CN113994824A - Automatic seedling device of getting of cave dish - Google Patents
Automatic seedling device of getting of cave dish Download PDFInfo
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- CN113994824A CN113994824A CN202210000608.9A CN202210000608A CN113994824A CN 113994824 A CN113994824 A CN 113994824A CN 202210000608 A CN202210000608 A CN 202210000608A CN 113994824 A CN113994824 A CN 113994824A
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- seedling
- clamping
- clamping finger
- seedling taking
- seedlings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/32—Automatic apparatus therefor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/35—Cutting; Inserting
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- Developmental Biology & Embryology (AREA)
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- Transplanting Machines (AREA)
Abstract
The invention provides an automatic seedling taking device of an aperture disk, which comprises: the device comprises a transfer mechanism, a seedling taking actuator, a detection module and a control module; the transfer mechanism is connected with the seedling taking actuator so as to drive the seedling taking actuator to move between a first position close to the plug tray and a second position far away from the plug tray; the detection module is connected with the control module, and the control module is respectively connected with the transfer mechanism and the seedling taking actuator; the detection module is used for detecting whether seedlings are deficient in a target hole of the plug tray; the control module is used for controlling the seedling taking actuator to carry out seedling taking operation on the seedlings under the conditions that the seedling taking actuator is located at the first position and the seedlings are located in the target hole. The automatic seedling picking device can conveniently and automatically pick seedlings in the plug tray, ensures the seedling picking efficiency and the operation quality, and is beneficial to improving the production efficiency of grafting equipment.
Description
Technical Field
The invention relates to the technical field of seedling culture, in particular to an automatic plug seedling taking device.
Background
In the grafting operation, seedling taking is a very important link. When the seedlings are taken, the seedlings need to be cut so as to graft the scion seedlings on the stock seedlings. Therefore, the efficiency of seedling taking directly affects the efficiency of grafting operation.
At present, because be equipped with the cave hole that a plurality of fixed intervals set up on the cave dish, based on the mode of growing seedlings of cave dish, can cultivate the seedling of a plurality of fixed intervals seeding simultaneously, reduced the nutrition contention between cave dish seedling for the root system of seedling develops fully, also because the fixed interval between the cave hole, is convenient for realize the operation of getting the seedling to the cave dish seedling of fixed interval seeding.
Along with the popularization and application of the machine grafting in seedling culture, the machine grafting can promote and improve the standardization, automation and scale of vegetable seedling culture production. However, in the operation of picking seedlings from plug seedlings, the existing grafting equipment basically needs manual assistance for seedling feeding, which greatly reduces the production efficiency and the operation quality of the machine and also seriously affects the popularization and application of the equipment. Therefore, an automatic seedling taking device is urgently needed to replace manual seedling feeding so as to improve the production efficiency of grafting equipment.
Disclosure of Invention
The invention provides an automatic seedling taking device for a plug tray, which is used for solving or improving the problem that automatic seedling taking operation on seedlings in the plug tray is difficult to conveniently realize at present.
The invention provides an automatic seedling taking device of an aperture disk, which comprises: the device comprises a transfer mechanism, a seedling taking actuator, a detection module and a control module; the transfer mechanism is connected with the seedling taking actuator so as to drive the seedling taking actuator to move between a first position close to the plug tray and a second position far away from the plug tray; the detection module is connected with the control module, and the control module is respectively connected with the transfer mechanism and the seedling taking actuator; the detection module is used for detecting whether seedlings are missing in the target hole of the hole tray; the control module is used for controlling the seedling taking actuator to carry out seedling taking operation on the seedlings under the conditions that the seedling taking actuator is located at the first position and the seedlings exist in the target hole.
According to the automatic seedling taking device of the plug tray provided by the invention, the seedling taking actuator comprises: the seedling raising device comprises a fixed seat, a seedling raising part and a seedling taking part; the seedling supporting part and the seedling taking part are both arranged on the fixed seat; the control module is respectively connected with the seedling supporting part and the seedling taking part; the seedling supporting part is used for supporting the stems of the seedlings in the target hole; the seedling taking part is used for clamping and shearing the stems of the seedlings.
According to the automatic seedling device of taking of cave dish that the invention provides, the seedling portion of supporting includes: the first telescopic mechanism, the second telescopic mechanism, the connecting member, the first seedling supporting rod and the second seedling supporting rod are arranged on the frame; the first telescopic mechanism is connected with the fixed seat; the telescopic end of the first telescopic mechanism is connected with the first end of the connecting member, and the first end of the connecting member is connected with one end of the first seedling supporting rod; the second telescopic mechanism is arranged at the second end of the connecting member, and the telescopic end of the second telescopic mechanism is connected with one end of the second seedling supporting rod; a seedling supporting area is formed between the first seedling supporting rod and the second seedling supporting rod, and the seedling taking part is used for clamping and shearing stems of seedlings in the seedling supporting area; the first telescopic mechanism is used for driving the connecting member to lift along the vertical direction; the first end and the second end of the connecting member are arranged at intervals along a first horizontal direction; the second telescopic mechanism is used for driving the second seedling supporting rod to stretch along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.
According to the automatic seedling taking device of the plug tray provided by the invention, the first seedling supporting rod comprises: a first support section and a second support section; one end of the first supporting section is connected with the first end of the connecting member, and the other end of the first supporting section is connected with one end of the second supporting section; the first supporting section extends along the second horizontal direction, and the other end of the second supporting section extends towards one side of the second seedling supporting rod along the first horizontal direction.
According to the automatic plug seedling taking device provided by the invention, the detection module is arranged at the other end of the second seedling supporting rod, and the detection end of the detection module extends to the seedling supporting area; the detection module comprises a fiber optic sensor.
According to the automatic seedling device of tray that the invention provides, get the seedling portion and include: the third telescopic mechanism, the first pneumatic clamping jaw and the second pneumatic clamping jaw; the third telescopic mechanism is connected with the fixed seat; the telescopic end of the third telescopic mechanism is respectively connected with the first pneumatic clamping jaw and the second pneumatic clamping jaw, and the telescopic end of the third telescopic mechanism is used for stretching along a second horizontal direction; the clamping end of the first pneumatic clamping jaw and the clamping end of the second pneumatic clamping jaw are vertically arranged; the clamping end of the first pneumatic clamping jaw is used for clamping the stem of the seedling; the clamping end of the second pneumatic clamping jaw is provided with a cutter, and the clamping end of the second pneumatic clamping jaw is used for shearing the stalks of the seedlings under the condition of being in a clamping state.
According to the automatic seedling device of tray that the invention provides, said first pneumatic clamping jaw includes: the seedling collecting device comprises a first clamping jaw cylinder, a first clamping finger, a second clamping finger, a seedling collecting hand and a first positioning piece;
one output end of the first clamping jaw air cylinder is connected with one end of the first clamping finger, and the other output end of the first clamping jaw air cylinder is connected with one end of the second clamping finger; the other end of the first clamping finger is connected with one end of the seedling gathering hand, and the middle part of the second clamping finger is connected with one end of the first positioning piece; the length of the seedling collecting hand is smaller than that of the first positioning piece; under the condition that the first clamping finger and the second clamping finger are in a separated state, the other end of the seedling gathering hand and the other end of the second clamping finger are arranged at an interval, the other end of the first positioning piece extends to the middle of the first clamping finger, a gap for the stalks of the seedlings to pass through is formed between the other end of the seedling gathering hand and the other end of the second clamping finger, and the first positioning piece is used for supporting the upper parts of the stalks of the seedlings; under the condition that the first clamping finger and the second clamping finger are in a clamping state, the first clamping finger, the second clamping finger, the seedling gathering hand and the first positioning piece enclose a clamping opening, and the area of the area where the clamping opening is located is larger than the cross-sectional area of the stem of the seedling.
According to the automatic seedling device of tray that the invention provides, the said second pneumatic clamping jaw includes: the second clamping jaw cylinder, the third clamping finger, the fourth clamping finger and the second positioning piece; one output end of the second clamping jaw air cylinder is connected with one end of the third clamping finger, and the other output end of the second clamping jaw air cylinder is connected with one end of the fourth clamping finger; the third clamping finger is provided with the cutter, and the middle part of the fourth clamping finger is connected with one end of the second positioning piece; under the condition that the third clamping finger and the fourth clamping finger are in a separated state, a gap for the stalks of the seedlings to pass through is formed between the other end of the third clamping finger and the other end of the fourth clamping finger, the other end of the second positioning piece extends to the middle of the third clamping finger, and the second positioning piece is used for supporting the lower parts of the stalks of the seedlings; and under the condition that the third clamping finger and the fourth clamping finger are in a clamping state, the knife edge of the cutter is close to the other end of the fourth clamping finger so as to shear the lower part of the stem of the seedling.
According to the automatic seedling device of getting of cave dish that the invention provides, move and carry the mechanism and include: a frame and a linear module; the rack is connected with the linear module, a sliding table of the linear module can reciprocate along a first horizontal direction, and the sliding table of the linear module is connected with the seedling taking actuator; the automatic seedling device of getting of cave dish still includes conveying mechanism, conveying mechanism is used for driving the cave dish removes along the second horizontal direction.
According to the automatic seedling device of getting of cave dish that the invention provides, still include: the guide wheel, the adapter piece and the guide slideway; the guide wheel and the seedling raising part are respectively connected with the adaptor; the adaptor is movably arranged on one side of the fixed seat along the vertical direction; the guide slideway extends along the first horizontal direction, and the guide wheel moves along the extension direction of the guide slideway; the guide chute comprises: the device comprises an inclined guide section and a horizontal guide section, wherein one end of the inclined guide section is connected with one end of the horizontal guide section.
According to the automatic seedling taking device for the plug tray, the transplanting mechanism, the seedling taking actuator, the detection module and the control module are arranged, when seedlings are taken, the seedling taking actuator can be driven by the transplanting mechanism to be transplanted to a first position close to the plug tray, when the detection module detects that seedlings exist in target plug holes, the seedling taking actuator is controlled to carry out seedling taking operation on the seedlings, then the seedling taking actuator is driven by the transplanting mechanism to be transplanted to a second position far away from the plug tray so as to carry out seedling feeding operation, and the operation is repeated in this way, so that all the seedlings in the target plug holes of the plug tray can be taken out.
Therefore, the seedling picking actuator can conveniently control the seedling picking action of the seedling picking actuator based on the judgment of whether the target holes of the plug tray are short of seedlings, can automatically pick the seedlings in the plug tray with the aid of the transfer mechanism, ensures the seedling picking efficiency and the operation quality, and is beneficial to improving the production efficiency of the grafting equipment.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an automatic plug seedling picking device provided by the invention;
FIG. 2 is a schematic structural diagram of a seedling picking actuator provided by the present invention;
FIG. 3 is a schematic structural view of the seedling-supporting part and the guide wheel provided by the invention connected through an adapter;
FIG. 4 is a schematic structural view of the seedling-picking section provided by the present invention;
FIG. 5 is a schematic structural view of a seedling taking part provided by the invention for clamping and shearing seedlings;
FIG. 6 is a schematic structural diagram of a seedling picking operation performed by the automatic plug seedling picking device according to the present invention;
FIG. 7 is a second schematic structural view of the automatic plug seedling picking device according to the present invention;
FIG. 8 is a third schematic structural view of the automatic plug seedling picking device according to the present invention;
FIG. 9 is a fourth schematic structural view of the automatic plug seedling picking device according to the present invention;
FIG. 10 is a fifth schematic view of the structure of the automatic plug seedling picking device according to the present invention;
FIG. 11 is a sixth schematic structural view of the automatic plug seedling picking device according to the present invention;
FIG. 12 is a seventh schematic structural view of the automatic plug seedling picking device according to the present invention;
reference numerals: 1. a frame; 2. a linear module; 3. a seedling taking actuator; 4. a detection module; 5. a guide slide way; 6. a conveying mechanism; 7. a guide wheel; 8. an adapter; 100. a plug; 200. seedling; 31. a fixed seat; 32. a seedling raising part; 33. a seedling taking part; 321. a first telescoping mechanism; 322. a second telescoping mechanism; 323. a connecting member; 324. a first seedling supporting rod; 325. a second seedling supporting rod; 331. a third telescoping mechanism; 332. a first pneumatic jaw; 333. a second pneumatic jaw; 301. a first jaw cylinder; 302. a first clamping finger; 303. a second clamping finger; 304. collecting seedlings; 305. a first positioning member; 311. a second jaw cylinder; 312. a third clamping finger; 313. a fourth clamping finger; 314. a second positioning member; 315. and (4) a cutter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 automatic seedling taking device of the plug tray of the invention is described below with reference to fig. 1-12.
As shown in fig. 1 and fig. 6, the present embodiment provides an automatic seedling picking device with a tray, including: the device comprises a transfer mechanism, a seedling taking actuator 3, a detection module 4 and a control module; the transfer mechanism is connected with the seedling taking actuator 3 to drive the seedling taking actuator 3 to move between a first position close to the plug tray 100 and a second position far away from the plug tray 100; the detection module 4 is in communication connection with the control module, and the control module is in communication connection with the transfer mechanism and the seedling taking actuator 3 respectively; the detection module 4 is used for detecting whether seedlings are missing in the target holes of the plug tray 100; the control module is used for controlling the seedling taking actuator 3 to carry out seedling taking operation on the seedling 200 under the condition that the seedling taking actuator 3 is determined to be at the first position and the seedling 200 is positioned in the target hole.
Specifically, this embodiment is through setting up and moving the mechanism, get seedling executor 3, detection module 4 and control module, when getting the seedling, can get seedling executor 3 through moving the mechanism drive that moves earlier and move to the first position that is close to plug 100, when detection module 4 detects that there is seedling 200 in the target plug, control and get seedling executor 3 and carry out the operation of getting the seedling to seedling 200, then, get seedling executor 3 through moving the mechanism drive that moves and move to the second position of keeping away from plug 100, in order to go on the seedling operation, so reciprocal, can all take out the seedling 200 in each target plug of plug 100.
Therefore, the invention can conveniently realize the control of the seedling taking action of the seedling taking actuator 3 based on the judgment of whether the seedlings are deficient in each target hole of the plug tray 100, can realize the automatic seedling taking operation of the seedlings 200 in the plug tray 100 under the assistance of the transfer mechanism, ensures the seedling taking efficiency and the operation quality, and is beneficial to improving the production efficiency of the grafting equipment.
It should be noted that the plug tray 100 shown in this embodiment includes a plurality of target plug holes, the plurality of target plug holes are arranged in an array, in the seedling raising process, a seedling 200 is planted in each target plug hole, and the seedling 200 may be a seedling of a vegetable or a fruit.
The transfer mechanism shown in this embodiment may be a multi-axis robot arm as is known in the art. In the case that the position where the plug 100 is placed is fixed, the present embodiment may plan the moving path of the executing end of the transferring mechanism according to the coordinate position of each target plug in the plug 100, so as to control the seedling taking actuator 3 to move between a first position close to the plug 100 and a second position far from the plug 100.
Further, in this embodiment, when the detection module 4 is used to detect whether there is a seedling shortage in the target hole, the detection module 4 may use a camera module, a photoelectric switch, a proximity switch, etc. which are well known in the art, and is not limited herein.
Here, the control module shown in this embodiment is configured to determine whether a seedling is missing in the target hole according to a signal fed back by the detection module 4. The control module is a functional module with certain logic Processing capability, and the control module may adopt a Central Processing Unit (CPU), a single chip microcomputer or a PLC controller, etc., which are well known in the art, and is not limited specifically herein.
In some embodiments, as shown in fig. 1 and 2, the seedling taking actuator 3 includes: a fixed seat 31, a seedling support part 32 and a seedling taking part 33; the seedling raising part 32 and the seedling taking part 33 are both arranged on the fixed seat 31; the control module is respectively connected with the seedling supporting part 32 and the seedling taking part 33; the seedling supporting part 32 is used for supporting the stalks of the seedlings 200 in the target hole; the seedling taking part 33 is used for clamping and shearing the stalks of the seedlings 200.
Specifically, when the seedling 200 is determined to be present in the target hole, the control module sends a control instruction to the seedling supporting part 32 to control the seedling supporting part 32 to support the stem of the seedling 200 inclined or lodging in the target hole, so that the stem of the seedling 200 is kept in an upright state, then the control module sends a control instruction to the seedling taking part 33, and the seedling taking part 33 clamps and shears the stem of the seedling 200 after being supported, so that the adaptability of the seedling taking actuator 3 to the seedling 200 in the hole tray 100 is improved, the uniformity of the seedling taking is ensured, and the damage to the seedling 200 during the seedling taking can be effectively avoided.
The fixed seat 31 comprises a first vertical plate, a horizontal plate and a second vertical plate, the first vertical plate, the horizontal plate and the second vertical plate are sequentially connected, the horizontal plate is used for being connected with the transfer mechanism, and the first vertical plate and the second vertical plate are spaced from each other and arranged in parallel; the seedling supporting part 32 is connected with the first vertical plate and/or the second vertical plate, and the seedling taking part 33 is arranged between the first vertical plate and the second vertical plate.
In some embodiments, as shown in fig. 3, the seedling raising section 32 of the present embodiment includes: a first telescopic mechanism 321, a second telescopic mechanism 322, a connecting member 323, a first seedling supporting rod 324 and a second seedling supporting rod 325; the first telescopic mechanism 321 is connected with the fixed seat 31; the telescopic end of the first telescopic mechanism 321 is connected with the first end of the connecting member 323, and the first end of the connecting member 323 is connected with one end of the first seedling supporting rod 324; the second telescopic mechanism 322 is arranged at the second end of the connecting member 323, and the telescopic end of the second telescopic mechanism 322 is connected with one end of the second seedling support rod 325; a seedling support area is formed between the first seedling support rod 324 and the second seedling support rod 325, and the seedling taking part 33 is used for clamping and shearing the stems of the seedlings 200 in the seedling support area; the first telescopic mechanism 321 is used for driving the connecting member 323 to lift and descend along the vertical direction; the first end and the second end of the connecting member 323 are arranged at intervals along the first horizontal direction; the second telescopic mechanism 322 is used for driving the second seedling supporting rod 325 to be telescopic along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.
Specifically, when it is determined that a seedling 200 exists in the target hole and the seedling 200 is located on one side of the first seedling support rod 324 close to the second seedling support rod 325, the embodiment may send a control instruction to the second telescopic mechanism 322 through the control module, the second telescopic mechanism 322 drives the second seedling support rod 325 to extend out, and when a nearly closed seedling support region is formed between the first seedling support rod 324 and the second seedling support rod 325, the stem of the seedling 200 is limited in the seedling support region; then, the embodiment sends a control instruction to the first telescoping mechanism 321 through the control module, and the first telescoping mechanism 321 drives the first seedling supporting rod 324 and the second seedling supporting rod 325 to ascend simultaneously, so that the stalk of the seedling 200 which is inclined or lodged can be conveniently and fast supported.
Both the first telescoping mechanism 321 and the second telescoping mechanism 322 shown in this embodiment may be air cylinders known in the art.
As shown in fig. 3, in order to ensure the seedling raising effect, the first seedling raising pole 324 shown in this embodiment includes: a first support section and a second support section; one end of the first support section is connected with the first end of the connecting member 323, and the other end is connected with one end of the second support section; the first support section extends in the second horizontal direction, and the other end of the second support section extends in the first horizontal direction toward one side of the second seedling support rod 325.
Thus, in this embodiment, when the telescopic end of the second telescopic mechanism 322 is in the retracted state, a larger gap is formed between the other end of the first seedling supporting rod 324 and the other end of the second seedling supporting rod 325 for the stem of the seedling 200 to pass through, and when the telescopic end of the second telescopic mechanism 322 is in the extended state, since the other end of the first seedling supporting rod 324 is close to the other end of the second seedling supporting rod 325, the seedling supporting area shown in the above embodiment can be formed between the first seedling supporting rod 324 and the second seedling supporting rod 325.
As shown in fig. 3, in order to facilitate accurate determination of whether seedlings 200 exist in the target holes, the detection module 4 is disposed at the other end of the second seedling support rod 325, and the detection end of the detection module 4 extends to the seedling support area.
So, this embodiment is driving the in-process that second seedling pole 325 stretches out through second telescopic machanism 322, by whether there is seedling 200 in the synchronous detection target cave hole of detection module 4, not only easy operation is convenient, still is favorable to ensureing the detection precision. Wherein the detection module 4 is preferably a fiber optic sensor as known in the art, in order to further improve the detection accuracy.
In some embodiments, as shown in fig. 4 and 5, the seedling taking part 33 of the present embodiment includes: a third telescoping mechanism 331, a first pneumatic jaw 332, and a second pneumatic jaw 333; the third telescopic mechanism 331 is connected with the fixed seat 31; the telescopic end of the third telescopic mechanism 331 is connected with the first pneumatic clamping jaw 332 and the second pneumatic clamping jaw 333 through a switching member, and the telescopic end of the third telescopic mechanism 331 is telescopic along the second horizontal direction; the clamping end of the first pneumatic clamping jaw 332 and the clamping end of the second pneumatic clamping jaw 333 are vertically arranged up and down; the clamping end of the first pneumatic clamping jaw 332 is used for clamping the stem of the seedling 200; the clamping end of the second pneumatic clamping jaw 333 is provided with a cutter 315, and the clamping end of the second pneumatic clamping jaw 333 shears the stalks of the seedlings 200 under the clamping state.
Specifically, after the seedling raising part 32 is used to raise the stem of the seedling 200, the embodiment may send a control instruction to the third telescoping mechanism 331 through the control module to drive the first pneumatic clamping jaw 332 and the second pneumatic clamping jaw 333 to move towards the seedling 200 at the same time; when the stem of the seedling 200 is located at the clamping end of the first pneumatic clamping jaw 332 and the clamping end of the second pneumatic clamping jaw 333, the control module can sequentially send control instructions to the first pneumatic clamping jaw 332 and the second pneumatic clamping jaw 333, and after the clamping end of the first pneumatic clamping jaw 332 clamps the stem of the seedling 200, the clamping end of the second pneumatic clamping jaw 333 is controlled to be switched to a clamping state, and the stem of the seedling 200 is sheared by the cutter 315 arranged at the clamping end of the second pneumatic clamping jaw 333.
Further, the first pneumatic jaw 332 shown in the present embodiment includes: a first clamping jaw cylinder 301, a first clamping finger 302, a second clamping finger 303, a seedling collecting hand 304 and a first positioning piece 305; one output end of the first clamping jaw air cylinder 301 is connected with one end of the first clamping finger 302, and the other output end of the first clamping jaw air cylinder 301 is connected with one end of the second clamping finger 303; the other end of the first clamping finger 302 is connected with one end of a seedling collecting hand 304, and the middle part of the second clamping finger 303 is connected with one end of a first positioning piece 305; the length of the seedling gathering hand 304 is less than that of the first positioning piece 305.
As shown in fig. 4, when the first finger grip 302 and the second finger grip 303 are in a separated state, the other end of the seedling gathering hand 304 and the other end of the second finger grip 303 are spaced apart, the other end of the first positioning member 305 extends to the middle of the first finger grip 302, and a gap for the stem of the seedling 200 to pass through is formed between the other end of the seedling gathering hand 304 and the other end of the second finger grip 303. The first positioning member 305 can support the upper portion of the stem of the seedling 200 while the third telescoping mechanism 331 drives the first pneumatic clamping jaw 332 toward the seedling 200.
As shown in fig. 5, when the first finger 302 and the second finger 303 are in a clamping state, the first finger 302, the second finger 303, the seedling gathering hand 304 and the first positioning member 305 enclose a clamping opening, and the area of the clamping opening is larger than the cross-sectional area of the stem of the seedling 200.
So, two clamp fingers of the first pneumatic clamping jaw 332 of this embodiment are in the in-process that switches from the separation state to the clamping state, and the accessible closed centre gripping mouth gradually plays to close up seedling positioning action to the stem stalk of the seedling 200 of the certain deviation within range in target hole center to ensure that the stem stalk of seedling 200 is in owing positioning state in the centre gripping mouth, avoid causing the centre gripping damage to the stem stalk of seedling 200.
Further, the second pneumatic jaw 333 shown in the present embodiment includes: a second clamping jaw cylinder 311, a third clamping finger 312, a fourth clamping finger 313 and a second positioning part 314; one output end of the second clamping jaw cylinder 311 is connected with one end of the third clamping finger 312, and the other output end of the second clamping jaw cylinder 311 is connected with one end of the fourth clamping finger 313; the third clamping finger 312 is provided with a cutter 315, and the middle part of the fourth clamping finger 313 is connected with one end of a second positioning part 314.
As shown in fig. 4, in the state that the third gripping finger 312 is separated from the fourth gripping finger 313, a gap for the passage of the stem of the seedling 200 is formed between the other end of the third gripping finger 312 and the other end of the fourth gripping finger 313, and the other end of the second positioning member 314 extends toward the middle of the third gripping finger 312. In this manner, the second positioning member 314 can support the lower portion of the stem of the seedling 200 while the third telescoping mechanism 331 drives the second pneumatic clamp jaws 333 toward the seedling 200.
As shown in fig. 5, in a state where the third clamping finger 312 and the fourth clamping finger 313 are clamped, the cutting edge of the cutting knife 315 is close to the other end of the fourth clamping finger 313 to cut the lower portion of the stem of the seedling 200. Based on the under-positioning effect of the clamping opening on the upper part of the stem of the seedling 200, after the lower part of the stem of the seedling 200 is supported again by the second positioning part 314, the embodiment can realize that the cutter 315 can accurately cut the lower part of the stem in the process of controlling the two clamping fingers of the second pneumatic clamping jaw 333 to approach each other, and the cut surface of the stem of the seedling 200 is supported after the stem of the seedling 200 is cut.
Here, the optimized design of the seedling taking part 33 based on the above embodiment is beneficial to the subsequent direction adjustment operation of the seedling 200, so as to perform the machine grafting of the seedling 200.
Based on the solutions shown in the above embodiments, in some embodiments, as shown in fig. 1, the transfer mechanism includes: a frame 1 and a linear module 2; the frame 1 is connected with the linear module 2, the sliding table of the linear module 2 can reciprocate along a first horizontal direction, and the sliding table of the linear module 2 is connected with the seedling taking actuator 3; the automatic seedling picking device for the plug tray further comprises a conveying mechanism 6, and the conveying mechanism 6 is used for driving the plug tray 100 to move along the second horizontal direction.
Specifically, in the present embodiment, when the sliding table of the control linear module 2 moves gradually along the first horizontal direction at the station of a single target hole, the seedling picking actuator 3 can sequentially execute the seedling picking operation on the seedlings 200 in one row of target holes arranged along the first horizontal direction on the plug tray 100; after the seedling taking actuator 3 finishes the seedling taking operation on the seedlings 200 in the target hole of the previous row, the seedling taking actuator 3 can carry out the seedling taking operation on the seedlings 200 in the target hole of the next row only by driving the hole tray 100 to move the station of a single target hole along the second horizontal direction through the conveying mechanism 6, and the operation is repeated until the seedling taking operation is finished on the seedlings 200 in all the target holes.
Further, when the seedling taking actuator 3 moves to the second position far away from the plug 100, in order to separate the seedling supporting part 32 from the seedling taking part 33 in the vertical direction, so as to perform the subsequent grafting operation on the seedling 200, the plug automatic seedling taking device shown in the present embodiment is further designed with a guide wheel 7, an adapter 8 and a guide slideway 5.
Specifically, the guide wheel 7 and the seedling raising part 32 shown in the embodiment are respectively connected with the adaptor 8; the adaptor 8 is movably arranged on one side of the fixed seat 31 along the vertical direction; the guide slideway 5 extends along a first horizontal direction, and the guide wheel 7 moves along the extension direction of the guide slideway 5; the guide chute 5 includes: the inclined guide section is connected with the horizontal guide section, and one end of the inclined guide section is connected with one end of the horizontal guide section.
Here, in this embodiment, with reference to fig. 6 to 12, the following detailed description is made on the process of the seedling taking operation shown in this embodiment.
As shown in fig. 6, when the seedling picking operation is started, the guide wheel 7 gradually rises from the inclined guide section of the guide chute 5 based on the driving action of the linear module 2 until the seedling picking actuator 3 moves to the position corresponding to the horizontal guide section. At this time, the seedling taking actuator 3 faces one of the target holes on the plug 100.
As shown in fig. 7, in the present embodiment, the second telescoping mechanism 322 drives the second seedling support rod 325 to extend, and the detection module 4 disposed at the other end of the second seedling support rod 325 synchronously detects whether seedlings 200 exist in the target holes.
As shown in fig. 8, the first telescoping mechanism 321 drives the first seedling support rod 324 and the second seedling support rod 325 to ascend simultaneously, so as to conveniently and rapidly support the stalks of the seedlings 200 which are inclined or fallen.
As shown in fig. 9, in the present embodiment, the third telescoping mechanism 331 drives the first pneumatic clamping jaw 332 and the second pneumatic clamping jaw 333 of the seedling taking part 33 to extend, and the seedling taking operation is started.
As shown in fig. 10, the present embodiment shears the lower end of the stem of the seedling 200 by the second pneumatic clamping jaw 333 after clamping the upper end of the stem of the seedling 200 by the first pneumatic clamping jaw 332.
As shown in fig. 11, in the present embodiment, after the stalks of the seedlings 200 are cut, the third telescopic mechanism 331 drives the first pneumatic clamping jaw 332 and the second pneumatic clamping jaw 333 of the seedling taking part 33 to retract, and the first telescopic mechanism 321 controls the seedling support part 32 to return.
As shown in fig. 12, based on the driving action of the linear module 2, the guide wheel 7 moves from the horizontal guide section of the guide chute 5 to the inclined guide section and gradually descends along the inclined guide section, in the process, the seedling support part 32 automatically descends along with the guide wheel 7 under the action of self gravity, so that the seedling taking part 33 of the seedling taking actuator 3 is located at the seedling feeding station, and the seedling support part 32 descends, so that the separation of the seedling support part 32 and the seedling taking part 33 is realized.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an automatic seedling device of getting of cave dish which characterized in that includes:
the device comprises a transfer mechanism, a seedling taking actuator, a detection module and a control module;
the transfer mechanism is connected with the seedling taking actuator so as to drive the seedling taking actuator to move between a first position close to the plug tray and a second position far away from the plug tray; the detection module is connected with the control module, and the control module is respectively connected with the transfer mechanism and the seedling taking actuator;
the detection module is used for detecting whether seedlings are missing in the target hole of the hole tray; the control module is used for controlling the seedling taking actuator to carry out seedling taking operation on the seedlings under the conditions that the seedling taking actuator is located at the first position and the seedlings exist in the target hole.
2. The plug tray automatic seedling taking device according to claim 1,
the seedling taking actuator comprises: the seedling raising device comprises a fixed seat, a seedling raising part and a seedling taking part;
the seedling supporting part and the seedling taking part are both arranged on the fixed seat; the control module is respectively connected with the seedling supporting part and the seedling taking part;
the seedling supporting part is used for supporting the stems of the seedlings in the target hole; the seedling taking part is used for clamping and shearing the stems of the seedlings.
3. The automatic plug seedling taking device according to claim 2,
the seedling support part comprises: the first telescopic mechanism, the second telescopic mechanism, the connecting member, the first seedling supporting rod and the second seedling supporting rod are arranged on the frame;
the first telescopic mechanism is connected with the fixed seat; the telescopic end of the first telescopic mechanism is connected with the first end of the connecting member, and the first end of the connecting member is connected with one end of the first seedling supporting rod; the second telescopic mechanism is arranged at the second end of the connecting member, and the telescopic end of the second telescopic mechanism is connected with one end of the second seedling supporting rod; a seedling supporting area is formed between the first seedling supporting rod and the second seedling supporting rod, and the seedling taking part is used for clamping and shearing stems of seedlings in the seedling supporting area;
the first telescopic mechanism is used for driving the connecting member to lift along the vertical direction; the first end and the second end of the connecting member are arranged at intervals along a first horizontal direction; the second telescopic mechanism is used for driving the second seedling supporting rod to stretch along a second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.
4. The automatic plug seedling taking device according to claim 3,
the first seedling support rod comprises: a first support section and a second support section; one end of the first supporting section is connected with the first end of the connecting member, and the other end of the first supporting section is connected with one end of the second supporting section; the first supporting section extends along the second horizontal direction, and the other end of the second supporting section extends towards one side of the second seedling supporting rod along the first horizontal direction.
5. The automatic plug seedling taking device according to claim 3,
the detection module is arranged at the other end of the second seedling supporting rod, and the detection end of the detection module extends to the seedling supporting area; the detection module comprises a fiber optic sensor.
6. The automatic plug seedling taking device according to claim 2,
get seedling portion includes: the third telescopic mechanism, the first pneumatic clamping jaw and the second pneumatic clamping jaw;
the third telescopic mechanism is connected with the fixed seat; the telescopic end of the third telescopic mechanism is respectively connected with the first pneumatic clamping jaw and the second pneumatic clamping jaw, and the telescopic end of the third telescopic mechanism is used for stretching along a second horizontal direction;
the clamping end of the first pneumatic clamping jaw and the clamping end of the second pneumatic clamping jaw are vertically arranged; the clamping end of the first pneumatic clamping jaw is used for clamping the stem of the seedling; the clamping end of the second pneumatic clamping jaw is provided with a cutter, and the clamping end of the second pneumatic clamping jaw is used for shearing the stalks of the seedlings under the condition of being in a clamping state.
7. The automatic plug seedling taking device according to claim 6,
the first pneumatic jaw comprises: the seedling collecting device comprises a first clamping jaw cylinder, a first clamping finger, a second clamping finger, a seedling collecting hand and a first positioning piece;
one output end of the first clamping jaw air cylinder is connected with one end of the first clamping finger, and the other output end of the first clamping jaw air cylinder is connected with one end of the second clamping finger; the other end of the first clamping finger is connected with one end of the seedling gathering hand, and the middle part of the second clamping finger is connected with one end of the first positioning piece; the length of the seedling collecting hand is smaller than that of the first positioning piece;
under the condition that the first clamping finger and the second clamping finger are in a separated state, the other end of the seedling gathering hand and the other end of the second clamping finger are arranged at an interval, the other end of the first positioning piece extends to the middle of the first clamping finger, a gap for the stalks of the seedlings to pass through is formed between the other end of the seedling gathering hand and the other end of the second clamping finger, and the first positioning piece is used for supporting the upper parts of the stalks of the seedlings;
under the condition that the first clamping finger and the second clamping finger are in a clamping state, the first clamping finger, the second clamping finger, the seedling gathering hand and the first positioning piece enclose a clamping opening, and the area of the area where the clamping opening is located is larger than the cross-sectional area of the stem of the seedling.
8. The automatic plug seedling taking device according to claim 6,
the second pneumatic jaw comprises: the second clamping jaw cylinder, the third clamping finger, the fourth clamping finger and the second positioning piece;
one output end of the second clamping jaw air cylinder is connected with one end of the third clamping finger, and the other output end of the second clamping jaw air cylinder is connected with one end of the fourth clamping finger; the third clamping finger is provided with the cutter, and the middle part of the fourth clamping finger is connected with one end of the second positioning piece;
under the condition that the third clamping finger and the fourth clamping finger are in a separated state, a gap for the stalks of the seedlings to pass through is formed between the other end of the third clamping finger and the other end of the fourth clamping finger, the other end of the second positioning piece extends to the middle of the third clamping finger, and the second positioning piece is used for supporting the lower parts of the stalks of the seedlings;
and under the condition that the third clamping finger and the fourth clamping finger are in a clamping state, the knife edge of the cutter is close to the other end of the fourth clamping finger so as to shear the lower part of the stem of the seedling.
9. The plug tray automatic seedling picking device according to any one of claims 2 to 8, wherein the transfer mechanism comprises: a frame and a linear module; the rack is connected with the linear module, a sliding table of the linear module can reciprocate along a first horizontal direction, and the sliding table of the linear module is connected with the seedling taking actuator;
the automatic seedling device of getting of cave dish still includes conveying mechanism, conveying mechanism is used for driving the cave dish removes along the second horizontal direction.
10. The automatic plug seedling taking device according to claim 9,
further comprising: the guide wheel, the adapter piece and the guide slideway;
the guide wheel and the seedling raising part are respectively connected with the adaptor; the adaptor is movably arranged on one side of the fixed seat along the vertical direction;
the guide slideway extends along the first horizontal direction, and the guide wheel moves along the extension direction of the guide slideway; the guide chute comprises: the device comprises an inclined guide section and a horizontal guide section, wherein one end of the inclined guide section is connected with one end of the horizontal guide section.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210000608.9A CN113994824B (en) | 2022-01-04 | 2022-01-04 | Automatic seedling device of getting of cave dish |
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| CN202210000608.9A CN113994824B (en) | 2022-01-04 | 2022-01-04 | Automatic seedling device of getting of cave dish |
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| CN113994824B (en) | 2022-03-18 |
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