CN212623532U - Automatic photographing line for transparent root system cultivation container - Google Patents
Automatic photographing line for transparent root system cultivation container Download PDFInfo
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- CN212623532U CN212623532U CN202021145044.0U CN202021145044U CN212623532U CN 212623532 U CN212623532 U CN 212623532U CN 202021145044 U CN202021145044 U CN 202021145044U CN 212623532 U CN212623532 U CN 212623532U
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Abstract
The invention relates to a transparent root system cultivation container photographing automatic line which comprises a walking guide rail, a conveying trolley, two rows of grouped photographing stations and a transparent root system cultivation container caching mechanism, wherein the two rows of grouped photographing stations are arranged in parallel; the walking guide rail is established between two rows of unitized work position of shooing, and walking guide rail one end extends to two vertical support and the region that horizontal support formed, and the transport trolley is along walking guide rail reciprocating motion between work position of shooing and transparent root system cultivation container buffer memory mechanism, and two buffer memory shelves are all rotatory when to vertical support, are used for the migration of transparent root system cultivation container between work position of shooing and two buffer memory shelves. According to the invention, the transport trolley moves back and forth between the photographing station group and the transparent root system cultivation container cache frames along the walking guide rail, so that the transportation of the transparent root system cultivation container between the photographing station group and the two cache frames is realized, the photographing station group simultaneously photographs the transparent root system cultivation container, and the high-throughput and automatic real-time monitoring and acquisition of the transparent root system cultivation container are realized.
Description
Technical Field
The invention relates to a dynamic root system growth photographing system, in particular to an automatic photographing line for a transparent root system cultivation container.
Background
Crop phenotype research is an important means to accelerate crop breeding and improve improvement. Traditional acquisition of phenotypic data is primarily by manual measurement. The manual measurement is destructive sampling, indexes such as plant diameter, leaf length, leaf number and the like can be obtained, a large amount of time is needed, the accuracy of the measurement result is low, the work is complicated, the workload is large, and the efficiency of large-scale genetic breeding screening is greatly limited. Currently, there are numerous academic institutions and enterprises engaged in the development of phenotypic device platforms. The Plant-to-Sensor based conveyor belt operating mode combined with 360 degree imaging by digital camera collects phenotypic information of the crop. The flux expansion of the transportation mode based on the conveyor belt is easy to realize, but the cost of the matched equipment is high, and particularly for the ultra-large crop phenotype platform, the cost of the whole configuration conveying system is extremely high. The modular photographing system can effectively reduce the configuration number of the automatic transmission system and greatly reduce the construction cost. Therefore, based on a modular design concept, the method takes omnibearing and multi-angle acquisition of the phenotype information of the underground crops as a starting point, and develops a set of high-throughput and automatic crop phenotype imaging platform, so that the requirements of large-scale phenotype data acquisition and scientific research on crop breeding are met.
Disclosure of Invention
The invention aims to provide a transparent root system cultivation container photographing automatic line capable of carrying out high-throughput and automatic imaging on a transparent root system cultivation container.
The specific technical scheme of the invention is as follows:
an automatic photographing line for transparent root system cultivation containers comprises a walking guide rail, a conveying trolley, two rows of grouped photographing stations and a transparent root system cultivation container caching mechanism;
the transparent root system cultivation container caching mechanism comprises a transverse support, two vertical supports and two caching frames, wherein the two vertical supports are positioned on the same side of the transverse support, the two caching frames are symmetrically arranged and used for placing transparent root system cultivation containers, the two vertical supports are respectively connected to two ends of the transverse support, one ends of the two caching frames are respectively rotatably connected to the connecting positions of the vertical supports and the transverse support, and therefore the two caching frames can rotate between the vertical supports and the transverse support;
the walking guide rail is established between two rows of unitized shooting work site groups, and walking guide rail one end extends to two vertical support and the region that horizontal support formed in, and the transport trolley is along walking guide rail reciprocating motion between shooting work site group and transparent root system cultivation container buffer memory mechanism, and two buffer memory frames all rotate when vertical support, are used for the migration of transparent root system cultivation container between shooting work site group and two buffer memory frames.
Preferably, the transparent root system cultivation container comprises a cultivation base, a cultivation container body, a shading cover and a shading cover;
the cultivation container body comprises a transparent inner cylinder, a transparent outer cylinder and a transparent top cover, the transparent outer cylinder is opened up and down, the transparent inner cylinder and the transparent outer cylinder are mutually nested and fixed on a cultivation base, the transparent top cover is arranged at the top of the transparent inner cylinder, a root system annular cultivation space is formed between the transparent inner cylinder and the transparent outer cylinder, a shading cover is arranged above the root system annular cultivation space, a central hole communicated with an inner cavity of the transparent inner cylinder is formed in the cultivation base, and a water receiving box is arranged below the cultivation base;
the lens hood is established between shield cover and cultivation base, and the lens hood is including dismantling left lens hood and the right lens hood of connection, and left lens hood and right lens hood form hollow rectangle structure, and cultivation container body establishes in this cavity.
Preferably, the transverse support and the vertical support are both provided with connecting pieces detachably connected with the other end of the cache frame, each connecting piece comprises a driving device and a positioning guide rod connected with the driving device, the driving device drives the positioning guide rods to ascend or descend, and the other end of the cache frame is provided with a positioning guide sleeve matched with the positioning guide rods.
Preferably, the buffer frame comprises an upper buffer frame, a lower buffer frame and a reinforcing plate arranged between the upper buffer frame and the lower buffer frame;
the rotating end of the cache frame is connected with a rotating device, the rotating device comprises a rotating support shaft and a driving mechanism for driving the rotating support shaft to rotate; the rotary supporting shaft comprises a rotating shaft, an upper supporting plate and a lower supporting plate, the upper supporting plate and the lower supporting plate are arranged between an upper cache frame and a lower cache frame and are respectively connected with the upper cache frame and the lower cache frame, one end of the rotating shaft is connected with the output end of a driving mechanism, the other end of the rotating shaft is connected with the upper supporting plate and the lower supporting plate, and reinforcing ribs are arranged between the upper supporting plate and the lower supporting plate.
Preferably, the bottom of the buffer storage frame is provided with universal wheels, and the inner side of the joint of the transverse support and the vertical support is provided with a guide rail for the universal wheels to walk when the buffer storage frame rotates.
Preferably, the conveying trolley comprises a trolley support, a workbench is arranged on the trolley support and can move up and down along the trolley support, a left grabbing device and a right grabbing device for grabbing the transparent root system cultivation container are arranged on the left side and the right side of the workbench, and a driving mechanism for driving the left grabbing device and the right grabbing device to synchronously move in opposite directions or move in a back direction is mounted on the workbench.
Preferably, the left grabbing device comprises a left base plate, a left moving frame and two left supporting claws, the left moving frame is installed on one side, close to the center of the workbench, of the left base plate, the two left supporting claws are symmetrically arranged on the other side of the left base plate and form a horizontal moving pair with the left base plate, and a left driving mechanism for driving the two left supporting claws to synchronously move in opposite directions or move in a back direction is installed on the left base plate;
the right grabbing device comprises a right base plate, a right moving frame and two right supporting claws, the right moving frame is arranged on one side, close to the center of the workbench, of the right base plate, the two right supporting claws are symmetrically arranged on the other side of the right base plate and form a horizontal moving pair with the right base plate, and a right driving mechanism used for driving the two right supporting claws to synchronously move in opposite directions or move in a back direction is arranged on the right base plate.
Preferably, the left moving frame and the right moving frame are connected to a sliding rail of the workbench in a sliding mode, and when the left moving frame and the right moving frame move synchronously and oppositely, the left moving frame moves into the right moving frame.
Preferably, a trolley top plate is arranged above the workbench, a driving device is arranged on the trolley top plate, the output end of the driving device is connected with one end of a ball screw, the ball screw is in threaded connection with the workbench to form a ball screw pair, the other end of the ball screw is connected with a trolley support through a bearing, and a guide rod is arranged between the trolley top plate and the trolley support.
Preferably, the workbench comprises a guide rail base plate and a guide rail top plate from top to bottom in sequence, the left grabbing device and the right grabbing device are arranged on the guide rail base plate, and a reinforcing plate is arranged between the guide rail base plate and the guide rail top plate.
According to the invention, the transport trolley moves back and forth between the photographing station and the transparent root system cultivation container cache frames along the walking guide rail, so that the transparent root system cultivation container is transported between the photographing station and the two cache frames, the photographing station simultaneously photographs the transparent root system cultivation container, and the high-throughput and automatic real-time monitoring and acquisition of the transparent root system cultivation container are realized. The whole system is based on the design idea of modular high efficiency, achieves automatic grabbing and transporting of the transparent root system cultivation container, automatically shoots, meets the shooting requirement of high flux and automation, and improves the shooting efficiency. The invention adopts the conveying trolley to move along the walking guide rail to finish the transportation of the transparent root system cultivation container, and the system has light and simple structure and low cost compared with the conveying mode of the conveying belt.
Drawings
FIG. 1 is a schematic structural view of an automatic photographing line for transparent root system cultivation containers according to the present invention;
FIG. 2 is a schematic structural view of the transparent root system cultivation container according to the present invention;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a top view of FIG. 3;
FIG. 6 is a schematic structural view of a transparent root system cultivation container caching mechanism according to the present invention;
FIG. 7 is a schematic structural diagram of a cache shelf and a rotating device according to the present invention;
FIG. 8 is a schematic view of the transport cart of the present invention;
FIG. 9 is a schematic structural view of the transportation cart of the present invention with the top plate removed.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention. The invention is not mentioned in part as prior art.
Referring to fig. 1 and 6, the invention provides an automatic photographing line for transparent root system cultivation containers, which comprises a walking guide rail 5, a conveying trolley 2, two rows of grouped photographing stations 1 and a transparent root system cultivation container caching mechanism 3;
the transparent root system cultivation container caching mechanism 3 comprises a transverse support 3-2, two vertical supports 3-12 positioned on the same side of the transverse support 3-2, and two caching frames G and two caching frames H which are symmetrically arranged and used for placing transparent root system cultivation containers, wherein the two vertical supports 3-12 are respectively connected to two ends of the transverse support 3-2, and one ends of the caching frames G and the caching frames H are respectively rotatably connected to the connecting positions of the vertical supports 3-12 and the transverse support 3-2, so that the caching frames G and the caching frames H can both rotate between the vertical supports 3-12 and the transverse support 3-2;
the walking guide rail 5 is arranged between the two rows of grouped photographing station groups 1, one end of the walking guide rail 5 extends into an area formed by the two vertical supports 3-12 and the horizontal supports 3-2, the conveying trolley 2 moves back and forth between the photographing station groups 1 and the transparent root system cultivation container caching mechanism 3 along the walking guide rail 5, and the caching frame G and the caching frame H are used for transporting the transparent root system cultivation container 4 between the photographing station groups 1 and the caching frame G and the caching frame H when rotating to the vertical supports 3-12.
Further, referring to fig. 2 to 5, the transparent root system cultivation container 4 includes a cultivation base 4-4, a cultivation container body, a light shielding cover 4-2 and a light shielding cover. The cultivation container body comprises a transparent inner cylinder 4-8, a transparent outer cylinder 4-7 and a transparent top cover 4-6, the transparent outer cylinder 4-7 is opened up and down, the transparent inner cylinder 4-8 and the transparent outer cylinder 4-7 are mutually nested and fixed on the cultivation base 4-4, the top of the transparent inner cylinder 4-8 is provided with a transparent top cover 4-6, a root system annular cultivation space is formed between the transparent inner cylinder 4-8 and the transparent outer cylinder 4-7, a shading cover 4-2 is arranged above the annular root system cultivation space, a central hole (not shown in the figure) communicated with the inner cavity of the transparent inner cylinder 4-8 is also arranged on the cultivation base 4-4, positioning holes 4-9 are arranged at four corners of the cultivation base 4-4, and a water receiving box 4-5 is arranged below the cultivation base 4-4. When the annular cultivation space is used, soil is filled in the annular cultivation space of the root system, the annular cultivation space is sowed in the depth of 3-4 cm of the soil, and the root system of the crop grows in the soil. The light shield is arranged between the light shield cover 4-2 and the cultivation base 4-4, the light shield comprises a left light shield 4-3 and a right light shield 4-1 which are detachably connected, the left light shield 4-3 and the right light shield 4-1 form a hollow rectangular structure, and the cultivation container body is arranged in the cavity. When the left light shield 4-3 and the right light shield 4-1 are pulled outwards and forcefully, the left light shield 4-3 and the right light shield 4-1 can be separated, and when the left light shield 4-3 and the right light shield 4-1 are leaned together and squeezed forcefully, the left light shield 4-3 and the right light shield 4-1 can be clamped. When the plant root system in the cultivation container body needs to be imaged, the left light shield and the right light shield only need to be disassembled, and the left light shield 4-3 and the right light shield 4-1 are clamped together after imaging is finished.
Preferably, the cultivation base 4-4 is provided with a through hole (not shown in the figure) communicated with the annular cultivation space of the root system, so that the excessive moisture at the bottoms of the transparent outer cylinder 4-7 and the transparent inner cylinder 4-8 can be conveniently leaked out, and the bottom of the cultivation container body is prevented from being stagnant; the excessive water seeped out from the bottoms of the transparent outer cylinder 4-7 and the transparent inner cylinder 4-8 flows out and then enters the water receiving box 4-5, so that the ground is prevented from being polluted.
Further, referring to fig. 1 and 6, connecting pieces detachably connected with the other ends of the buffer storage rack G and the buffer storage rack H are respectively arranged on the transverse support 3-2 and the vertical support 3-12, each connecting piece comprises a driving device 3-5 and a positioning guide rod 3-8 connected with the driving device 3-5, and the driving device 3-5 is preferably an air cylinder; the cylinder 3-5 drives the positioning guide rod 3-8 to ascend or descend, and the other ends of the buffer storage rack G and the buffer storage rack H are provided with positioning guide sleeves 3-3 matched with the positioning guide rods 3-8. When the other end of the buffer shelf G or the buffer shelf H rotates to the horizontal bracket 3-2 or the vertical bracket 3-12, a cylinder 3-5 on the transverse bracket 3-2 or the vertical bracket 3-12 drives a positioning guide rod 3-8 to ascend, the positioning guide rod 3-8 is inserted into a positioning guide sleeve 3-3 at the other end of the cache rack G or the cache rack H, the cache rack G or the cache rack H is fixed on the transverse bracket 3-2 or the vertical bracket 3-12, when the cache rack G or the cache rack H needs to rotate, the air cylinder 3-5 on the transverse support 3-2 or the vertical support 3-12 drives the positioning guide rod 3-8 to descend, the positioning guide rod 3-8 exits from the positioning guide sleeve 3-3 at the other end of the cache rack G or the cache rack H, and the cache rack G or the cache rack H can rotate. Preferably, the horizontal bracket 3-2 of the present invention is provided with a connecting member which is connected to the other end of the buffer shelf G or the buffer shelf H when the buffer shelf G or the buffer shelf H is rotated onto the horizontal bracket 3-2.
Further, referring to fig. 6 and 7, each of the buffer racks G and H includes an upper buffer rack 3-18, a lower buffer rack 3-19, and a reinforcing plate 3-20 disposed between the upper buffer rack 3-18 and the lower buffer rack 3-19. The rotating ends of the buffer storage rack G and the buffer storage rack H are both connected with a rotating device 3-1, the rotating device 3-1 comprises a rotating support shaft and a driving mechanism 3-13 for driving the rotating support shaft to rotate, and the driving mechanism 3-13 is preferably a speed reduction motor. The rotary supporting shaft comprises a rotary shaft 3-14, an upper supporting plate 3-17 and a lower supporting plate 3-15, the upper supporting plate 3-17 and the lower supporting plate 3-15 are arranged between the upper cache frame 3-18 and the lower cache frame 3-19 and are respectively connected with the upper cache frame 3-18 and the lower cache frame 3-19, one end of the rotary shaft 3-14 is connected with the output end of the speed reducing motor 3-13, the other end of the rotary shaft is connected with the upper supporting plate 3-17 and the lower supporting plate 3-15, and reinforcing ribs 3-16 are arranged between the upper supporting plate 3-17 and the lower supporting plate 3-15. After the structure is adopted, the strength of the cache rack G and the cache rack H is enhanced, so that the cache rack G and the cache rack H can bear larger load; even if the rotating arms of the buffer rack G and the buffer rack H can rotate stably under the condition of longer load, the stability of the buffer rack G and the buffer rack H in rotation is improved.
Further, referring to fig. 6 and 7, universal wheels 3-4 are arranged at the bottoms of the cache rack G and the cache rack H, and guide rails 3-11 for the universal wheels 3-4 to walk when the cache rack G or the cache rack H rotates are arranged on the inner sides of the joints of the transverse brackets 3-2 and the vertical brackets 3-12. The two universal wheels 3-4 are arranged on two sides of the bottom of the cache frame, so that a supporting effect is provided for the cache frame during rotation, and the cache frame can still rotate stably even if the rotating arm of the cache frame is long and has a large load under the condition that the rotation of the cache frame is not influenced.
Further, referring to fig. 6 and 7, a plurality of positioning seats for placing transparent root system cultivation containers are arranged at the tops of the non-rotating ends of the cache rack G and the cache rack H, each positioning seat comprises four supporting pins 3-9, four corners of the cultivation base 4-4 are placed on the four supporting pins 3-9, and positioning pins 3-10 matched with the positioning holes 4-9 in the cultivation base 4-4 are arranged on the two supporting pins 3-9 of the positioning seats located on diagonal positions. By adopting the structure, the transparent root system cultivation container 4 can be supported, and the positioning pins 3-10 can also be used for positioning when the transparent root system cultivation container 4 is placed; and the structure is simple and the cost is low. Preferably, the top of the non-rotating end of the buffer storage rack G and the top of the non-rotating end of the buffer storage rack H are both provided with two positioning seats.
Further, referring to fig. 6, blocking plates 3-7 are arranged on the outer sides of the transverse support 3-2 and the vertical support 3-12 to prevent the buffer storage rack G and the buffer storage rack H from rotating to the outer sides of the transverse support 3-2 or the vertical support 3-12; and an inductive proximity switch 3-6 is arranged beside the barrier plate 3-7 and used for detecting the rotating distance of the cache rack G and the cache rack H.
Further, referring to fig. 8 and 9, the transport cart 2 includes a cart support 2-1, a workbench disposed on the cart support 2-1 and capable of moving up and down along the cart support 2-1, a left gripping device E and a right gripping device F for gripping the transparent root system cultivation container 4 are disposed on the left and right sides of the workbench, and a driving mechanism (not shown) for driving the left gripping device E and the right gripping device F to move synchronously in opposite directions or move reversely is mounted on the workbench. The driving mechanism is preferably a motor, the motor drives the left grabbing device E and the right grabbing device F to synchronously move in opposite directions or move in a back-to-back direction, the left grabbing device E and the right grabbing device F can be retracted and extended out simultaneously, the transparent root system cultivation containers 4 in the left and right photographing workgroups 1 can be clamped or put down simultaneously, and the transparent root system cultivation containers 4 on the buffer storage rack G and the buffer storage rack H can be clamped or put down simultaneously when the buffer storage rack G and the buffer storage rack H rotate to the vertical supports 3-12, so that the working efficiency is improved, and the time cost is saved.
Further, referring to fig. 8 and 9, the left grabbing device E comprises a left base plate 2-18, a left moving frame 2-17 and two left supporting claws 2-19, the left moving frame 2-17 is installed on one side of the left base plate 2-18 close to the center of the workbench, the two left supporting claws 2-19 are symmetrically arranged on the other side of the left base plate 2-18 and form a horizontal moving pair with the left base plate 2-18, and a left driving mechanism 2-12 for driving the two left supporting claws 2-19 to synchronously move in opposite directions or move in a back direction is installed on the left base plate 2-18. The right grabbing device F comprises a right base plate 2-15, a right moving frame 2-16 and two right supporting claws 2-14, the right moving frame 2-16 is arranged on one side, close to the center of the workbench, of the right base plate 2-15, the two right supporting claws 2-14 are symmetrically arranged on the other side of the right base plate 2-15 and form a horizontal moving pair with the right base plate 2-15, and a right driving mechanism 2-11 used for driving the two right supporting claws 2-14 to synchronously move in the opposite direction or move in the opposite direction is arranged on the right base plate 2-15. The left driving mechanism 2-12 and the right driving mechanism 2-11 are preferably cylinders, and the cylinders drive the two left supporting claws 2-19 or the two right supporting claws 2-14 to synchronously move towards or away from each other, so that the transparent root system cultivation container 4 is clamped or put down.
Further, referring to fig. 8 and 9, the workbench is provided with mutually parallel slide rails 2-20, the transmission lead screw 2-21 is arranged in the middle of the slide rails 2-20 and is parallel to the same, a slide block (not shown in the figure) is arranged on the slide rails 2-20 in a penetrating manner, and the left moving frame 2-17 and the right moving frame 2-16 are connected to the slide rails 2-20 of the workbench in a sliding manner through the slide block (not shown in the figure); the transmission screw rod 2-21 is a positive and negative tooth screw rod, the positive and negative tooth screw rod 2-21 is connected with an output shaft of a motor (not shown in the figure), and the left moving frame 2-17 and the right moving frame 2-16 are respectively connected with the positive and negative tooth screw rod 2-21 through a first nut fixing seat 2-22 and a second nut fixing seat 2-13. When the device works, the motor drives the positive and negative tooth lead screws 2-21 to rotate, and the positive and negative tooth lead screws 2-21 drive the sliding blocks to do linear motion on the sliding rails 2-20, so that the left moving frame 2-17 and the right moving frame 2-16 are driven to synchronously move in opposite directions or move in a back-to-back direction. When the left moving frame 2-17 and the right moving frame 2-16 synchronously move in opposite directions, the left moving frame 2-17 moves into the right moving frame 2-16, so that the space is saved, and the structure is more compact.
Further, referring to fig. 8 and 9, a trolley top plate 2-7 is arranged above the workbench, a driving device 2-5 is arranged on the trolley top plate 2-7, the driving device 2-5 is preferably a speed reducing motor, the speed reducing motor 2-5 is arranged on a motor support 2-6, the output end of the speed reducing motor 2-5 is connected with one end of a ball screw 2-3, the ball screw 2-3 is in threaded connection with the workbench to form a ball screw pair, the other end of the ball screw 2-3 is connected with a trolley support 2-1 through a bearing 2-2, guide rods 2-10 are arranged between the trolley top plate 2-7 and the trolley support 2-1, four guide rods 2-10 are arranged between the guide rods 2-10 to guide the up-and-down movement of the workbench, and the speed reducing motor 2-5 drives the ball screw 2-3, thereby driving the worktable to move up and down. The response speed and the stability of the workbench in up-and-down movement are improved, and the production and maintenance cost is obviously reduced.
Further, referring to fig. 8 and 9, the workbench comprises a guide rail base plate 2-8 and a guide rail top plate 2-4 in sequence from top to bottom, a left gripping device E and a right gripping device F are arranged on the guide rail base plate 2-8, and a reinforcing plate 2-9 is arranged between the guide rail base plate 2-8 and the guide rail top plate 2-4; used for ensuring the rigidity and the strength of the workbench.
Further, photoelectric switches (not shown) are disposed outside the sliding rails 2-20 for detecting the movement tracks of the left gripping device E and the right gripping device F.
The working process of the present invention is described in detail with reference to fig. 1, in fig. 1, a buffer station II and a buffer station IV correspond to two positioning seats on a buffer rack G, and a buffer station I and a buffer station III correspond to two positioning seats on a buffer rack H; the specific working process taking the photographing station group as 2 groups as an example is as follows:
the first step is as follows: feeding of buffer storage rack G and buffer storage rack H
The cache frame G is positioned on the vertical support 3-12, and the speed reduction motor 3-13 is controlled to drive the cache frame H to rotate to the transverse support 3-2 until the positioning guide sleeve 3-3 on the cache frame H is positioned right above the positioning guide rod 3-8 on the transverse support 3-2; controlling a cylinder 3-5 on the transverse bracket 3-2 to drive a positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into a positioning guide sleeve 3-3 of the cache frame H; placing a transparent root system cultivation container to be photographed on a caching station I by adopting a manipulator; controlling a cylinder 3-5 on the transverse bracket 3-2 to drive a positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the transverse bracket 3-2 is withdrawn from a positioning guide sleeve 3-3 of the cache frame H; controlling a speed reducing motor 3-13 to drive a cache frame H to rotate to a vertical support 3-12 until a positioning guide sleeve 3-3 on the cache frame H is positioned right above a positioning guide rod 3-8 on the vertical support 3-12; and controlling the air cylinder 3-5 on the vertical support 3-12 to drive the positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the vertical support 3-12 is inserted into the positioning guide sleeve 3-3 on the cache shelf H. Controlling a speed reduction motor 3-13 to drive a cache frame G to rotate to a transverse bracket 3-2 until a positioning guide sleeve 3-3 on the cache frame G is positioned right above a positioning guide rod 3-8 on the transverse bracket 3-2; controlling a cylinder 3-5 on the transverse bracket 3-2 to drive a positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into a positioning guide sleeve 3-3 on the cache frame G; placing a transparent root system cultivation container to be photographed on a cache station II by adopting a manipulator, controlling a cylinder 3-5 on a transverse bracket 3-2 to drive a positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the transverse bracket 3-2 withdraws from a positioning guide sleeve 3-3 of a cache frame G; controlling a speed reduction motor 3-13 to drive a cache frame G to rotate to a vertical support 3-12 until a positioning guide sleeve 3-3 on the cache frame G is positioned right above a positioning guide rod 3-8 on the vertical support 3-12; and controlling the air cylinder 3-5 on the vertical support 3-12 to drive the positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the vertical support 3-12 is inserted into the positioning guide sleeve 3-3 on the cache frame G. And finishing the feeding of the buffer storage rack G and the buffer storage rack H.
