CN201938117U - Matching mechanism for seedlings to be grafted for vegetable and fruit grafting machine based on visual sense - Google Patents
Matching mechanism for seedlings to be grafted for vegetable and fruit grafting machine based on visual sense Download PDFInfo
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- CN201938117U CN201938117U CN201020647310XU CN201020647310U CN201938117U CN 201938117 U CN201938117 U CN 201938117U CN 201020647310X U CN201020647310X U CN 201020647310XU CN 201020647310 U CN201020647310 U CN 201020647310U CN 201938117 U CN201938117 U CN 201938117U
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- seedling
- rootstock
- seedlings
- grafting
- rotating disk
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Abstract
The utility model relates to a matching mechanism for rootstock seedlings and scion seedlings, which aims at providing the mechanism with the characteristics of higher automation degree, reliable performance, simple structure, operation convenience and low cost. The matching mechanism has the technical scheme that a matching mechanism for the seedlings to be grafted for a vegetable and fruit grafting machine based on the visual sense comprises a conveying platform and an installing frame, wherein the installing frame is arranged on the conveying platform, the top surface of the conveying platform is provided with a conveying mechanism for conveying a rootstock seedling cell tray or a scion seedling cell tray to an operation position, a turntable, a turntable mechanism, a mechanical claw and a moving mechanism are arranged on the installing frame, the turntable is used for placing the rootstock seedlings or the scion seedlings, the turntable mechanism drives the turntable to rotate, the mechanical claw is used for conveying the rootstock seedlings or the scion seedlings to the turntable from the cell tray, the moving mechanism drives the mechanical claw to move, the matching mechanism is also provided with an photoelectric sensor and a charge coupled device (CCD) camera, the photoelectric sensor is used for detecting the position of the rootstock seedling cell tray or the scion seedling cell tray, the CCD camera is used for collecting images of the rootstock seedlings or the scion seedlings and transmitting the images to a computer for processing, and the conveying mechanism is formed by a belt wheel and a conveying belt, the belt wheel is driven by a motor, and the conveying belt is driven by the belt wheel and is in horizontal arrangement.
Description
Technical field
The utility model relates to important mechanism, especially rootstock seedling in a kind of vegetable grafting machine and the coupling mechanism of scion seedling, and the diameter basically identical of rootstock seedling and scion seedling stem improves grafting efficiency and survival rate when can be used for auxiliary grafting machine grafting.
Background technology
China south provinces and cities growing vegetables area is bigger, but the mechanization level of plantation operation is not high, and especially the mechanization equipment level of grafting operation is lower; Can not satisfy the growing material life demand of the people.
In recent years, scientific and technical personnel have made primary study to grafting machinery both at home and abroad, have also obtained phasic results.But also have many problems that wait to solve, particularly how to improve grafting fruits and vegetables efficient and graft survival rate, need people further to be researched and solved.
The utility model content
The purpose of this utility model is to provide a kind of grafting seedling for the treatment of of vegetable grafting machine directly to mate mechanism, and this mechanism should have that automaticity is higher, the characteristics of dependable performance, and simple in structure, easy to operate, cost is lower.
For achieving the above object, the technical solution adopted in the utility model is: treat grafting coupling mechanism based on the vegetables and fruits grafting machine of vision, it is characterized in that this mechanism comprises delivery platform, is arranged on the installing rack on the delivery platform; The end face of described delivery platform is provided with rootstock seedling cave dish or fringe wood seedling cave is coiled the connecting gear of delivering to job position; Rotating disk, the rotating disk mechanism that drives dial rotation of placing rootstock seedling or fringe wood seedling is installed on the described installing rack, rootstock seedling or fringe wood seedling are carried to the gripper of rotating disk and the travel mechanism that drives the gripper motion from the dish of cave, the photoelectric sensor that detects rootstock seedling cave dish or dish position, fringe wood seedling cave also is housed and gathers rootstock seedling or CCD camera that fringe wood seedling image is handled to be delivered to calculator.
Described connecting gear is the belt wheel of driven by motor and is driven and horizontally disposed driving-belt by belt wheel.
The edge of described rotating disk is horizontally disposed cannelure, and a rotating shaft that vertically is fixed on the cannelure central part is rotatably positioned on installing rack by bearing; In the cannelure along the sulculus of a plurality of placement rootstock seedlings of circumferentially being separated into of rotating disk or fringe wood seedling.
Described rotating disk mechanism comprises a motor, be separately positioned on the motor shaft belt wheel and with the synchronous band of aforementioned belt wheel engagement with transferring power.
The structure of described gripper is: two claw bars symmetry rotationally are hinged on the corpus unguis, and the rear end of two claw bars is hinged on the piston rod top of cylinder respectively in regular turn by a connecting rod; The cylinder body of cylinder is also fixedlyed connected with corpus unguis.
Described travel mechanism is: the guide rod of a single shaft driver is horizontally fixed on the installing rack, fix an oscillating cylinder of vertically arranging on the slide block of single shaft driver, a crotch is fixed in the rotor lower end of oscillating cylinder, the cylinder body of one duplex cylinder is hinged on this crotch by a trunnion axis, the piston rod top of duplex cylinder and the cylinder body of aforementioned cylinder are fixed, and are set up the incline direction of cylinder body in addition by adjustment screw.
Described photoelectric sensor is installed between rootstock seedling cave dish or fringe wood seedling cave dish and the rotating disk.
Operation principle of the present utility model is (as shown in Figure 2): during the grafting operation, rootstock seedling or fringe wood seedling is put conveyer belt with the cave dish, arrives the job position (" G " and " G ' " position) of gripper below respectively with conveyer belt; After gripper is caught rootstock seedling or fringe wood seedling, carry then Rotate 180 on the mechanical arm ° to the camera shooting area, by CCD camera collection grafting image and be sent to calculator and handle, follow size according to the seedling stem, it is positioned over the sulculus that is associated with diameter data in the rotating disk, transfer to the precalculated position with rotating disk then, prepare to carry out grafting.As seen from the figure: disk position is higher, and rootstock seedling cave dish or fringe wood seedling cave dish can pass from rotating disk bottom with conveyer belt, proceed to conveyer belt and do not hold the back to be collected by operating personnel; So that gripper has enough working spaces to catch rootstock seedling or fringe wood seedling in the cave dish.
Concrete grafting step as shown in Figure 2; Whole grafting machine is provided with 2 and treats grafting coupling A of mechanism and A ', and 2 coupling mechanisms carry rootstock seedling and fringe wood seedling respectively; Grafting manipulator 31 is according to the instruction of calculator, " H " and " H ' " will take out from rotating disk through rootstock seedling and the fringe wood seedling of selecting coupling respectively the position, carries out grafting then; Reciprocal with this, operation is carried out continuously.
The beneficial effects of the utility model are: designed mechanism can realize effectively that seedling directly mates required mechanical movement, and then cooperates grafting mechanism to carry out the grafting operation reliably; And automaticity is higher, and simple in structure, easy to operate, and cost is also lower.In addition, owing to adopted visual apparatus the seedling of rootstock seedling and fringe wood seedling is directly carried out the collection of pictorial information, and the information of gathering is carried out the coupling of rootstock seedling and fringe wood seedling by calculator, obviously improve grafting fruits and vegetables efficient and graft survival rate, thereby had vast market prospect.
Description of drawings
Fig. 1 is a perspective view of the present utility model.
The perspective view of the vegetables and fruits grafting machine that Fig. 2 is combined by the utility model.
Fig. 3 is the gripper in the utility model and the three-dimensional structure for amplifying schematic diagram of rotating disk.
Fig. 4 is the gripper in the utility model and the three-dimensional structure for amplifying schematic diagram of position adjusting mechanism.
Fig. 5 is the three-dimensional structure for amplifying schematic diagram of gripper
Fig. 6 is the three-dimensional structure for amplifying schematic diagram of the rotating disk in the utility model.
Fig. 7 is the cross section structure for amplifying schematic diagram of the crotch in the utility model.
Embodiment
Treat grafting coupling mechanism based on the vegetables and fruits grafting machine of vision, this mechanism comprises delivery platform 10, is arranged on the installing rack 6 on the delivery platform; The end face of described delivery platform is provided with rootstock seedling cave dish or fringe wood seedling cave is coiled the connecting gear of delivering to job position; In the described connecting gear, horizontally disposed driving-belt 9 is tightened on the belt wheel, and motor 11 driving pulleys make the driving-belt motion, thereby the motion (shown in Figure 1) of (turning right) is forward coiled in the rootstock seedling cave dish or the fringe wood seedling cave that drag on the driving-belt.
The rotating disk 1 that transports rootstock seedling or fringe wood seedling is installed on the described installing rack, and rotating disk is driven by rotating disk mechanism; Gripper 30 is responsible for rootstock seedling or fringe wood seedling are carried on the rotating disk from the dish of cave, and travel mechanism then drives the gripper motion; Also be equipped with and gather rootstock seedling or fringe wood seedling image with the CCD camera 12 that is delivered to calculator and handles (as seen, this camera is fixed on the both sides of installing rack 6 among the figure, to avoid the movement interference with gripper).13 of photoelectric sensors are installed between rootstock seedling cave dish or fringe wood seedling cave dish and the rotating disk.
The edge of described rotating disk 1 is horizontally disposed cannelure 1-1 (similar rim shape), in the cannelure along the sulculus 1-11 of a plurality of placement rootstock seedlings of circumferentially being separated into of rotating disk or fringe wood seedling; One rotating shaft 2 that vertically is fixed on the cannelure central part is rotatably positioned on installing rack (show among the figure: rotating disk is hanging by rotating shaft 2 and is being positioned on the installing rack) by bearing.
In the described rotating disk mechanism, on the axle of motor 5 belt wheel is being set, belt wheel 3 also is being housed in the rotating shaft, be with 4 to mesh with transferring power with aforementioned belt wheel respectively synchronously.
The structure of described gripper 30 is: two claw bars 26 symmetry rotationally are hinged on the corpus unguis, and the rear end of two claw bars is hinged on the top of the piston rod 25 of cylinder respectively in regular turn by a connecting rod; The cylinder body 23 of cylinder is also fixedlyed connected with corpus unguis.Like this, cylinder starts, and piston rod just can order about gripper and carry out the opening and closing campaign, and then clamping rootstock seedling or the wooden seedling of fringe and be transported to assigned address as required.
Described travel mechanism is: the guide rod 16 of a single shaft driver 17 (normally screw rod) is horizontally fixed on the installing rack, and the side that motor 7 is installed in installing rack provides the single shaft driver axially movable power; Fix an oscillating cylinder 18 of vertically arranging on the slide block of single shaft driver, a crotch 19 (adjustable angle mechanism) is fixed in the rotor lower end of oscillating cylinder, the cylinder body 21 of one duplex cylinder is hinged on this crotch by a trunnion axis 20, and piston rod 22 tops of duplex cylinder and the cylinder body of aforementioned cylinder 23 are fixing; Other is provided with the adjustment screw 25 and 26 of fixing horizontal axle 20, can set up the incline direction (being beneficial to the clamping of gripper to rootstock seedling or fringe wood seedling) of cylinder body 21 as required.
Described single shaft driver is the outsourcing adapted directly.
The utility model one of the each side layout of grafting machine respectively stock and scion are operated (as shown in Figure 2).During the grafting operation, the scion seedling cave dish 8 of A ' position (right positions) is with conveyer belt, stop motion when treating that photoelectric sensor 13 detects signal, be carried to " G ' " position one by one by gripper subsequently and put into the sulculus of rotating disk, simultaneously the diameter of each scion seedling seedling stem of CCD camera collection image information analytic record; Stop motion when the rootstock seedling cave of A position (leftward position) dish is delivered to photoelectric sensor 13 and detected signal with conveyer belt, gripper grasps rootstock seedling (in " G " position) back oscillating cylinder and rotates, and the duplex cylinder is realized under the help of adjustable angle mechanism up and down and the motion of front and back; When gripper is caught rootstock seedling, camera collection rootstock seedling image when carrying then Rotate 180 ° to the camera shooting area on the duplex cylinder retraction, calculator is according to the size of the stem of rootstock seedling, and the instruction gripper puts it into the sulculus (different sulculuses is respectively applied for the rootstock seedling of placing different-diameter) that is associated with diameter data in the rotating disk.Calculator is selected the stock in the stock rotating disk to be mated, and sent instruction to give the motor-driven rotating disk according to the scion stem footpath size that is in " H ' " position, and this rootstock seedling is gone to " H " position, mates grafting by grafting manipulator 31, and is reciprocal with this.
The above motor is stepper motor.
In the utility model, the coupling of the seedling stem of the seedling stem of rootstock seedling or fringe wood seedling compares, selects the back to realize by calculator and corresponding software to the image information of above-mentioned camera collection.
Claims (7)
1. treat grafting coupling mechanism based on the vegetables and fruits grafting machine of vision, it is characterized in that this mechanism comprises delivery platform (10), is arranged on the installing rack (6) on the delivery platform; The end face of described delivery platform is provided with rootstock seedling cave dish or fringe wood seedling cave is coiled the connecting gear of delivering to job position; Rotating disk (1), the rotating disk mechanism that drives dial rotation of placing rootstock seedling or fringe wood seedling is installed on the described installing rack, rootstock seedling or fringe wood seedling are carried to the gripper (30) of rotating disk and the travel mechanism that drives the gripper motion from the dish of cave, the photoelectric sensor (13) that detects rootstock seedling cave dish or dish position, fringe wood seedling cave also is housed and gathers rootstock seedling or CCD camera (12) that fringe wood seedling image is handled to be delivered to calculator.
2. the vegetables and fruits grafting machine based on vision according to claim 1 is treated grafting coupling mechanism, it is characterized in that: described connecting gear is the belt wheel that drives of motor (11) and is driven and horizontally disposed driving-belt (9) by belt wheel.
3. the vegetables and fruits grafting machine based on vision according to claim 1 and 2 is treated grafting coupling mechanism, it is characterized in that: the edge of described rotating disk (1) is horizontally disposed cannelure (1-1), and a rotating shaft (2) that vertically is fixed on the cannelure central part is rotatably positioned on installing rack by bearing; In the cannelure along the sulculus (1-11) of a plurality of placement rootstock seedlings of circumferentially being separated into of rotating disk or fringe wood seedling.
4. the vegetables and fruits grafting machine based on vision according to claim 3 is treated grafting coupling mechanism, it is characterized in that: described rotating disk mechanism comprises a motor (5), be separately positioned on the motor shaft belt wheel and with the synchronous band (4) of aforementioned belt wheel engagement with transferring power.
5. the vegetables and fruits grafting machine based on vision according to claim 4 is treated grafting coupling mechanism, it is characterized in that: the structure of described gripper is: two claw bars (26) symmetry rotationally are hinged on the corpus unguis, and the rear end of two claw bars is hinged on the piston rod top (25) of cylinder respectively in regular turn by a connecting rod; The cylinder body of cylinder (23) is also fixedlyed connected with corpus unguis.
6. the vegetables and fruits grafting machine based on vision according to claim 5 is treated grafting coupling mechanism, it is characterized in that: described travel mechanism is: the guide rod (16) of a single shaft driver (17) is horizontally fixed on the installing rack, fix an oscillating cylinder (18) of vertically arranging on the slide block of single shaft driver, a crotch (19) is fixed in the rotor lower end of oscillating cylinder, the cylinder body of one duplex cylinder (21) is hinged on this crotch by a trunnion axis (20), the cylinder body of the piston rod of duplex cylinder (22) top and aforementioned cylinder is fixed, and is set up the incline direction of cylinder body in addition by adjustment screw.
7. the vegetables and fruits grafting machine based on vision according to claim 6 is treated grafting coupling mechanism, it is characterized in that: described photoelectric sensor (13) is installed between rootstock seedling cave dish or fringe wood seedling cave dish and the rotating disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020647310XU CN201938117U (en) | 2010-12-03 | 2010-12-03 | Matching mechanism for seedlings to be grafted for vegetable and fruit grafting machine based on visual sense |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020647310XU CN201938117U (en) | 2010-12-03 | 2010-12-03 | Matching mechanism for seedlings to be grafted for vegetable and fruit grafting machine based on visual sense |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201938117U true CN201938117U (en) | 2011-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020647310XU Expired - Lifetime CN201938117U (en) | 2010-12-03 | 2010-12-03 | Matching mechanism for seedlings to be grafted for vegetable and fruit grafting machine based on visual sense |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201938117U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102124905A (en) * | 2010-12-03 | 2011-07-20 | 浙江理工大学 | Vision based matching mechanism of fruit and vegetable grafting machine for seedling to be grafted |
| CN103461009A (en) * | 2013-09-18 | 2013-12-25 | 浙江理工大学 | Indirect drive rotating clamp holder |
| CN106182022A (en) * | 2016-07-06 | 2016-12-07 | 徐子桐 | A kind of vegetable rotary-cut is gathered robot |
-
2010
- 2010-12-03 CN CN201020647310XU patent/CN201938117U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102124905A (en) * | 2010-12-03 | 2011-07-20 | 浙江理工大学 | Vision based matching mechanism of fruit and vegetable grafting machine for seedling to be grafted |
| CN102124905B (en) * | 2010-12-03 | 2012-08-22 | 浙江理工大学 | Vision based matching mechanism of fruit and vegetable grafting machine for seedling to be grafted |
| CN103461009A (en) * | 2013-09-18 | 2013-12-25 | 浙江理工大学 | Indirect drive rotating clamp holder |
| CN103461009B (en) * | 2013-09-18 | 2014-11-12 | 浙江理工大学 | Indirect drive rotating clamp holder |
| CN106182022A (en) * | 2016-07-06 | 2016-12-07 | 徐子桐 | A kind of vegetable rotary-cut is gathered robot |
| CN106182022B (en) * | 2016-07-06 | 2018-08-14 | 蒙城县京徽蒙农业科技发展有限公司 | A kind of vegetables rotary-cut harvesting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110824 Effective date of abandoning: 20120822 |