at the top end of the second rotating shaft (703).
6. The rootstock feeding device for melon and fruit grafting as claimed in claim 5, wherein a clamping cavity is formed between the limiting rod (803) of the driven clamp (801) and the driving clamp (802); the clamping cavity is used for clamping the trunk of the stock (10); the root of the rootstock (10) is wrapped with a substrate (1001); the substrate (1001) is placed on a stop table (303).
7. The rootstock feeding device for melon and fruit grafting according to claim 6, wherein the substrate (1001) is an inverted trapezoidal platform; the height of the rootstock (10) is adjusted by lifting the substrate (1001) along with the limiting frame (903).
8. A stock feeding method for melon and fruit grafting is characterized by comprising the following steps:
step S1: placing the rootstock to be grafted and the matrix of the root on a limiting table of the rootstock feeding device for melon and fruit grafting according to any one of claims 1 to 7;
step S2: the revolution motor rotates to drive the revolution arm to rotate;
step S3: when the male rotating arm rotates, the self-rotating motor rotates;
step S4: a first gear of the self-rotating motor drives a second gear to rotate, so that the first rotating shaft rotates along with the second gear;
step S5: the stock on the limiting table rotates along with the limiting table;
step S6: the method comprises the following steps that a camera shoots a plurality of stock photos at different angles with a projection plate as a background in the rotation process of a stock;
step S7: calculating the optimal cutting angle of the rootstock by an image processing technology;
in step S7, the optimal cutting angle of the rootstock is calculated as follows:
step S71: the rootstock rotates, the rootstock is shot at intervals of angles, the leaf spread size of the rootstock is calculated through image processing, and series data are obtained:
{(x 0 ,y 0 ),(x 1 ,y 1 ),...(x i ,y i ),},i∈[0,N-1]
in the formula, x is an image acquisition angle, and y is a leaf span size;
step S72: implementing functions through the data
Fitting;
step S73: setting a linear function as the following y ═ a0+ a1 ^ x + a2 ^ x ^2+ a3 ^ x ^3+ a4 ^ x ^4, and calculating optimal coefficients through multiple groups of sampling;
step S74: obtaining the optimal coefficient and calculating the function
The extreme value x _ max of (c);
step S75: and obtaining the optimal cutting angle of the rootstock according to the value of x _ max.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111191805.5A CN113853965B (en) | 2021-10-13 | 2021-10-13 | Stock feeding method and device for melon and fruit grafting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111191805.5A CN113853965B (en) | 2021-10-13 | 2021-10-13 | Stock feeding method and device for melon and fruit grafting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113853965A CN113853965A (en) | 2021-12-31 |
| CN113853965B true CN113853965B (en) | 2022-08-26 |
Family
ID=78998929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111191805.5A Active CN113853965B (en) | 2021-10-13 | 2021-10-13 | Stock feeding method and device for melon and fruit grafting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113853965B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114698479A (en) * | 2022-04-15 | 2022-07-05 | 合肥佳富特机器人科技有限责任公司 | Rootstock leaf spread direction identification method based on image processing |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008295408A (en) * | 2007-06-01 | 2008-12-11 | Si Seiko Co Ltd | Grafting device |
| WO2013026169A1 (en) * | 2011-08-25 | 2013-02-28 | Transformix Engineering, Inc. | Cutting arrangement, and associated devices, systems and methods |
| EP2719273A1 (en) * | 2012-10-12 | 2014-04-16 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Method and apparatus for cutting plants |
| JP2015159798A (en) * | 2014-02-28 | 2015-09-07 | 井関農機株式会社 | Grafted seedling producing apparatus |
| WO2018012678A1 (en) * | 2016-07-14 | 2018-01-18 | 대한민국(농촌진흥청장) | Grafting robot and operation method therefor |
| CN109906791A (en) * | 2019-04-08 | 2019-06-21 | 温州职业技术学院 | A kind of stock notching mechanism and its working method |
| CN110393096A (en) * | 2019-05-09 | 2019-11-01 | 北京虹安翔宇信息科技有限公司 | Automation seedling device for grafting and its control method based on image recognition |
| CN113243218A (en) * | 2021-05-31 | 2021-08-13 | 山东安信种苗股份有限公司 | Solanum vegetable cleft grafting device |
-
2021
- 2021-10-13 CN CN202111191805.5A patent/CN113853965B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008295408A (en) * | 2007-06-01 | 2008-12-11 | Si Seiko Co Ltd | Grafting device |
| WO2013026169A1 (en) * | 2011-08-25 | 2013-02-28 | Transformix Engineering, Inc. | Cutting arrangement, and associated devices, systems and methods |
| EP2719273A1 (en) * | 2012-10-12 | 2014-04-16 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Method and apparatus for cutting plants |
| JP2015159798A (en) * | 2014-02-28 | 2015-09-07 | 井関農機株式会社 | Grafted seedling producing apparatus |
| WO2018012678A1 (en) * | 2016-07-14 | 2018-01-18 | 대한민국(농촌진흥청장) | Grafting robot and operation method therefor |
| CN109906791A (en) * | 2019-04-08 | 2019-06-21 | 温州职业技术学院 | A kind of stock notching mechanism and its working method |
| CN110393096A (en) * | 2019-05-09 | 2019-11-01 | 北京虹安翔宇信息科技有限公司 | Automation seedling device for grafting and its control method based on image recognition |
| CN113243218A (en) * | 2021-05-31 | 2021-08-13 | 山东安信种苗股份有限公司 | Solanum vegetable cleft grafting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113853965A (en) | 2021-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113853965B (en) | Stock feeding method and device for melon and fruit grafting | |
| CN210855819U (en) | Glass cutting device | |
| CN104859888A (en) | Vision alignment platform | |
| CN105620012B (en) | A kind of laminator | |
| CN112354781A (en) | Turnover type plastic soaking device for plastic coating | |
| CN103202179A (en) | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision | |
| CN109378291B (en) | Oscillating green ceramic chip doctor-bar feeding and discharging mechanism | |
| CN107351511A (en) | Solar double-glass assemblies production closes sheet devices with glass | |
| CN216177578U (en) | Full-automatic huge grain welding equipment | |
| CN207088659U (en) | Solar double-glass assemblies production closes sheet devices with glass | |
| CN216028819U (en) | Automatic laser resistance trimming machine | |
| CN113437003B (en) | High-speed sheet arranging machine | |
| CN105136513B (en) | Beet sampler | |
| CN200965609Y (en) | Stepping motor positioned automatic and continuous shooting pan/tilt head | |
| CN111441193A (en) | Dinner plate forming and processing device | |
| CN114115163A (en) | Control system of ceramic embryo body intelligent production line based on new ceramic material | |
| CN217429116U (en) | Cake processing device capable of automatically shaping | |
| CN218227070U (en) | Rotary clamping mechanism of tenoning machine | |
| CN206653477U (en) | A kind of sheet material automatic trimming device | |
| CN116810927B (en) | But panel saw cuts device of self-adaptation position adjustment | |
| CN212355393U (en) | Quick loading attachment of pole class part | |
| CN218088257U (en) | Paper folding machine | |
| CN221071343U (en) | Hollow glass processing device | |
| CN220996943U (en) | Automatic subsides of PSA material high accuracy are installed and are equipped with | |
| CN218200870U (en) | Tee bend pipe fitting processing loading attachment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |