CN115191338B - Orderly water dipping device for sponge blocks - Google Patents
Orderly water dipping device for sponge blocks Download PDFInfo
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- CN115191338B CN115191338B CN202210895851.1A CN202210895851A CN115191338B CN 115191338 B CN115191338 B CN 115191338B CN 202210895851 A CN202210895851 A CN 202210895851A CN 115191338 B CN115191338 B CN 115191338B
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- seedling
- plate
- miao
- sponge block
- sponge
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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
- A01G31/00—Soilless cultivation, e.g. hydroponics
- A01G31/02—Special apparatus therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Abstract
The invention discloses an automatic orderly water dipping device for sponge blocks. The seedling picking device comprises a seedling picking assembly, a seedling pushing and sorting assembly and a water dipping assembly, wherein the seedling picking assembly pushes a sponge block after inferior seedlings are picked up by the picking assembly Miao Zujian during sorting, so that the sponge block is sequentially closed to fill up the empty positions of the removed sponge block, meanwhile, the sponge block is pushed onto a seedling collecting plate of the water dipping assembly, a seedling clamping plate is pushed by a seedling clamping plate cylinder to clamp the sponge block, the seedling collecting plate is unfolded by retraction of the Miao Ban cylinder, and the lifting cylinder descends to drive the seedling collecting plate and the seedling clamping plate to descend to a position below the water level of a water tank together, so that automatic water dipping is realized. The automatic sequence dipping device for the sponge blocks provided by the invention adopts a mode of sequence pushing and sequence arranging and automatic sequence dipping, and has the advantages of simple sequence dipping flow, high operation efficiency and the like.
Description
Technical Field
The invention relates to a sponge block treatment device in the field of agricultural engineering, in particular to an automatic orderly water dipping device for sponge blocks with seedlings, which is suitable for a plant factory sponge seedling transplanting machine.
Background
The plant factory or the water planting factory is generally used for planting vegetable seeds on sponge blocks for seedling cultivation, the seedlings need to be transplanted onto a cultivation plate with larger plant spacing after the seedlings develop to a certain stage for expanding the growth space of the seedlings, the sponge seedlings need to be split for realizing automatic transplanting operation of the sponge seedlings, inferior seedlings are removed, the rest healthy seedlings are ordered, the seedlings transplanted onto the cultivation plate are guaranteed to be healthy seedlings, meanwhile, the sponge seedlings need to be dipped in water for root gathering operation before transplanting, the sponge seedling root systems completely fall into holes of the cultivation plate during transplanting so as to facilitate the absorption of the seedling roots to nutrient solution, and therefore the order and the water dipping operation are essential links of transplanting operation, and have important significance for guaranteeing the survival rate of the transplanted seedlings and the absorption of the nutrient solution.
Therefore, the prior art lacks an automatic orderly water dipping device with seedling sponge blocks to solve the technical problems.
Disclosure of Invention
The invention mainly aims to provide an automatic orderly water dipping device for sponge blocks with seedlings, and aims to solve the problem that an automatic orderly water dipping operation device is lack in a plant factory sponge block seedling cultivation mode in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:
the picking Miao Zujian, wherein the picking Miao Zujian can remove inferior seedlings on the sponge block supporting plate so that all the sponge seedlings on the sponge block supporting plate are healthy seedlings;
the seedling pushing and sorting assembly can sequentially push the empty sponge blocks with inferior seedlings removed on the sponge block supporting plate to be close, arrange the sponge blocks into a neat row without gaps, and push the arranged sponge blocks to a seedling receiving plate of the water dipping assembly through the transition plate;
the water dipping component can dip the lower part of the sponge block into water and lift the sponge block from the water, so that root systems of seedlings in the sponge block are gathered;
a first mount for mounting the pick Miao Zujian;
the support is used for installing the seedling pushing and sequencing assembly;
and the second support is used for installing the dipping component.
The seedling picking assembly comprises a telescopic air cylinder support, a telescopic air cylinder, a mounting plate, a first guide rail, a first sliding block, a transition plate and a plurality of separation claws, wherein the telescopic air cylinder is mounted on the telescopic air cylinder support, an air cylinder rod of the telescopic air cylinder is horizontally arranged, the end part of the air cylinder rod of the telescopic air cylinder is fixedly and vertically arranged mounting plate, a horizontal first guide rail is fixed on the end surface of the mounting plate, the plurality of separation claws are slidably embedded on the first guide rail through the respective first sliding blocks to form a row parallel to the first guide rail, and the transition plate is horizontally arranged and mounted between the seedling picking assembly and the dipping assembly.
Each separating claw comprises a support plate and a sponge block supporting plate, the support plate is fixedly connected with a first sliding block of the seedling picking assembly, a sponge block supporting plate for supporting a sponge block is arranged on the support plate near the top, the sponge block supporting plate and the transition plate are located on the same horizontal plane and are connected, the side face of the support plate above the sponge block supporting plate is provided with a picking Miao Qigang, the picking Miao Qigang is mounted on the side face of the support plate above the sponge block supporting plate through a picking Miao Qigang bracket, the cylinder rod of the seedling picking cylinder horizontally faces the support plate and is used for penetrating round holes in the support plate, and poor-quality seedling sponge blocks are pushed out of the sponge block supporting plate.
The support plate on be equipped with the support plate sponge piece clamp plate that is used for the location sponge piece position of buckling to sponge piece top surface level, the height between support plate sponge piece clamp plate and the sponge piece backup pad just in time is the height of a sponge piece for the sponge piece is transferred to the separation claw and is spacing between support plate sponge piece clamp plate and sponge piece backup pad.
The seedling pushing and arranging assembly comprises a first lifting cylinder, a linear module and a seedling pushing part; the cylinder rod of the first lifting cylinder faces downwards and is provided with a linear module, a guide rail of the linear module is arranged along a direction parallel to the first guide rail and is fixed on the cylinder rod of the first lifting cylinder, a sliding part of the linear module is embedded on the guide rail, and a seedling pushing part is fixed on the sliding part of the linear module.
The seedling pushing part is provided with a seedling blocking plate and a seedling pushing disc, the seedling blocking plate is fixed on the sliding part of the linear module, and the stoppers Miao Ban are arranged parallel to the first guide rail and are all positioned beside the sponge blocks on the sponge block supporting plate of each separating claw; the seedling pushing disc is fixed on the sliding part of the linear module through a seedling pushing rod, the seedling pushing rod is arranged along a first guide rail, and the seedling pushing disc is positioned beside a sponge block side, which is farthest from the dipping component, in a row of separating claws.
The water dipping component comprises a water tank, a top plate connecting plate, a second lifting cylinder and a top plate; the second lift cylinder is fixed in a water tank side, and the jar pole of second lift cylinder is vertical to be arranged and through roof connecting plate and roof fixed connection, and the roof is located the water tank top, and a pair of seedling subassembly symmetry is installed in the both sides of roof.
The seedling receiving assembly comprises a seedling receiving plate and a seedling receiving plate cylinder; the seedling receiving plate is positioned below the top plate and above the water tank, the Miao Ban air cylinder is fixed on the top plate through the seedling receiving plate air cylinder bracket, the air cylinder rod of the Miao Ban air cylinder is horizontally arranged and fixedly connected with the seedling receiving plate through the seedling receiving plate connecting strip, and the seedling receiving plate is driven to horizontally move; the seedling receiving plate is fixed on a second sliding block, and the second sliding block is slidably embedded on a second guide rail arranged on the bottom surface of the top plate;
the seedling clamping assembly comprises a seedling clamping plate and a Miao Ban air cylinder; the seedling clamping plate is positioned below the top plate and above the seedling receiving plate of the seedling receiving assembly, the seedling clamping plate air cylinder is fixed on the top plate through a seedling clamping plate air cylinder bracket, and the air cylinder rod of the seedling clamping plate air cylinder is horizontally arranged and fixedly connected with the seedling clamping plate through a seedling clamping plate connecting strip to drive the seedling clamping plate to horizontally move; the seedling clamping plate is fixed on a second sliding block, and the second sliding block is embedded on a second guide rail arranged on the bottom surface of the top plate in a sliding manner.
The seedling clamping plates and the transition plates are arranged on the same horizontal plane and are connected, guide strips for guiding the movement of seedlings are arranged on the seedling clamping plates, and the guide strips of the two seedling clamping plates are arranged in a horn shape along the conveying direction of the seedlings.
The number of the sponge blocks which can be placed on the transition plate and the seedling receiving plate is more than 2 times that of the sponge blocks on the seedling picking assembly, so that the transition plate and the seedling receiving plate are ensured to have enough space for placing the sponge when the seedling pushing assembly pushes the seedlings.
In the invention, when the sequence is finished, the picking-up assembly Miao Zujian picks up inferior seedlings and pushes the sponge blocks to make the sponge blocks sequentially close to fill up the empty positions of the picked-up sponge blocks, meanwhile, the sponge blocks are pushed onto the seedling collecting plate of the dipping assembly, the seedling collecting plate is pushed by the seedling collecting plate cylinder to clamp the sponge blocks, the seedling collecting plate is unfolded by retraction of the Miao Ban cylinder, and the lifting cylinder descends to drive the seedling collecting plate and the seedling collecting plate to descend to a position below the water surface of the water tank together, so that automatic dipping is realized.
The invention has the beneficial effects that:
the automatic orderly water dipping device for the sponge blocks with the seedlings adopts an orderly-arranged seedling pushing and arranging mode, can finish orderly operation in one stroke of the seedling pushing linear module, simultaneously clamps the whole row of sponge blocks on the seedling receiving plate by adopting the seedling clamping plate, and can finish the water dipping operation of the whole row of sponge blocks in one descending stroke of the second lifting cylinder.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a complete assembly structure of an embodiment of the present invention;
fig. 2 and 3 are schematic diagrams illustrating assembly of a picking assembly according to an embodiment of the present invention;
fig. 4 and fig. 5 are schematic diagrams illustrating assembly of a seedling pushing and sequencing assembly according to an embodiment of the present invention;
FIGS. 6 and 7 are schematic illustrations of assembly of a dip assembly according to an embodiment of the present invention;
FIG. 8 is a schematic view of the structure and relative positions of the seedling receiving plate and the seedling clamping plate in the dipping component according to the embodiment of the invention;
reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Moreover, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, it should be considered that the combination of the technical solutions does not exist, and is not within the scope of protection claimed by the present invention.
The invention mainly aims to provide an automatic ordering and water dipping device for sponge blocks, and aims to solve the problem that automatic ordering and water dipping of the sponge blocks cannot be realized in a plant factory sponge block seedling cultivation mode in the prior art.
As shown in fig. 1, the automatic sequence dipping device for sponge blocks provided by the embodiment of the invention comprises a seedling picking assembly 1, a seedling pushing sequence assembly 2 and a dipping assembly 3, wherein the seedling picking assembly 1 and the dipping assembly 3 are sequentially arranged along the sequence of the working procedures, and the seedling pushing sequence assembly 2 is arranged beside the seedling picking assembly 1; the seedling picking assembly 1 is used for picking inferior seedlings, the seedling pushing and sorting assembly 2 is used for neatly aligning the remaining healthy seedlings after the inferior seedlings are picked up again and pushing the healthy seedlings into the dipping assembly 3, and the dipping assembly 3 is used for immersing the sponge blocks into water to gather root systems.
In specific implementation, the seedling picking device is further provided with a first support 4, a support column 5 and a second support 6, wherein the first support 4 is used for installing the seedling picking assembly 1, the support column 5 is used for installing the seedling pushing and arranging assembly 2, the second support 6 is used for installing the dipping assembly 3, the seedling picking assembly 1 is arranged on the first support 4, and the dipping assembly 3 is arranged on the second support 6.
As shown in fig. 2 and 3, in order to provide an assembly schematic diagram of the seedling picking assembly 1 and the separating claws, the seedling picking assembly 1 includes a telescopic air cylinder bracket 7, a telescopic air cylinder 8, a mounting plate 9, a first guide rail 10, a first sliding block 11, a transition plate 12 and a plurality of separating claws, the telescopic air cylinder bracket 7 is fixed on the first support 4, the telescopic air cylinder 8 is mounted on the telescopic air cylinder bracket 7, the air cylinder rod of the telescopic air cylinder 8 is horizontally arranged, the mounting plate 9 is fixed at the end of the air cylinder rod of the telescopic air cylinder 8, a horizontal first guide rail 10 is fixed on one end surface of the mounting plate 9, the plurality of separating claws are slidably embedded on the first guide rail 10 through respective first sliding blocks 11 and are arranged in a row parallel to the first guide rail 10, each separating claw can horizontally move along the first guide rail 10, each separating claw is vertically arranged, and the transition plate 12 is horizontally arranged and mounted between the seedling picking assembly 1 and the dipping assembly 3 and can be mounted on the mounting plate 9.
The number of separating jaws is determined by the number of sponge pieces 16 in each row, each of which can be moved in translation along the first rail 10. The respective separating pawls are movable apart from each other under the sliding pair of the first slider 11 and the first rail 10.
The sponge block supporting plate 17 is made of materials with smaller friction coefficient, so that the friction force between the lower surface of the sponge block 16 and the contact surface of the supporting plate is smaller, the sponge block 16 can be pushed to the seedling receiving plate 24 easily by the seedling pushing assembly, the transition plate 12 is connected with the mounting plate 9 through bolts, the mounting height of the transition plate 12 is required to ensure that the upper surface of the transition plate is in the same horizontal plane with the upper surfaces of the sponge block supporting plate 17 and the seedling receiving plate 24, and the plurality of sponge blocks 16 can smoothly pass through the joint of the sponge block supporting plate 17, the transition plate 12 and the seedling receiving plate 24 when the seedling pushing assembly pushes the plurality of sponge blocks 16.
Each separating claw comprises a support plate 13 and a sponge block support plate 17, the support plate 13 is fixedly connected with a first sliding block 11 of the seedling picking assembly 1, the support plate 13 is slidably embedded on a first guide rail 10 through the first sliding block 11, the sponge block support plate 17 for supporting a sponge block is arranged on the support plate 13 near the top, the sponge block support plate 17 and the transition plate 12 are located on the same horizontal plane and are connected, and the sponge block support plate 17 is arranged on the middle upper portion of the support plate 13 and is used for supporting a sponge block 16. The side face of the support plate 13 above the sponge block support plate 17 is provided with a seedling picking cylinder 15, the seedling picking cylinder Miao Qigang is arranged on the side face of the support plate 13 above the sponge block support plate 17 through a Miao Qigang picking support 14, the cylinder rod of the seedling picking cylinder 15 horizontally faces the support plate 13 and is used for penetrating through a round hole 131 in the support plate 13, and poor-quality seedling sponge blocks are pushed out of the sponge block support plate 17. The supporting plate 13 is provided with a supporting plate sponge block pressing plate which is horizontally bent towards the top surface of the sponge block and is used for positioning the position of the sponge block, and the height between the supporting plate sponge block pressing plate and the sponge block supporting plate 17 is just the height of one sponge block 16, so that the sponge block is limited between the supporting plate sponge block pressing plate and the sponge block supporting plate 17 when being transferred to the separating claw.
The round hole 131 on the support plate 13 is arranged at a position opposite to the sponge block and is used for the cylinder rod of the seedling picking cylinder 15 to pass through.
In specific implementation, the picking Miao Qigang is arranged at the rear side of the support plate 13 through the picking Miao Qigang support 14, a round hole 131 is formed in the support plate 13, and the axis of the cylinder rod of the picking cylinder 15 is collinear with the axis of the round hole 131 in the support plate 13, so that the cylinder rod of the picking cylinder 15 can penetrate through the round hole 131 in the support plate 13 to push out inferior seedlings on the sponge block support plate 17.
After the separation distance of the single sponge block is increased, the inferior seedlings are identified through an external vision system, the seedling picking cylinder 15 on the separating claw where the inferior seedlings are located is controlled to extend according to the identification result, and the inferior seedlings are pushed out of the sponge block supporting plate 17, so that the aim of removing the inferior seedlings is fulfilled.
As shown in fig. 4 and 5, the seedling pushing and sequencing assembly 2 comprises a first lifting cylinder 18, a linear module 19 and a seedling pushing part 20; the first lifting cylinder 18 is fixedly arranged on the supporting column 5, the cylinder rod of the first lifting cylinder 18 faces downwards and is provided with a linear module 19, the guide rail of the linear module 19 is arranged along a direction parallel to the first guide rail 10 and is fixed on the cylinder rod of the first lifting cylinder 18, the sliding part 191 of the linear module 19 is embedded on the guide rail, and the sliding part 191 of the linear module 19 is fixedly provided with a seedling pushing part 20. The linear module 19 pushes the sponge block 16 on the sponge block supporting plate 17 through the translational movement of the sliding part 191, and the sequence operation is completed.
The first lifting cylinder 18 can lift the seedling pushing assembly before the seedling picking assembly 1 picks seedlings, so that the seedling pushing part 20 can not block the sponge block 16, the seedling picking cylinder 15 is guaranteed to smoothly push the sponge block 16 out of the sponge block supporting plate 17, after the seedling picking operation is completed, the first lifting cylinder 18 can descend the seedling pushing part 20 to a proper height, and the seedling pushing disc 203 can accurately push the sponge block 16.
The seedling pushing part 20 is provided with a seedling blocking plate 202 and a seedling pushing disc 203, the seedling pushing part 20 is connected with the sliding part 191 of the linear module 19 through bolts, the seedling blocking plate Miao Ban is fixed on the sliding part 191 of the linear module 19, the seedling blocking plate 202 is arranged parallel to the first guide rail 10 and is positioned beside the sponge block 16 on the sponge block supporting plate 17 of each separating claw, and the sponge block 16 is prevented from falling; the ejector pad 203 is fixed to the sliding portion 191 of the linear module 19 by ejector pins, which are arranged parallel to the first guide rail 10, the ejector pad 203 being located beside the sponge block 16 of the row of separation claws furthest from the dipping assembly 3.
The ejector pad 203 is used for pushing the sponge block 16 to the seedling receiving plate 24, the flange can prevent the sponge block from being inclined in the seedling pushing process, the ejector 20 is designed to prevent the ejector 20 from interfering with the parts on the seedling picking assembly 1 during seedling pushing, the linear module 19 can accurately move a proper distance according to the number of the sponge blocks 16 on the sponge block supporting plate 17 after poor quality seedlings are removed and the number of the sponge blocks on the transition plate 12 and the seedling receiving plate 24, and the sponge block 16 is guaranteed to be just pushed to the outermost position on the seedling receiving plate which can be clamped by the seedling clamping plate 25.
The linear module 19 drives the seedling pushing part 20 through the translational motion of the sliding part 191, and the seedling pushing disc 203 of the seedling pushing part 20 pushes the sponge blocks 16 on the sponge block supporting plate 17, so that the rest sponge blocks 16 with healthy seedlings, which are in vacant positions after picking the seedlings, on each separating claw are sequentially closed, and the sequence operation is completed.
In the seedling pushing and arranging process, the baffle Miao Ban 202 blocks the side surface of the row of separating claws, on which the support plate 13 is not arranged, from one side, so that the sponge block 16 is prevented from being inclined and sliding when being pushed, and the sponge block 16 is ensured to be arranged in a straight line after the seedling pushing and arranging process.
In a specific implementation, four bolt holes 201 are provided on the seedling pushing part 20, and the four bolt holes 201 are used for installing bolts and the sliding part 191 of the linear module 19.
As shown in fig. 6 and 7, the dipping component 3 comprises a water tank 21, a top plate connecting plate 22, a second lifting cylinder 23 and a top plate 30; the water tank 21 sets up in the up end of second support 6, and second lift cylinder 23 is fixed in a water tank 21 side, and the jar pole of second lift cylinder 23 is vertical to be arranged and through roof connecting plate 22 and roof 30 fixed connection, and connecting plate 22 sets up in second lift cylinder 23 jar rod tip, and roof 30 sets up in and links to each other with roof connecting plate 22 through the bolt, and roof 30 is located water tank 21 top, and a pair of seedling subassembly symmetry is installed in the both sides of roof 30.
The seedling receiving assembly comprises a seedling receiving plate 24 and a seedling receiving plate cylinder 27; the seedling receiving plate 24 is positioned below the top plate 30 and above the water tank 21, the seedling receiving Miao Ban cylinder 27 is fixed on the top plate 30 through the seedling receiving plate cylinder bracket 26, the cylinder rod of the Miao Ban cylinder 27 is horizontally arranged and fixedly connected with the seedling receiving plate 24 through the seedling receiving plate connecting strip 28, and the seedling receiving plate 24 is driven to horizontally move; the seedling receiving plate 24 is fixed on a second sliding block 34, the second sliding block 34 is slidably embedded on a second guide rail 33 arranged on the bottom surface of the top plate 30, and the second guide rail 33 is parallel to a cylinder rod of the Miao Ban cylinder 27;
the seedling clamping assembly comprises a seedling clamping plate 25 and a clamping Miao Ban cylinder 31; the seedling clamping plate 25 is positioned below the top plate 30 and above the seedling receiving plate 24 of the seedling receiving assembly, the air cylinder 31 of the clamp Miao Ban is fixed on the top plate 30 through the air cylinder bracket 32 of the seedling clamping plate, the air cylinder rod of the air cylinder 31 of the clamp Miao Ban is horizontally arranged and fixedly connected with the seedling clamping plate 25 through the seedling clamping plate connecting strip 29, and the seedling clamping plate 25 is driven to horizontally move; the seedling clamping plate 25 is also fixed on a second sliding block 34, the second sliding block 34 is slidably embedded on a second guide rail 33 arranged on the bottom surface of the top plate 30, and the second guide rail 33 is parallel to a cylinder rod of the cylinder 27 connected with Miao Ban.
The two seedling receiving plates 24 of the pair of seedling receiving assemblies are symmetrical in structure and are connected with the top plate 30 through the second guide rail 33 and the second sliding block 34; the two seedling clamping plates 25 of the pair of seedling clamping assemblies are symmetrical in structure and are connected with the top plate 30 through the second guide rail 33 and the second sliding block 34, so that the seedling receiving plate 24 and the seedling clamping plates 25 can slide along the second guide rail 33.
The seedling clamping plates 25 of the pair of seedling clamping assemblies are driven by the seedling clamping plate air cylinders 31 of the pair of seedling clamping assemblies to be close and separated for clamping and fixing the seedlings. The seedling receiving plates 24 of the seedling receiving assemblies are driven by the seedling receiving plate air cylinders 27 of the seedling receiving assemblies to be close to and separated from each other, so that the seedling roots are not blocked by the seedling receiving plates 24, and can be completely immersed into the water in the water tank 21.
The seedling clamping plates 25 and the transition plates 12 are arranged on the same horizontal plane and are connected, guide strips 35 for guiding the movement of seedlings are arranged on the seedling clamping plates 25, and the guide strips 35 of the two seedling clamping plates 25 are arranged in a horn shape along the conveying direction of the seedlings. The two guide strips 35 are symmetrically arranged on the two seedling receiving plates 24, so that the sponge block 16 is not inclined when being pushed onto the seedling receiving plates 24 by the seedling pushing and arranging assembly 2.
As shown in fig. 8, the seedling-receiving plate 24 includes two seedling-receiving plate slider fixing portions 241 and a seedling-receiving plate cylinder connecting portion 242 at both ends, the slider fixing portion 241 of the seedling-receiving plate Miao Ban being for fixing to the second slider 34, and the cylinder connecting portion 242 of the seedling-receiving plate Miao Ban being for fixing to the seedling-clamping plate connecting bar 29.
The seedling clamping plate 25 includes two seedling clamping plate slider fixing portions 251 at both ends for fixing to the second slider 34 and a seedling clamping plate cylinder connecting portion 252 for fixing to the seedling receiving plate cylinder bracket 26. The sides of the two seedling clamping plates 25, which are close to each other, are provided with seedling clamping plate clamping parts 253 which are arranged in a protruding manner at intervals.
The seedling receiving plates 24 and the seedling clamping plates 25 are symmetrically arranged left and right, and can realize opening and closing movement under the action of the seedling receiving plate air cylinders 27 and the seedling clamping Miao Ban air cylinders 31, the two guide strips 35 are symmetrically arranged on the left seedling receiving plate 24 and the right seedling receiving plate 24, one end close to the transition plate 12 is in a horn mouth state, the two guide strips 35 are in a parallel state at one end far away from the transition plate 12, the distance between the parallel parts is slightly larger than the width of the sponge block 16, so that the sponge block 16 can smoothly pass through and the sponge block 16 is guaranteed to be in a straight line state, and no skew occurs.
There is spaced seedling clamping plate clamping portion 253 below the seedling clamping plate 25, the spacing of the seedling clamping plate clamping portion 253 is equal to the width of the sponge block, the width setting of the seedling clamping plate clamping portion 253 should ensure that the spacing between two adjacent seedling clamping plate clamping portions 253 can accommodate the width of a transplanting machine manipulator seedling taking needle, the seedling taking needle can smoothly clamp the sponge block, the spacing between the left and right seedling clamping plate clamping portions 253 is ensured to stably clamp the sponge block when the two seedling clamping plates 25 are in a clamping state, the spacing between the left and right seedling clamping plates 24 is zero when the seedling clamping plates 25 extend out, and the spacing is larger than the width of the sponge block 16 when the seedling clamping plate air cylinders 27 retract.
The left and right seedling-receiving plates 24 and the left and right seedling-clamping plates 25 are parts with symmetrical structures, but the left and right parts are different and cannot be used interchangeably, and in this example, for convenience of description only, the numbers of the left and right seedling-receiving plates are all marked 24, and the numbers of the left and right seedling-clamping plates are all marked 25.
In the embodiment, the action of each cylinder can be controlled by adopting an electromagnetic valve, each cylinder is provided with a position detection switch, so that the controller can conveniently perform corresponding logic control according to the action position of the cylinder, and the controller can select an embedded controller or a PLC (programmable logic controller) and the like according to actual conditions.
Preferably, in this embodiment, a machine vision system (not shown in the figure) capable of identifying inferior seedlings is included, and the vision system performs image analysis by using a method such as threshold analysis or deep learning to determine whether the seedlings on the picking claw are inferior seedlings, so as to reject the inferior seedlings.
In this example, the telescopic cylinder 8, the picking Miao Qigang, the first lifting cylinder 18 and the clamping Miao Ban cylinder 31 in the device are in a retracted state in the initial state, the second lifting cylinder 23 and the connecting Miao Ban cylinder 27 are in an extended state, and the sliding part 191 of the linear module 19 is in a position far away from the picking assembly 1.
The working process of the invention is as follows:
(1) The cylinder rod of the seedling picking cylinder 15 extends out, a sponge block 16 with inferior seedlings identified by a vision system is pushed out from a sponge block supporting plate 17, and the cylinder rod of the seedling picking cylinder 15 is retracted after the inferior seedlings are pushed out;
(2) The cylinder rod of the first lifting cylinder 18 stretches out to enable the height of the seedling pushing disc 203 of the seedling pushing part 20 to be consistent with the height of the sponge blocks on the sponge block supporting plate 17, and the control system calculates the distance value of the linear module 19 to be translated according to the number of the sponge blocks on the sponge block supporting plate 17 after inferior seedlings are removed, the number of the sponge blocks on the transition plate and the number of the sponge blocks on the seedling receiving plate, so that the sponge block 16 is accurately pushed to the position of the last seedling clamping plate clamping part 253 on the seedling receiving plate 24 through the transition plate 12, and the linear motion of the sponge block 16 is ensured under the action of the seedling blocking plate 202 and the guide strip 35 in the seedling pushing process;
(3) After the sponge block 16 is pushed to the seedling receiving plate 24, the cylinder rod of the cylinder 25 of the clamp Miao Ban extends out, the seedling clamping plates 25 which are symmetrical on the left side and the right side are driven to be mutually close to the middle by the seedling clamping plate connecting strip 29, and the seedling clamping plate clamping parts 253 on the two sides squeeze the sponge block to clamp the sponge block;
(4) The cylinder rod of the Miao Ban cylinder 27 is retracted, the seedling-receiving plates 24 which are symmetrical on the left side and the right side are driven by the seedling-receiving plate connecting strips 28 to be far away from each other, and at the moment, the spacing between the seedling-receiving plates 24 which are symmetrical on the left side and the right side is required to be larger than the width of the sponge block 16, so that the lower end face of the sponge block 16 is in a suspended state, and the lower end face of the sponge block 16 is convenient to contact water;
(5) The cylinder rod of the second lifting cylinder 23 is retracted, all parts and sponge blocks mounted on the top plate 30 are driven to descend together through the top plate connecting plate 22, the sponge blocks are immersed in the position below the water surface in the water tank 21, then the cylinder rod of the second lifting cylinder 23 extends out and returns to the initial position of the second lifting cylinder 23, the top plate 22 and the parts arranged on the top plate 22 ascend together, the sponge blocks 16 dipped with water are driven to return to the position above the water surface, and grabbing of the transplanting manipulator is waited.
Therefore, the automatic sequence of the sponge blocks and the water dipping operation are realized, the early preparation is made for the automatic transplanting of the sponge seedlings, and the labor cost of the manual operation of a plant factory is reduced.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (6)
1. Automatic orderly water dipping device for sponge blocks is characterized in that:
the seedling raising and sorting device comprises a picking Miao Zujian (1), a seedling raising and sorting assembly (2) and a dipping assembly (3), wherein the picking Miao Zujian (1) and the dipping assembly (3) are sequentially arranged along the sequence of the working procedures, and the seedling raising and sorting assembly (2) is arranged beside the picking Miao Zujian (1); the picking Miao Zujian (1) is used for picking inferior seedlings, the seedling pushing and sorting assembly (2) is used for neatly aligning healthy seedlings remained after the inferior seedlings are picked up and pushing the healthy seedlings into the dipping assembly (3), and the dipping assembly (3) is used for immersing the sponge blocks in water to gather root systems;
the seedling picking device is characterized in that the picking Miao Zujian (1) comprises a telescopic air cylinder support (7), a telescopic air cylinder (8), a mounting plate (9), a first guide rail (10), a first sliding block (11), a transition plate (12) and a plurality of separating claws, wherein the telescopic air cylinder (8) is arranged on the telescopic air cylinder support (7), the air cylinder rod of the telescopic air cylinder (8) is horizontally arranged, the vertically arranged mounting plate (9) is fixed at the end part of the air cylinder rod of the telescopic air cylinder (8), the horizontal first guide rail (10) is fixed on the end surface of the mounting plate (9), the plurality of separating claws are slidably embedded on the first guide rail (10) through the respective first sliding blocks (11) and are arranged in a row parallel to the first guide rail (10), and the transition plate (12) is horizontally arranged and mounted between the seedling picking assembly (1) and the dipping assembly (3);
the water dipping component (3) comprises a water tank (21), a top plate connecting plate (22), a second lifting cylinder (23) and a top plate (30); the second lifting cylinder (23) is fixed on one side surface of the water tank (21), cylinder rods of the second lifting cylinder (23) are vertically arranged and fixedly connected with the top plate (30) through the top plate connecting plate (22), the top plate (30) is positioned above the water tank (21), a pair of seedling clamping assemblies are symmetrically arranged on two sides of the top plate (30), and a pair of seedling clamping assemblies are symmetrically arranged on two sides of the top plate (30);
the seedling receiving assembly comprises a seedling receiving Miao Ban (24) and a seedling receiving plate cylinder (27); the seedling receiving device comprises a top plate (30), a water tank (21), a seedling receiving plate cylinder bracket (26), a seedling receiving plate (24) and a Miao Ban cylinder (27), wherein the seedling receiving plate cylinder bracket (26) is arranged below the top plate (30), the cylinder rod of the seedling receiving plate cylinder (27) is horizontally arranged and fixedly connected with the seedling receiving plate (24) through a seedling receiving plate connecting strip (28), and the seedling receiving plate (24) is driven to horizontally move; the connector Miao Ban (24) is fixed on a second sliding block (34), and the second sliding block (34) is embedded on a second guide rail (33) arranged on the bottom surface of the top plate (30) in a sliding way;
the seedling clamping assembly comprises a seedling clamping plate (25) and a Miao Ban clamping cylinder (31); the clamp Miao Ban (25) is positioned below the top plate (30) and above the seedling receiving plate (24) of the seedling receiving assembly, the clamp Miao Ban air cylinder (31) is fixed on the top plate (30) through the seedling clamping plate air cylinder bracket (32), the cylinder rod of the clamp Miao Ban air cylinder (31) is horizontally arranged and fixedly connected with the clamp Miao Ban (25) through the seedling clamping plate connecting strip (29) to drive the seedling clamping plate (25) to horizontally move; the clip Miao Ban (25) is fixed to a second slider (34), and the second slider (34) is slidably fitted to a second rail (33) provided on the bottom surface of the top plate (30).
2. The automatic orderly water dipping device for sponge blocks according to claim 1, wherein:
each separating claw comprises a support plate (13) and a sponge block supporting plate (17), the support plate (13) is fixedly connected with a first sliding block (11) of the picking Miao Zujian (1), the sponge block supporting plate (17) for supporting a sponge block is arranged on the support plate (13) close to the top, the sponge block supporting plate (17) and the transition plate (12) are located on the same horizontal plane and are connected, a picking Miao Qigang (15) is arranged on the side face of the support plate (13) above the sponge block supporting plate (17), the picking Miao Qigang (15) is arranged on the side face of the support plate (13) above the sponge block supporting plate (17) through a picking Miao Qigang support (14), and a cylinder rod of the picking Miao Qigang (15) horizontally faces the support plate (13) and is used for penetrating through a round hole (131) in the support plate (13) to push out inferior seedling sponge blocks from the sponge block supporting plate (17).
3. The automatic orderly water dipping device for sponge blocks according to claim 2, wherein:
the support plate (13) is provided with a support plate sponge block pressing plate which is horizontally bent towards the top surface of the sponge block and is used for positioning the position of the sponge block, and the height between the support plate sponge block pressing plate and the sponge block supporting plate (17) is just the height of one sponge block (16), so that the sponge block is limited between the support plate sponge block pressing plate and the sponge block supporting plate (17) when being transferred to the separating claw.
4. The automatic orderly water dipping device for sponge blocks according to claim 1, wherein:
the seedling pushing and sequencing assembly (2) comprises a first lifting cylinder (18), a linear module (19) and a seedling pushing part (20); the cylinder rod of the first lifting cylinder (18) faces downwards and is provided with a linear module (19), a guide rail of the linear module (19) is arranged along a direction parallel to the first guide rail (10) and is fixed on the cylinder rod of the first lifting cylinder (18), a sliding part (191) of the linear module (19) is embedded on the guide rail, and a seedling pushing part (20) is fixed on the sliding part (191) of the linear module (19).
5. The automatic orderly water dipping device for sponge blocks according to claim 4, wherein:
the seedling pushing part (20) is provided with a seedling blocking plate (202) and a seedling pushing disc (203), the seedling blocking plate Miao Ban (202) is fixed on a sliding part (191) of the linear module (19), the seedling blocking plate Miao Ban (202) is arranged parallel to the first guide rail (10) and is positioned beside the sponge block (16) on the sponge block supporting plate (17) of each separation claw; the seedling pushing disc (203) is fixed on a sliding part (191) of the linear module (19) through a seedling pushing rod, the seedling pushing rod is arranged along a direction parallel to the first guide rail (10), and the seedling pushing disc (203) is positioned beside a sponge block (16) side, which is farthest away from the dipping component (3), in a row of separating claws.
6. The automatic orderly water dipping device for sponge blocks according to claim 1, wherein:
the seedling clamping plates (25) and the transition plates (12) are arranged on the same horizontal plane and are connected, guide strips (35) for guiding the movement of seedlings are arranged on the clamps Miao Ban (25), and the guide strips (35) of the two seedling clamping plates (25) are arranged in a horn shape along the conveying direction of the seedlings.
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| CN202210895851.1A CN115191338B (en) | 2022-07-27 | 2022-07-27 | Orderly water dipping device for sponge blocks |
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| CN202210895851.1A CN115191338B (en) | 2022-07-27 | 2022-07-27 | Orderly water dipping device for sponge blocks |
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| CN115191338B true CN115191338B (en) | 2023-07-25 |
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| CN202210895851.1A Active CN115191338B (en) | 2022-07-27 | 2022-07-27 | Orderly water dipping device for sponge blocks |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116458308A (en) * | 2023-04-21 | 2023-07-21 | 浙江大学 | Automatic equipment for separately planting and field planting of sponge seedlings in plant factory |
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| KR100713232B1 (en) * | 2006-08-30 | 2007-05-04 | 이정자 | Sprouter |
| CN202006179U (en) * | 2010-12-30 | 2011-10-12 | 浙江大学 | Unqualified seeding plate sprout removing system based on machine vision |
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| CN115191338A (en) | 2022-10-18 |
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