CN115399123B - Automatic splitting device for sponge blocks with seedlings - Google Patents

Abstract

The invention discloses an automatic splitting device for sponge blocks with seedlings. Comprises a sponge block conveying mechanism, a pin type sponge block fixing mechanism, a whole row splitting mechanism, a single sponge splitting mechanism and a poor seedling removing mechanism; the sponge blocks with the seedlings are arranged in a compact array and then are arranged on the sponge block conveying mechanism and transported along the sponge block conveying mechanism, a pin type sponge block fixing mechanism is arranged below the outlet side of the sponge block conveying mechanism, a whole row of splitting mechanisms, a single sponge splitting mechanism and an inferior seedling removing mechanism are arranged in front of the outlet side of the sponge block conveying mechanism, the inferior seedling removing mechanism is arranged on the whole row of splitting mechanisms, and the single sponge splitting mechanism is connected to the inferior seedling removing mechanism. The device adopts a mode of splitting the sponge blocks from the bottoms of the sponge blocks, so that young seedlings cannot be damaged, and the whole mechanism has the advantages of simple structure, high splitting success rate, high operation efficiency and the like according to the operation flow of splitting the whole row and then splitting the single block.

Description

Automatic splitting device for sponge blocks with seedlings

Technical Field

The invention relates to a sponge treatment device in the field of soilless culture of agricultural engineering plant factories, in particular to an automatic splitting device for sponge blocks with seedlings.

Background

Plant factories generally adopt seedling raising sponge blocks to raise seedlings, seedlings are transplanted to cultivation plates with larger plant spacing after the seedlings develop to a certain stage, the sponge blocks are usually required to be split and transplanted manually, the existing sponge block separating machine generally adopts a mode of clamping from the upper part of the sponge blocks and then pulling out, the mode can only be suitable for seedlings with smaller blades, and if the seedlings with larger blades are split in a mode of clamping from the upper part, the damage to the blades of the seedlings is easily caused, so that the survival rate of the transplanted seedlings is influenced.

Therefore, the prior art lacks an end effector and an automatic splitting device with a sponge block for solving the problem of nondestructive automatic splitting of large-leaf sponge seedlings.

Disclosure of Invention

The invention mainly aims to provide an automatic splitting device for sponge blocks with seedlings, and aims to solve the problem that a sponge block separator in the prior art is not suitable for splitting large-blade sponge seedlings.

The end effector in the device can solve the problems that the end effector in the prior art is large in size and complex in structure, and leaves are easy to damage when seedlings are taken from the upper parts of the sponge blocks.

In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:

The sponge block conveying mechanism can drive the sponge blocks to feed row by row along the conveying line direction;

a base;

the pin type sponge block fixing mechanism is arranged on the base and can fix the second row of sponge blocks when the first row of sponge blocks are split in a whole row, so that the first row of sponge blocks can be split smoothly;

the whole row of splitting mechanisms are arranged on the base and can split the first row of sponge blocks;

the single sponge splitting mechanism is arranged on the whole row splitting mechanism and can split the split first whole row of sponge blocks one by one;

inferior seedling rejection mechanism, set up in on the whole row splitting mechanism, can reject the inferior seedling that vision system discerned through independently pushing away seedling cylinder.

The whole sponge which is not split is a cube small sponge block with partial connection between adjacent sponge blocks, the small sponge blocks are closely arranged in an array form, and the sponge blocks with seedlings which are not split are arranged on a sponge block conveying mechanism and are conveyed along the sponge block conveying mechanism.

The sponge block conveying mechanism comprises a conveying belt, guide wheels, a sponge block pressing rod, a positioning sensor and a sponge block supporting partition plate, wherein a plurality of guide wheels for guiding the sponge block to move forwards are arranged on two sides of the conveying belt, the sponge block supporting partition plate is arranged on the outlet side of the conveying belt in a connected mode, the sponge block pressing rod is arranged above the sponge block supporting partition plate, the sponge block pressing rod is located above the sponge block on the outlet side of the conveying belt and presses the sponge block downwards, and the positioning sensor is arranged on the side of the sponge block supporting partition plate;

The sponge block supporting partition plate is provided with a plurality of groups of hole groove structures which are arranged along the direction perpendicular to the conveying direction, each group of hole groove structures is sequentially divided into a through hole and a strip-shaped open groove along the conveying direction, and the through holes are used for inserting the pin-type sponge block fixing mechanism upwards and inserting the pin-type sponge block fixing mechanism into the sponge block above the through holes after penetrating through the pin-type sponge block fixing mechanism; the open slot extends and penetrates out the front edge of the sponge block supporting partition board, and the open slot is used for inserting the splitting claw in the whole row of splitting mechanisms upwards and inserting the splitting claw into the sponge block above the open slot after penetrating through the split claw.

The pin type sponge block fixing mechanism comprises a lifting air cylinder support, a lifting air cylinder, a fixed pin support and fixed pins, wherein the lifting air cylinder is installed on the lifting air cylinder support, a cylinder rod of the lifting air cylinder is upward and fixedly connected with the bottom end of the fixed pin support, the top surface of the fixed pin support is a plane, a plurality of fixed pins are fixed, and the fixed pins are used for being inserted into the sponge block from the bottom.

The whole row of splitting mechanism comprises a telescopic cylinder bracket, a telescopic cylinder, a splitting claw mounting plate, a guide rail, a sliding block and a plurality of splitting claws, wherein the telescopic cylinder is mounted on the telescopic cylinder bracket, a telescopic cylinder rod is horizontally arranged and faces the sponge block conveying mechanism, the end part of the telescopic cylinder rod is fixedly and vertically arranged splitting claw mounting plate, a horizontal guide rail is fixed on the end surface of the splitting claw mounting plate, the plurality of splitting claws are slidably embedded on the guide rail through the respective sliding blocks, each splitting claw is vertically arranged, and a single sponge splitting mechanism is mounted on the splitting claw mounting plate.

The single sponge splitting mechanism comprises a translation cylinder, a connecting bracket and connecting ropes between adjacent splitting claws, wherein the translation cylinder is arranged on one side of a splitting claw mounting plate and is provided with a sliding part, the sliding part is fixedly connected with a support plate of one splitting claw closest to the translation cylinder through the connecting bracket, and every two adjacent splitting claws are connected through the connecting ropes.

Each splitting claw comprises a support plate, a sponge block partition plate and an end effector, wherein the support plate is fixedly connected with the sliding blocks of the whole row of splitting mechanisms, the sponge block partition plate for supporting one sponge block is arranged on the support plate near the top, an inferior seedling removing mechanism is arranged on the side surface of the support plate above the sponge block partition plate, the end effector is arranged on the lower part of the support plate, and the end effector faces upwards and is used for penetrating the sponge block partition plate to be inserted into a sponge block;

the support plate 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 partition plate is just the height of one sponge block, so that the sponge block is limited between the support plate sponge block pressing plate and the sponge block partition plate when being transferred to the splitting claw.

The inferior seedling removing mechanism comprises a removing device Miao Qigang, wherein the removing device Miao Qigang is arranged on the side face of the support plate above the sponge block partition plate through a removing device Miao Qigang support, and a seedling removing cylinder rod horizontally faces the support plate and is used for penetrating through seedling removing holes in the support plate so as to push inferior seedling sponge blocks out of the sponge block partition plate.

The end effector comprises a mounting support plate, a pin support plate, pins, a rope wire core and an extension spring, wherein the mounting support plate is fixed on a support plate of a splitting claw, the pin support plate and the mounting support plate are arranged at intervals in parallel, the pin support plate is connected with the mounting support plate in a sliding manner, the root end of the pin support plate is elastically connected with the mounting support plate through the extension spring, the tail end of the pin support plate is provided with a pin for clamping and fixing a sponge block, the pin support plate is connected with the rope wire core, and the rope wire core is pulled to drive the pin support plate to slide relative to the mounting support plate so as to drive the pins at the tail end of the pin support plate to perform movement to realize clamping;

the two sides of the pin support plate are provided with sliding block end stops, the two sides of the tail end of the mounting support plate are provided with sliding block limiting blocks, and the sliding block end stops and the sliding block limiting blocks are mutually matched to limit sliding between the pin support plate and the mounting support plate; the pin support plate is provided with a poking plate spring linkage structure which is matched with the guide rod limiting block to realize the pin to execute movement, and the poking plate spring linkage structure comprises a guide seat, a guide rod, a compression spring, a pin seat, a connecting rod and a guide rod end baffle; a guide seat is fixed in the middle of the pin support plate, a guide rod movably penetrates through the guide seat to be arranged, and a guide rod end baffle is fixed at the root end of the guide rod; the tail end of the guide rod is fixedly connected with the connecting rod seat, a compression spring is sleeved on the guide rod between the connecting rod seat and the guide seat, the root ends of the two pin holders are hinged to the two sides of the tail end of the pin support plate, the two sides of the connecting rod seat are respectively hinged to the middle parts of the two pin holders through a connecting rod, and the tail end of each pin holder is fixedly connected with a pin.

The mounting support plate is provided with a guide rail, the contact pin support plate is provided with a sliding block, and the sliding block is embedded in the guide rail and moves along the guide rail, so that the contact pin support plate is in sliding connection with the mounting support plate.

The two sides of the middle part of the installation support plate are respectively provided with a guide rod limiting block, the middle part of the contact pin support plate is positioned between the guide rod limiting blocks on the two sides, the guide rod limiting blocks on the two sides are connected with the two sides of the contact pin support plate root end through a respective tension spring, one end of the tension spring is hooked on the guide rod limiting block, and the other end of the tension spring is hooked on the contact pin support plate root end.

The installation support plate root end is fixedly provided with a rope spool, and the rope wire core movably passes through the rope spool and is fixedly connected to the contact pin support plate root end.

The guide rod end stop width is greater than the distance between the guide rod limiting blocks on two sides of the middle of the installation support plate, so that the two ends of the guide rod end stop are blocked by the guide rod limiting blocks in the axial movement of the guide rod.

The guide rod is sleeved with a thrust ring, and the thrust ring is coaxially fixed on the guide rod through a set screw and used for limiting the axial movement of the guide rod and blocking connection to the guide seat.

The beneficial effects of the invention are as follows:

according to the technical scheme, the contact pins are used for penetrating the sponge blocks from the lower parts of the sponge blocks to split the sponge blocks, so that young seedlings cannot be damaged, and the whole mechanism has the advantages of being simple in structure, high in splitting success rate, high in operating efficiency and the like according to the operation flow of splitting the whole row and then splitting the single block.

The end effector is used for the sponge block splitting device, is arranged below the whole row of split sponge blocks, and controls the end effector to complete the actions of inserting, clamping opening and retracting through the cooperation of the driving part arranged at the far end, the tension spring and the compression spring, so that the clamping and fixing of the sponge blocks are realized, the sponge blocks are prevented from falling in the splitting process, and the reliability of splitting operation is improved.

According to the end effector, the extension and the opening of the contact pin are realized by skillfully utilizing one rope of the rope core, and the separation and the arrangement of the driving component and the contact pin are realized by utilizing the rope as a power transmission mechanism.

The end effector does not need to be provided with a driving part, so that the end effector is light and miniaturized, has a compact structure, can be suitable for splitting small-size sponge blocks, is easy to realize the integrated design of the multi-end effector, and can greatly improve the operation efficiency of splitting through the integration of the multi-end effector.

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 is an assembled schematic view of a sponge block transport mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic view of a sponge block supporting spacer in accordance with an embodiment of the present invention;

FIG. 4 is an assembly schematic diagram of a pin sponge block fixing mechanism according to an embodiment of the present invention;

FIG. 5 is an assembly schematic of a full row splitting mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic view of an assembly of a splitting claw according to an embodiment of the invention;

fig. 7 is an assembly schematic diagram of a single sponge splitting mechanism and a poor quality seedling removing mechanism according to an embodiment of the present invention.

FIG. 8 is a schematic diagram of a complete assembly structure of an embodiment of the present invention;

FIG. 9 is a schematic view of an assembly of a mounting bracket and a component mounted on the mounting bracket according to an embodiment of the present invention;

FIG. 10 is a schematic view of an assembly of components mounted on the outside of a pin header;

FIG. 11 is a schematic view of an assembly of components mounted on the inside of a pin header;

FIG. 12 is a schematic diagram of the operation process of the invention for picking and placing sponge blocks.

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 splitting device for sponge blocks with seedlings, and aims to solve the problem that in the prior art, the sponge blocks are clamped and split from the upper parts of the sponge blocks, so that the seedlings are easy to damage.

As shown in fig. 1, an overall assembly schematic diagram of an automatic splitting device for sponge blocks with seedlings provided by the embodiment of the invention specifically includes a sponge block conveying mechanism 1, a pin-type sponge block fixing mechanism 3, a whole row splitting mechanism 4, a single sponge splitting mechanism 5, a poor-quality seedling removing mechanism 6 and other parts, wherein a sponge block 7 with seedlings which is not split is an operation object of the whole device; the sponge block 7 with the seedling is arranged on the sponge block conveying mechanism 1 and transported along the sponge block conveying mechanism 1, the pin type sponge block fixing mechanism 3 is arranged below the outlet side of the sponge block conveying mechanism 1, the whole row of splitting mechanisms 4, the single sponge splitting mechanism 5 and the inferior seedling removing mechanism 6 are arranged in front of the outlet side of the sponge block conveying mechanism 1, the single sponge splitting mechanism 5 is arranged on the whole row of splitting mechanisms 4, and the inferior seedling removing mechanism 6 is arranged on the single sponge splitting mechanism 5.

The pin type sponge block fixing mechanism 3 and the whole row of splitting mechanisms 4 are arranged on the base 2 positioned on the ground.

When the sponge block conveying mechanism 1 is disassembled, the sponge block is conveyed to a designated position, the lifting cylinder 18 cylinder rod on the pin type sponge block fixing mechanism 3 extends upwards to drive the fixed pins 20 to be inserted into the bottom of the second row of sponge blocks, the telescopic cylinder 22 cylinder rod of the whole row of disassembling mechanisms 4 extends out to drive the end effector 28 to move to the position right below the first row of sponge blocks, the pins 2803 extend out, after the bottom of the first row of sponge blocks is inserted, the telescopic cylinder 22 cylinder rod of the whole row of disassembling mechanisms 4 retracts to complete the disassembly of the first row of sponge blocks, then the single sponge block is disassembled by the movement of the translation cylinder 36 of the single sponge disassembling mechanism 5, and finally inferior seedlings are removed by the inferior seedling removing mechanism 6.

As shown in fig. 2, an assembly schematic diagram of the sponge block conveying mechanism 1 is shown, the sponge block conveying mechanism 1 comprises a conveying belt 8, guide wheels 9, a sponge block pressing rod 10, a positioning sensor 11 and a sponge block supporting partition plate 12, a plurality of guide wheels 9 for guiding the sponge block to move forward are arranged on two sides of the conveying belt 8, the sponge block supporting partition plate 12 is arranged on the outlet side of the conveying belt 8 in a joint mode, the conveying plane of the sponge block supporting partition plate 12 and the conveying belt 8 is kept flush, an undetached sponge block 7 is conveyed to the sponge block supporting partition plate 12 from the outlet side of the conveying belt 8 by the conveying belt 8, a sponge block pressing rod 10 is arranged above the sponge block supporting partition plate 12, the sponge block pressing rod 10 is fixed on the outlet side of the conveying belt 8 through a bracket, the sponge block pressing rod 10 is positioned above the sponge block on the outlet side of the conveying belt 8 and presses the sponge block downwards, the positioning sensor 11 is arranged on the side of the sponge block supporting partition plate 12, and the positioning sensor 11 is used for detecting the arrival of the undetached sponge block 7;

The guide wheel 9 is used for limiting the left and right directions of the sponge block and preventing the sponge block from skewing in the conveying process. The sponge block compression bar 10 is used for exerting downward pressure on the sponge block when the fixed contact pin 20 and the contact pin 2803 penetrate into the bottom of the sponge block in the sponge block splitting process, so that the sponge block is prevented from moving upwards when the fixed contact pin 20 and the contact pin 2803 penetrate into the sponge block, the penetrating depth is ensured, and the positioning sensor 11 is used for detecting whether the sponge block is conveyed to the splitting position.

The conveyor line driving part and the transmission part are not shown in fig. 2, a specific example can use a motor as the driving part, belt transmission or chain transmission can be used as the power transmission part, and when the conveyor line driving part is operated, the conveyor belt 8 drives the undivided seedling sponge block 7 to feed along a straight line in a limiting position of the guide wheel 9, when the undivided seedling sponge block is fed to the position where the positioning sensor 11 is located, the positioning sensor 11 sends an in-place signal to the control unit, the control unit controls the conveying mechanism 1 to stop moving, and meanwhile, the sponge block pressing rod 10 can downwards press above the first row and the second row of undivided seedling sponge blocks at the stop position.

In particular, the sponge block compression bar 10 has a plurality of U-shaped compression bars with thickness, each of which is compressed between two adjacent sponge blocks to avoid the compression bars from damaging the seedling blades.

As shown in fig. 3, a schematic structural diagram of the sponge block supporting partition board 12 is shown, a plurality of groups of hole groove structures with the same number as the splitting claws 26 in the whole row of splitting mechanisms 4 are arranged on the sponge block supporting partition board 12 along the direction perpendicular to the conveying direction, each group of hole groove structures is sequentially divided into a through hole 13 and a strip-shaped open groove 14 along the conveying direction, the through hole 13 is closer to the inlet side of the conveying belt 8, the through hole 13 is used for inserting the pin-type sponge block fixing mechanism 3 into a sponge block above the through hole 13 after being inserted upwards and penetrating, so that the pin-type sponge block fixing mechanism 3 fixes the sponge block above the through hole 13; the open slot 14 extends and penetrates the sponge block supporting partition plate 12 along the front end edge close to the outlet side, and the open slot 14 is used for inserting the pins 2803 on the splitting claw 26 upwards, penetrating and then inserting the pins 2803 on the splitting claw 26 into the sponge block above the open slot 14, so that the pins 2803 on the splitting claw 26 fix the sponge block above the open slot 14 and then drive the sponge block to move to realize whole-row separation.

The through holes 13 of each group of hole groove structures are used for placing the second row of sponge blocks closest to the outlet in the undivided sponge blocks 7 with seedlings, and the open grooves 14 are used for placing the first row of sponge blocks closest to the outlet in the undivided sponge blocks 7 with seedlings.

And the two sides of the sponge block supporting partition plate 12 are symmetrically provided with a positioning sensor fixing part 15 and a supporting partition plate fixing part 16, the positioning sensor fixing part 15 is provided with a threaded hole for installing the positioning sensor 11, and the supporting partition plate fixing part 16 is provided with a threaded hole for fixing the sponge block supporting partition plate 12 at the tail end of the sponge block conveying mechanism 1.

As shown in fig. 4, an assembly schematic diagram of the pin-type sponge block fixing mechanism 3 is shown, the pin-type sponge block fixing mechanism 3 comprises a lifting cylinder support 17, a lifting cylinder 18, a fixed pin support 19 and a fixed pin 20, the lifting cylinder support 17 is fixed on the base 2, the lifting cylinder 18 is mounted on the lifting cylinder support 17, a cylinder rod of the lifting cylinder 18 faces upwards and is fixedly connected with the bottom end of the fixed pin support 19, the top surface of the fixed pin support 19 is a plane and is used for fixing a plurality of fixed pins 20, and the fixed pins 20 are used for being inserted into a sponge block from the bottom through holes 13 penetrating through a sponge block supporting partition 12 in the sponge block conveying mechanism 1. The fixed pin support 19 is provided on the upper end surface of the cylinder rod fixing plate of the lifting cylinder 18, and the fixed pin 20 is mounted on the fixed pin support 19 by bolts.

After the undivided sponge block with the seedling is conveyed to a designated position, the lifting cylinder 18 is lifted to drive the fixed contact pin 20 to pass through the through hole 13 on the sponge block supporting partition plate 12, and then the fixed contact pin 20 is inserted into a second row of sponge blocks closest to the outlet in the undivided sponge block with the seedling 7.

As shown in fig. 5 and 6, the whole row of splitting mechanisms 4 and the assembly schematic diagrams of the splitting claws 26 are shown, the whole row of splitting mechanisms 4 comprises a telescopic cylinder bracket 21, a telescopic cylinder 22, a splitting claw mounting plate 23, a guide rail 24, a sliding block 25 and a plurality of splitting claws 26, the telescopic cylinder bracket 21 is fixed on the base 2, the telescopic cylinder 22 is mounted on the telescopic cylinder bracket 21, a cylinder rod of the telescopic cylinder 22 is horizontally arranged and faces the sponge block conveying mechanism 1, the vertically arranged splitting claw mounting plate 23 is fixed at the end part of the cylinder rod of the telescopic cylinder 22, a horizontal guide rail 24 is fixed on the end surface of the splitting claw mounting plate 23, which is close to the sponge block conveying mechanism 1, the plurality of splitting claws 26 are slidably embedded on the guide rail 24 through respective sliding blocks 25 and can horizontally move along the guide rail 24, each splitting claw 26 is vertically arranged, and the single sponge splitting mechanism 5 is mounted on the splitting claw mounting plate 23.

The number of the splitting claws 26 is plural, and the specific number is determined according to the number of the sponge blocks in each row, and each splitting claw 26 can move in a translational manner along the guide rail 24.

As shown in fig. 7, an assembly schematic diagram of the single sponge splitting mechanism 5 and the inferior seedling removing mechanism 6 is shown, the single sponge splitting mechanism 5 includes a translation cylinder 36, a connecting bracket 37 and a connecting rope 40 between two adjacent splitting claws 26, the translation cylinder 36 is installed on one side of the back of the splitting claw mounting plate 23, the translation cylinder 36 has a sliding portion 41, the sliding portion 41 is fixedly connected with a support plate 27 of one splitting claw 26 closest to the translation cylinder 36 through the connecting bracket 37, in particular, the connecting bracket 37 is connected with the sliding portion 41 of the translation cylinder 36 and the support plate 27 of the splitting claw 26 on the rightmost side in fig. 7, each two adjacent splitting claws 26 are respectively provided with a shorter connecting rope 40, and the connecting rope 40 connects the support plates 27 of the plurality of adjacent splitting claws 26 with each other two by two.

The single sponge splitting mechanism 5 pulls the outermost splitting claws 26 through the translational movement of the translational cylinder 36, and sequentially pulls all the splitting claws 26 through the connecting ropes 40 connected in pairs to perform translational movement, so that the single-row connected sponge blocks are split.

As shown in fig. 7, when the single sponge block is split, the sliding part 41 of the translation cylinder 36 moves to the right in the direction away from the splitting claws 26, the rightmost splitting claw 26 is pulled by the connecting bracket 37, and the spacing between all the splitting claws 26 is sequentially increased by the rightmost splitting claw through the connecting rope 40, so that the single sponge block is separated.

Each splitting claw 26 comprises a support plate 27, a sponge block partition plate 32 and an end effector 28, wherein the support plate 27 is fixedly connected with the sliding blocks 25 of the whole row of splitting mechanisms 4, the support plate 27 is embedded on the guide rail 24 in a sliding manner through the sliding blocks 25, the sponge block partition plate 32 for receiving one sponge block is arranged on the support plate 27 close to the top, and the sponge block partition plate 32 is arranged on the middle upper portion of the support plate 27 and used for supporting the split sponge block. When the splitting claw 26 moves below the outlet side of the sponge block supporting spacer 12, the sponge block spacer 32 is positioned below the open groove 14 of the sponge block supporting spacer 12 of the sponge block transporting mechanism 1, so that the splitting claw 26 is aligned with the first row of sponge blocks closest to the outlet. The side surface of the support plate 27 above the sponge block partition plate 32 is provided with an inferior seedling removing mechanism 6, the lower part of the support plate 27 is provided with an end effector 28, and a pin 2803 of the end effector 28 faces upwards and is used for being inserted into a sponge block through the sponge block partition plate 32;

The support plate 27 is provided with a support plate sponge block pressing plate 33 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 33 and the sponge block partition plate 32 is slightly larger than the height of the sponge block plus the thickness of the sponge block supporting partition plate, so that the sponge block is limited between the support plate sponge block pressing plate 33 and the sponge block partition plate 32 when being transferred to the splitting claw 26.

The inferior seedling removing mechanism 6 comprises a removing Miao Qigang 39, the removing Miao Qigang 39 is arranged on the side face of the support plate 27 through a removing Miao Qigang support 38, and the cylinder rod of the removing cylinder 39 horizontally faces the support plate 27 and is used for penetrating through the removing holes 34 on the support plate 27 so as to push inferior seedling sponge blocks out of the sponge block partition plate 32.

The support plate 27 is provided with a seedling picking hole 34 and a Miao Qigang support fixing hole 35, the Miao Qigang support fixing hole 35 is used for installing the Miao Qigang support 38 so as to realize installing the Miao Qigang 39, and the seedling picking hole 34 is arranged at a position opposite to the sponge block and used for passing through a cylinder rod of the seedling picking cylinder 39.

The cylinder rod of the seedling picking cylinder 39 is opposite to the position of the sponge block, and the inferior seedling picking mechanism 6 pushes the sponge block out of the sponge block partition plate 32 through the extension of the cylinder rod of the picking cylinder Miao Qigang, so that the aim of picking inferior seedlings is fulfilled.

The picking Miao Qigang support 38 is arranged on the picking cylinder support fixing hole 35 on the support plate 27, the picking Miao Qigang is arranged on the picking Miao Qigang support 38, so that the axis of the cylinder rod of the picking cylinder 39 coincides with the axis of the picking hole 34 on the support plate 27, inferior seedlings are identified through an external vision system after the separation distance of the sponge block is increased, the cylinder rod of the picking cylinder 39 on the splitting claw 26 where the inferior seedlings are located is controlled to extend according to the identification result, the inferior seedlings are pushed out of the sponge block partition plate 32, and the aim of removing the inferior seedlings is fulfilled.

The sponge block spacer 32 has slots for the insertion and clamping of pins of the end effector 28. In operation, after the to-be-inserted pin type sponge block fixing mechanism 3 fixes the second row of sponge blocks through the fixing pins 20, the cylinder rods of the telescopic cylinders 22 of the whole row of splitting mechanisms 4 extend out, so that the splitting claws 26 move to be right below the first row of sponge blocks of the undivided seedling-carrying sponge blocks 5 at the designated positions, at the moment, the sponge block partition plates 32 are positioned at the lower sides of the open slots 14 of the sponge block supporting partition plates 12 of the sponge block conveying mechanism 1, the inserting pins 2803 of the end effectors 28 of the splitting claws 26 penetrate through the slotted holes on the sponge block partition plates 32 and the open slots 14 on the sponge block supporting partition plates 12 to penetrate into the lower parts of the first row of sponge blocks, and then the cylinder rods of the telescopic cylinders 22 retract to drive the splitting claws 26 and the sponge blocks which are penetrated into the lower parts by the inserting pins 2803 to retract together, so that the separation of the first row of sponge blocks and the second row of sponge blocks is realized.

In the present embodiment, parameters or structures affecting the penetration depth such as the number, position layout, diameter, penetration speed, the number of times of penetration, etc. of the fixed pins 20 can be determined according to the operation effect, considering that the sponge block is deformed when being subjected to a force.

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) 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 splitting claws 26 are inferior seedlings, and then eliminates the inferior seedlings.

In this example, the lift cylinder 18, the telescoping cylinder 22, the pins 2803, the picks Miao Qigang 39 of the end effector 28 are all retracted in the device in the initial state, and the translation cylinder 36 is in a position close to the split jaws 26 as shown in fig. 7.

The invention also provides an end effector of the rope-controlled sponge block transfer machine in the concrete implementation, and aims to solve the problems that the end effector in the prior art is large in size, complex in structure, not suitable for sponge block transfer of small-size holes and difficult to integrate multiple end effectors.

As shown in fig. 8, an overall assembly schematic diagram of an end effector of a rope controlled sponge block transfer machine according to an embodiment of the present invention includes a mounting support plate 2801, a pin support plate 2802, a pin 2803, a rope spool 2804, a rope core 2805, a tension spring 2806, and other parts.

The installation extension pin 2801 is fixed on the extension plate 27 of split claw 26, contact pin 2802 and installation extension plate 2801 parallel interval arrangement, sliding connection between contact pin 2802 and the installation extension plate 2801, pass through extension spring 2806 elastic connection between contact pin 2802 root end and the installation extension plate 2801, contact pin 2803 that is used for the sponge piece to press from both sides tightly fixed is installed to contact pin 2802 end, contact pin 2802 and rope sinle silk 2805 are connected, pulling rope sinle silk 2805 drives contact pin 2802 and slides for installation extension plate 2801, and then drive contact pin 2803 at contact pin 2802 end to carry out the motion in order to realize pressing from both sides tightly.

As shown in fig. 9 and 11, a guide rail 2807 is disposed on the mounting support 2801, the guide rail 2807 and the extension spring 2806 are arranged in parallel, a slider 2824 is disposed on the pin support 2802, and the slider 2824 is embedded in the guide rail 2807 and moves along the guide rail 2807, so that the pin support 2802 is slidably connected with the mounting support 2801.

Two sides of the slider 2824, which are close to the pin support plate 2802 beside one side of the connecting rod seat 2826, are provided with slider end stops 2825, two sides of the tail end of the mounting support plate 2801 are provided with slider limiting blocks 2810, and the slider end stops 2825 and the slider limiting blocks 2810 are mutually matched to limit sliding between the pin support plate 2802 and the mounting support plate 2801.

The slider cooperates with the guide rail to enable the pin support plate to move linearly along the guide rail, and the slider end stop 2825 is blocked by the slider stopper 2810 when the slider moves downward and is used for preventing the slider from sliding out of the guide rail.

As shown in fig. 9, guide bar limiting blocks 2808 are respectively arranged on two sides of the middle part of the mounting support plate 2801, the middle part of the pin support plate 2802 is positioned between the guide bar limiting blocks 2808 on two sides, the guide bar limiting blocks 2808 on two sides are respectively connected with two sides of the root end of the pin support plate 2802 through a respective tension spring 2806, one end of the tension spring 2806 is hooked on the guide bar limiting block 2808, and the other end is hooked on the root end of the pin support plate 2802. In specific implementation, a first spring hanging hole 2809 is formed in the guide rod limiting block 2808, a second spring hanging hole 2823 is formed in the root end of the pin support plate 2802, and two ends of the extension spring 2806 are hooked between the first spring hanging hole 2809 and the second spring hanging hole 2823 respectively.

The end of the mounting support plate 2801 is fixedly provided with a rope spool 2804, and a rope wire core 2805 is fixedly connected to the end of the pin support plate 2802 after movably penetrating through the rope spool 2804.

As shown in fig. 10, in the embodiment, a rope tube fixing base 2812 is provided on the end of the mounting bracket 2801, and a rope tube 2804 is fixed to the rope tube fixing base 2812. A rope wire core fixing seat 2813 is fixedly arranged on the root end of the pin support plate 2802, and a rope wire core 2805 is fixed on the rope wire core fixing seat 2813.

As shown in fig. 10 and 11, a toggle spring linkage structure which cooperates with a guide rod limiting block 2808 to realize the execution of the movement of the pin 2803 is mounted on the pin support plate 2802, and the toggle spring linkage structure comprises a guide seat 2815, a guide rod 2814, a compression spring 2819, a pin seat 2817, a connecting rod seat 2826, a connecting rod 2828 and a guide rod end block 2822;

a guide seat 2815 is fixed in the middle of the pin support plate 2802, guide rod limiting blocks 2808 on two sides of the middle of the mounting support plate 2801 are positioned on two sides of the guide seat 2815, a guide rod 2814 movably penetrates through the guide seat 2815 to be arranged, guide rod end stops 2822 are fixed at the root ends of the guide rod 2814, the width of the guide rod end stops 2822 is larger than the distance between the guide rod limiting blocks 2808 on two sides of the middle of the mounting support plate 2801, and the two ends of the guide rod end stops 2822 can be blocked by the guide rod limiting blocks 2808 in the axial movement of the guide rod 2814; the two ends of the guide rod 2814 are provided with threaded holes, and the guide rod end stop 2822 and the connecting rod seat 2826 are fixedly arranged on the threaded holes at the two ends of the guide rod 2814 through bolt connection.

The tail end of the guide rod 2814 is fixedly connected with the connecting rod seat 2826, a compression spring 2819 is sleeved on the guide rod 2814 between the connecting rod seat 2826 and the guide rod seat 2815, two ends of the compression spring 2819 are respectively connected to the connecting rod seat 2826 and the guide rod seat 2815, root ends of two pin holders 2817 are hinged to two sides of the tail end of the pin support plate 2802, the pin holders 2817 and the pin support plate 2802 are hinged through pin holder rotating shafts 2818 and pin holder rotating shafts 2816, two sides of the connecting rod seat 2826 are respectively hinged to the middle parts of the two pin holders 2817 through a connecting rod 2828, the connecting rod seat 2826 and the connecting rod 2828 are hinged through a second connecting rod rotating shaft 2829, the connecting rod seat 2826 is hinged to the pin holders 2817 through a first connecting rod rotating shaft 2827, and the tail end of each pin holder 2817 is fixedly connected with a pin 2803. A plurality of pins 2803 can be fixedly arranged at the tail end of each pin holder 2817 and inserted into the sponge block.

In a specific implementation, two pins 2803 are fixed at the end of each pin holder 2817, four pins 2803 of the two pin holders 2817 are totally located at four corners.

The guide rod limiting block 2808 is used for cooperatively blocking downward movement of the guide rod end stop 2822, and when the guide rod end stop 2822 is blocked by the guide rod limiting block 2808, if the pin support 2802 continues to move, the link mechanism is driven to realize clamping action of the pin 2803.

And a first spring hanging hole 2809 is formed in the guide rod limiting block 2808 and is used for fixing one end of the extension spring.

In a specific implementation, the extension spring 2806 is in a stretched state in a normal state, and has a force for retracting two ends of the spring, the compression spring 2819 is in a compressed state, and has a force for extending two ends of the spring, and the spring force of the extension spring 2806 is significantly greater than the spring force of the compression spring 2819, so that after the guide rod end stop 2822 is blocked by the guide rod limiting block 2808, the restoring force of the compression spring 2819 can be overcome by the extension spring 2806, and the seedling taking needle support 2802 is driven to continue to extend downwards.

The guide rod 2814 is sleeved with a thrust ring 2821, and the thrust ring 2821 is coaxially fixed on the guide rod 2814 through a set screw 2820 and used for limiting the axial movement of the guide rod 2814 and blocking connection to the guide seat 2815.

The axial line of the thrust ring 2821 coincides with the axial line of the guide rod 2814, one side of the thrust ring 2821 is provided with a threaded hole for installing a set screw 2820, and the thrust ring 2821 fixed at a specific position of the guide rod 2814 by using the set screw 2820 is used for limiting the position of the guide rod 2814 capable of moving along the guide hole of the guide seat 2815.

When the sponge block is clamped, the pin support plate 2802 drives the pin 2803 to extend through the sliding block along the guide rail under the action of the elastic force of the extension spring 2806, after the pin guide rod end block 2822 touches the guide rod limiting block 2808, the guide rod 2814 does not move any more, the pin support plate 2802 continues to move, the pins 2803 on two sides are driven to clamp through the connecting rod mechanism, and when the sponge block is placed, the pin support plate 2802 is pulled to retract through the rope wire core 2805 by a driving part arranged at the far end, and meanwhile, the pin 2803 is opened under the action of the compression spring 2819.

As shown in fig. 9, a part schematic diagram of the installation on the installation support plate 2801 is shown, and the installation support plate 2801 is provided with a plurality of threaded holes for connecting the guide rail 2807, the guide bar limiting block 2808, the slide block limiting block 2810 and the rope tube fixing seat 2812 to the installation support plate 2801 through bolts. The guide rod limiting block 2808 is used for blocking the movement of the guide rod end block 2822, the guide rod limiting block 2808 is provided with a first spring hanging hole 2809 for hanging one end of the extension spring 2806, and the rope tube fixing seat 2812 is used for fixing the rope tube 2804, so that the rope wire core 2805 can generate a tensile force under the action of a driving component.

As shown in fig. 10 and 11, a schematic diagram of mounting parts on the pin support plate 2802 is shown, the pin support plate 2802 is provided with a plurality of threaded holes for connecting a rope wire core fixing seat 2813, a guide seat 2815 and two pin seat rotating shaft seats 2816 which are symmetrically arranged to one surface of the pin support plate 2802 facing away from the mounting support plate 2801 through bolts, and connecting a sliding block 2824 and two sliding block end stops 2825 which are symmetrically arranged to one surface of the pin support plate 2802 facing the mounting support plate 2801 through bolts.

The rope core fixing seat 2813 is used for fixing the rope core 2805, so that the driving component can achieve the purpose of controlling the movement of the contact pin support plate 2802 by pulling the rope core 2805, and a through hole is formed in the upper portion of the guide seat 2815, and the axis of the through hole is coincident with the axis of the guide rod 2814, so that the guide rod 2814 can do linear movement along the through hole in the upper portion of the guide seat 2815.

The guide rod 2814 has threaded holes at both ends for connecting the guide rod end block 2822 to the upper end of the guide rod 2814 by bolts and the connecting rod seat 2826 to the lower end of the guide rod 2822 by bolts, and the thrust ring 2821 has threaded holes at one side for fixing the thrust ring 2821 at a specific position of the guide rod 2814 by set screws 2820.

Compression spring 2819 overlaps in the outer cylinder of guide bar 2814, and compression spring 2819's both ends are hugged closely in the lower terminal surface of guide bar 2815 and the up end of connecting rod seat 2826 respectively, there is the screw hole on the contact pin seat pivot seat 2816 of bilateral symmetry arrangement, contact pin seat pivot 2818 one end has the external screw thread, two contact pin seat pivot 2818 are connected on the screw hole of two contact pin seat pivot seats 2816 through the external screw thread respectively, contact pin seat pivot 2818 up end has the internal screw hole simultaneously, contact pin seat 2817 upper end has the through-hole, two contact pin seat 2817 upper end through-hole axis coincides with the axis of contact pin seat pivot 2818 of both sides respectively, two contact pin seat pivot 2818 run through in the interior cylinder of two contact pin seat 2817, make two contact pin seat 2817 can rotate around two contact pin seat pivot 2818 respectively.

The middle part of the pin holder 2817 is provided with a threaded hole, one end of a first connecting rod rotating shaft 2827 is provided with external threads, the two first connecting rod rotating shafts 2827 are respectively connected to the threaded holes in the middle part of the pin holder 2817 at two sides through the external threads at one end, the connecting rod holder 2826 is provided with two symmetrically arranged threaded holes, one end of two second connecting rod rotating shafts 2829 is provided with external threads, the two second connecting rod rotating shafts 2829 are respectively connected to the two symmetrically arranged threaded holes of the connecting rod holder 2826 through the external threads at one end, the two ends of the connecting rod 2828 are provided with through holes, the axes of the through holes at the two ends of the connecting rod 2828 are respectively overlapped with the axes of the first connecting rod rotating shaft 2827 and the second connecting rod rotating shaft 2829, the through holes at the two ends of the connecting rod 2828 can respectively rotate around the axes of the first connecting rod rotating shaft 2827 and the second connecting rod rotating shaft 2829, the upper end of the pin 2803 is provided with external threads, and the four pins are respectively fixed at the four through holes of the two pin holders through nuts, so that the pin holder 2807 which is symmetrically arranged at two sides can drive the pin holder 2803 to clamp.

In this embodiment, under the action of the elastic force of the compression spring 2819, the lower end surface of the thrust ring 2821 is tightly attached to the upper end surface of the guide seat 2815, and at this time, the thrust ring 2821 needs to be adjusted to a specific position, so that the pin sockets 2817 on both sides are in a parallel state, and the pins can be inserted into the sponge block in a vertical direction when the pin support plate 2802 extends downwards.

In this example, the pins are in a pin shape, and can be designed into a spade shape or a sheet shape according to specific application scenes or sponge block taking effects, etc., in this example, the pins are in a four-pin shape, and can be designed into other numbers of forms such as 2 pins or 3 pins according to specific application scenes or sponge block taking effects.

Compression spring 2819 is limited by connecting rod seat and thrust collar 2821, and thrust collar 2821 and guide seat 2815 are kept attached all the time under the action of spring force, in this state, through reasonable design guide bar 2814, contact pin seat 2817, even 2828 pole, connecting rod seat 2826's size messenger contact pin 2803 keeps parallel state, through reasonable design guide bar stopper 2808 and slider stopper 2810's position, make guide bar end keep off 2822 by the guide bar stopper after, contact pin extension board 2802 continues to move 2-3 mm's distance, make contact pin 2803 can close suitable angle, in order to do benefit to contact pin 2803 to the stable clamp of sponge piece.

Preferably, in this embodiment, the drive member is disposed separately from the end effector and the transmission of the driving force is accomplished by means of a cable, so that the end effector can be reduced in size as much as possible, but the drive member can also be connected directly to the end effector or to the end effector by other power transmission structures without affecting the integration of the end effector on the transfer machine.

The process of taking and placing the sponge blocks of the end effector is as follows:

(1) The whole row of splitting mechanisms 4 drive the end effector 28 to move to the position right below the sponge block supporting partition plate 12 where the undivided sponge block 7 with seedlings is placed, as shown in fig. 12 (a), at this time, a driving component (not shown in the drawing) applies a pulling force to the rope wire core 2805, so that the rope wire core 2805 can overcome the elastic force of two symmetrically arranged extension springs 2806, keep parts and mechanisms such as the pin support 2802 and pins 2803 installed on the pin support 2802 in a retracted state, and keep a relatively static state between a guide rod 2814, a connecting rod 2828 and the pin seat 2817 on the pin support 2802 under the elastic force of the compression spring 2819;

(2) The position of the whole row of splitting mechanisms 4 is kept unchanged, a driving component (not shown in the figure) stops applying a pulling force to the rope wire core 2805, the pin support plate 2802 drives the pins 2803 to vertically move upwards under the pulling force of two symmetrically arranged extension springs 2806, so that the pins 2803 vertically move upwards to be inserted into the sponge from the lower part of the sponge block, as shown in fig. 12 (b), at the moment, as the guide rod end block 2822 does not touch or just touches the guide rod limiting block 2808, under the elastic force of the compression springs 2819, the guide rods 2814, the connecting rods 2828 and the pin holders 2817 on the pin support plate 2802 still keep a relatively static state;

(3) Keeping the state of the whole row of splitting mechanisms 4 consistent with the state in the previous step, in the process that the extension spring 2806 drives the pin support plate 2802 to vertically move upwards, after the guide rod end block 2822 touches the guide rod limiting block 2808, the guide rod 2814 does not continuously vertically move upwards along with the pin support plate 2802, and the pin support plate 2802 continuously vertically moves upwards because the slide block end block 2825 does not touch the slide block limiting block 2810, at this time, the pin support plate 2802, a pin seat 2817 fixed on the pin support plate 2802 and a connecting rod 2828 can relatively move with the guide rod 2814, the guide rod 2814 can downwards move relative to the pin support plate 2802, the connecting rod 2828 is pulled, and the pin seat 2817 is driven to realize clamping action, so that a sponge block is clamped, as shown in fig. 12 (c);

(4) The state that a driving part (not shown in the figure) still does not exert pulling force on the rope core is kept, the whole row of splitting mechanisms 4 drive the end effector 28 to retract from the lower part of the sponge block supporting partition plate 12, and the whole row of splitting of the first row of sponge blocks with seedlings is realized under the clamping force of the pins 2803 of the end effector 28;

(5) Maintaining the clamping state of the end effector on the sponge block, and realizing the single-block splitting of the sponge block under the action of a single-block sponge splitting mechanism 5;

(6) After the single sponge is split, a driving component (not shown in the figure) starts to apply a pulling force to the rope core 2805, the pulling force overcomes the elastic force of two symmetrically arranged extension springs 2806, the parts and mechanisms such as the pin support 2802, the pin 2803 arranged on the pin support 2802 and the like are pulled to retract downwards, in the process of retracting the pin support 2802 downwards, a guide rod 2814 on the pin support 2802 moves upwards relative to the pin support 2802 along with the elastic force of a compression spring 2819, a connecting rod seat 2826 is pushed and a pin seat 2817 is driven to realize an opening action, and a sponge block is loosened as shown in fig. 12 (d);

(7) The driving component (not shown in the figure) continues to apply a pulling force to the rope core 2805, and the pulling force overcomes the elastic force of two symmetrically arranged extension springs 2806, and pulls the pin support 2802 and the pins 2803 mounted on the pin support 2802 to retract downwards, so that the pins 2803 are pulled out from the sponge block, as shown in fig. 12 (e);

the specific working process of the whole device when starting operation is as follows:

(1) The sponge block conveying mechanism 1 drives the undivided sponge blocks 7 with seedlings to feed along a conveying line, and when the positioning sensor 11 detects all the sponge blocks, the conveying line stops running;

(2) The cylinder rod of the lifting cylinder 18 of the pin-type sponge block fixing mechanism 3 extends out to drive the fixing pin 20 to penetrate through the through hole 13 on the sponge block supporting partition plate 12 to be inserted into the second row of the undivided sponge blocks with seedling 7 reaching the position of the positioning sensor, so as to fix the second row of sponge blocks with seedling 7;

(3) The telescopic cylinder 22 rod of the whole row of splitting mechanism 4 extends out to drive the splitting claw 26 to move to the position below the first row of sponge blocks without splitting the sponge blocks with seedlings 7 reaching the position of the positioning sensor, so that the sponge block partition plate 32 on the splitting claw 26 is positioned right below the sponge block supporting partition plate 12 on the sponge block conveying mechanism 1;

(4) The pin 2803 of the end effector 28 of the splitting claw 26 extends out to drive the pin 2803 to pass through the slotted hole on the sponge block partition board 32 and the open slot 14 on the sponge block supporting partition board 12 to insert and clamp the first row of sponge blocks without splitting the sponge blocks with seedlings 7;

(5) The telescopic cylinder 22 cylinder rod of the whole row of splitting mechanism 4 is retracted to drive the splitting claw 26 and the first row of sponge blocks inserted and clamped by the inserting needle 2803, so that the first row of sponge blocks are separated from the second row of sponge blocks;

(6) The sliding part 41 of the translation cylinder 36 of the single-block sponge splitting mechanism 5 moves in a direction away from the splitting claw 26 to drive the splitting claw 26 and the sponge blocks inserted and clamped by the contact pin 2803 to move, so that the distance between adjacent splitting claws 26 is increased, and the single-block separation of the first row of sponge blocks is realized;

(7) The vision system acquires images of the single separated sponge seedlings and judges whether the single sponge seedlings on the sponge block partition plates 32 have inferior seedlings according to an inferior seedling identification algorithm;

(8) According to the recognition result of the vision system, the control system controls the cylinder rod of the seedling picking cylinder 39 on the splitting claw where the inferior seedling is positioned to extend out, and the inferior seedling is ejected out of the splitting claw sponge block partition plate 32, so that the inferior seedling is picked out;

(9) The matched transplanting machine takes away the rest healthy seedlings on the splitting claw 26, all the cylinders are restored to the initial state, and the next row of sponge seedlings are split.

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 (7)

1. Automatic splitting device of area seedling sponge piece, its characterized in that:

the device specifically comprises a sponge block conveying mechanism (1), a pin type sponge block fixing mechanism (3), a whole row splitting mechanism (4), a single sponge splitting mechanism (5) and a poor-quality seedling removing mechanism (6); the sponge blocks with the seedlings (7) are arranged in an array mode and then are arranged on the sponge block conveying mechanism (1) and transported along the sponge block conveying mechanism (1), a pin type sponge block fixing mechanism (3) is arranged below the outlet side of the sponge block conveying mechanism (1), a whole row of splitting mechanisms (4), a single sponge splitting mechanism (5) and an inferior seedling removing mechanism (6) are arranged in front of the outlet side of the sponge block conveying mechanism (1), the single sponge splitting mechanism (5) is arranged on the whole row of splitting mechanisms (4), and the inferior seedling removing mechanism (6) is arranged on the single sponge splitting mechanism (5);

The sponge block conveying mechanism (1) comprises a conveying belt (8), guide wheels (9), a sponge block pressing rod (10), a positioning sensor (11) and a sponge block supporting partition board (12), wherein a plurality of guide wheels (9) for guiding the sponge block to move forwards are arranged on two sides of the conveying belt (8), the sponge block supporting partition board (12) is arranged on the outlet side of the conveying belt (8) in a connected mode, the sponge block pressing rod (10) is arranged above the sponge block supporting partition board (12), the sponge block pressing rod (10) is located above the sponge block on the outlet side of the conveying belt (8) and presses the sponge block downwards, and the positioning sensor (11) is arranged on the side of the sponge block supporting partition board (12);

the sponge block supporting partition plate (12) is provided with a plurality of groups of hole groove structures which are arranged along the direction perpendicular to the conveying direction, each group of hole groove structures is sequentially divided into a through hole (13) and a strip-shaped open groove (14) along the conveying direction, and the through holes (13) are used for inserting the pin-type sponge block fixing mechanism (3) upwards to penetrate through and then to be inserted into a sponge block above the through holes (13); the open slot (14) extends and penetrates through the front end edge of the sponge block supporting partition board (12), and the open slot (14) is used for the split claw (26) in the whole row of split mechanisms (4) to be inserted upwards and then inserted into the sponge block above the open slot (14);

The whole row of splitting mechanisms (4) comprises a telescopic cylinder bracket (21), a telescopic cylinder (22), a splitting claw mounting plate (23), a guide rail (24), a sliding block (25) and a plurality of splitting claws (26), wherein the telescopic cylinder (22) is arranged on the telescopic cylinder bracket (21), a cylinder rod of the telescopic cylinder (22) is horizontally arranged and faces to the sponge block conveying mechanism (1), the splitting claw mounting plate (23) which is vertically arranged is fixed at the end part of the cylinder rod of the telescopic cylinder (22), a horizontal guide rail (24) is fixed on the end surface of the splitting claw mounting plate (23), the plurality of splitting claws (26) are slidably embedded on the guide rail (24) through respective sliding blocks (25), each splitting claw (26) is vertically arranged, and a single sponge splitting mechanism (5) is arranged on the splitting claw mounting plate (23);

each splitting claw (26) comprises a support plate (27), a sponge block partition plate (32) and an end effector (28), wherein the support plates (27) are fixedly connected with the sliding blocks (25) of the whole row of splitting mechanisms (4), the sponge block partition plates (32) for bearing one sponge block are arranged on the support plates (27) close to the top, inferior seedling removing mechanisms (6) are arranged on the side surfaces of the support plates (27) above the sponge block partition plates (32), the end effectors (28) are arranged at the lower parts of the support plates (27), and the end effectors (28) are upwards used for penetrating the sponge block partition plates (32) to be inserted into the sponge blocks;

The support plate (27) is provided with a support plate sponge block pressing plate (33) 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 (33) and the sponge block partition plate (32) is slightly larger than the height of the sponge block plus the thickness of the sponge block supporting partition plate, so that the sponge block is limited between the support plate sponge block pressing plate (33) and the sponge block partition plate (32) when being transferred to the splitting claw (26).

2. The automatic splitting device for sponge blocks with seedlings according to claim 1, wherein:

the pin type sponge block fixing mechanism (3) comprises a lifting air cylinder support (17), a lifting air cylinder (18), a fixed pin support (19) and fixed pins (20), wherein the lifting air cylinder (18) is arranged on the lifting air cylinder support (17), a cylinder rod of the lifting air cylinder (18) is upward and fixedly connected with the bottom end of the fixed pin support (19), the top surface of the fixed pin support (19) is a plane and is provided with a plurality of fixed pins (20), and the fixed pins (20) are used for being inserted into a sponge block from the bottom.

3. The automatic splitting device for sponge blocks with seedlings according to claim 1, wherein:

the single sponge splitting mechanism (5) comprises a translation cylinder (36), a connecting bracket (37) and connecting ropes (40) between adjacent splitting claws (26), wherein the translation cylinder (36) is installed and arranged on one side of a splitting claw installing plate (23), the translation cylinder (36) is provided with a sliding part (41), the sliding part (41) is fixedly connected with a support plate (27) of one splitting claw (26) closest to the translation cylinder (36) through the connecting bracket (37), and every two adjacent splitting claws (26) are connected by the connecting ropes (40).

4. The automatic splitting device for sponge blocks with seedlings according to claim 1, wherein:

the inferior seedling removing mechanism (6) comprises a removing Miao Qigang (39), wherein the removing Miao Qigang (39) is arranged on the side face of the support plate (27) above the sponge block partition plate (32) through a removing Miao Qigang support (38), and cylinder rods of the removing Miao Qigang (39) horizontally face the support plate (27) and are used for penetrating through seedling removing holes (34) in the support plate (27) so as to push inferior seedling sponge blocks out of the sponge block partition plate (32).

5. The automatic splitting device for sponge blocks with seedlings according to claim 1, wherein:

the end effector (28) comprises a mounting support plate (2801), a pin support plate (2802), pins (2803), a rope core (2805) and a tension spring (2806), wherein the mounting support plate (2801) is fixed on a support plate (27) of a splitting claw (26), the pin support plate (2802) and the mounting support plate (2801) are arranged at intervals in parallel, the pin support plate (2802) is connected with the mounting support plate (2801) in a sliding manner, the root end of the pin support plate (2802) is elastically connected with the mounting support plate (2801) through the tension spring (2806), the pins (2803) used for clamping and fixing sponge blocks are arranged at the tail end of the pin support plate (2802), the pin support plate (2802) is connected with the rope core (2805), and the rope core (2805) is pulled to drive the pin support plate (2802) to slide relative to the mounting support plate (2801), so that the pins (2803) at the tail end of the pin support plate (2802) are driven to perform movement to realize clamping;

Two sides of the pin support plate (2802) are provided with sliding block end stops (2825), two sides of the tail end of the mounting support plate (2801) are provided with sliding block limiting blocks (2810), and the sliding block end stops (2825) and the sliding block limiting blocks (2810) are matched with each other to limit sliding between the pin support plate (2802) and the mounting support plate (2801); the pin support plate (2802) is provided with a shifting plate spring linkage structure which is matched with a guide rod limiting block (2808) to realize the execution motion of a pin (2803), and the shifting plate spring linkage structure comprises a guide seat (2815), a guide rod (2814), a compression spring (2819), a pin seat (2817), a connecting rod seat (2826), a connecting rod (2828) and a guide rod end baffle (2822); a guide seat (2815) is fixed in the middle of the pin support plate (2802), a guide rod (2814) movably penetrates through the guide seat (2815) to be arranged, and a guide rod end baffle (2822) is fixed at the root end of the guide rod (2814); the tail end of the guide rod (2814) is fixedly connected with the connecting rod seat (2826), the guide rod (2814) between the connecting rod seat (2826) and the guide seat (2815) is sleeved with a compression spring (2819), the root ends of the two pin seats (2817) are hinged to the two sides of the tail end of the pin support plate (2802), the two sides of the connecting rod seat (2826) are respectively hinged to the middle of the two pin seats (2817) through a connecting rod (2828) respectively, and the tail end of each pin seat (2817) is fixedly connected with a pin (2803).

6. The automatic splitting device for sponge blocks with seedlings according to claim 5, wherein:

the mounting support plate (2801) is provided with a guide rail (2807), the pin support plate (2802) is provided with a sliding block (2824), and the sliding block (2824) is embedded in the guide rail (2807) and moves along the guide rail (2807) so that the pin support plate (2802) is in sliding connection with the mounting support plate (2801).

7. The automatic splitting device for sponge blocks with seedlings according to claim 5, wherein:

the width of the guide rod end baffle (2822) is larger than the distance between guide rod limiting blocks (2808) on two sides of the middle of the installation support plate (2801), so that two ends of the guide rod end baffle (2822) are blocked by the guide rod limiting blocks (2808) in the axial movement of the guide rod (2814).