The second step is that: the transparent root system cultivation containers to be photographed on the buffer storage rack G and the buffer storage rack H are conveyed to a photographing station B and a photographing station A
Controlling the transport trolley 2 to move towards the transparent root system cultivation container caching mechanism 3 along the walking guide rail 5 until the transport trolley enters an area formed by the two vertical supports 3-12 and the transverse support 3-2; controlling a speed reduction motor 2-5 to drive the workbench to move up and down until a left grabbing device E and a right grabbing device F of the workbench are positioned below the cache station II and the cache station I; simultaneously controlling the cylinders 2-12 to drive the two left supporting claws 2-19 and the cylinders 2-11 to drive the two right supporting claws 2-14 to synchronously move backwards; controlling the conveying trolley 2 to move along the walking guide rail 5, and simultaneously controlling a motor on the workbench to drive the positive and negative tooth lead screws 2-21 to drive the left grabbing device E and the right grabbing device F to synchronously move in the opposite direction or move in the opposite direction until the two left supporting claws 2-19 and the two right supporting claws 2-14 are respectively positioned right below the cultivation bases 4-4 of the transparent root system cultivation containers 4 on the cache station II and the cache station I; controlling a speed reduction motor 2-5 to drive a workbench to move upwards, simultaneously controlling a cylinder 2-12 to drive two left supporting claws 2-19 and a cylinder 2-11 to drive two right supporting claws 2-14 to synchronously move in opposite directions, and respectively clamping the cultivation bases 4-4 of the transparent root cultivation containers 4 on the cache station II and the cache station I by the two left supporting claws 2-19 and the two right supporting claws 2-14; and controlling a motor on the workbench to drive the positive and negative tooth screw rods 2-21 to drive the left gripping device E and the right gripping device F to synchronously move in opposite directions until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root system cultivation container clamped by the two left supporting claws 2-19 and the two right supporting claws 2-14 are positioned on the workbench.
Controlling the transport trolley 2 to move along the walking guide rail 5 to the photographing station B and the photographing station A until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root system cultivation containers clamped by the two left supporting claws 2-14 are positioned between the photographing station B and the photographing station A, and controlling the speed reduction motor 2-5 to drive the workbench to move up and down until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root system cultivation containers clamped by the two right supporting claws 2-14 are positioned above the photographing station B and the photographing station A; a motor on the control workbench drives a positive and negative tooth lead screw 2-21 to drive a left grabbing device E and a right grabbing device F to synchronously move back to back, and meanwhile, the transport trolley 2 is controlled to move along the walking guide rail 5 until transparent root system cultivation containers clamped by two left supporting claws 2-19 and two right supporting claws 2-14 are respectively positioned right above the photographing station B and the photographing station A; controlling a speed reduction motor 2-5 to drive a workbench to move downwards, simultaneously controlling an air cylinder 2-12 to drive two left supporting claws 2-19 and an air cylinder 2-11 to drive two right supporting claws 2-14 to synchronously move backwards, and respectively placing transparent root system cultivation containers on a photographing station B and a photographing station A by the two left supporting claws 2-19 and the two right supporting claws 2-14; and the photographing station B and the photographing station A respectively photograph the transparent root system cultivation container above the photographing station B.
When the transport trolley 2 transports the transparent root system cultivation container 4 to the photographing station B and the photographing station A, the buffer storage frame G and the buffer storage frame H are loaded according to the first step.
After the transparent root system cultivation container is placed on the photographing station B and the photographing station A by the conveying trolley 2, the conveying trolley 2 is controlled to move towards the transparent root system cultivation container caching mechanism 3 along the walking guide rail 5.
The third step: the transparent root system cultivation containers to be photographed on the buffer storage rack G and the buffer storage rack H are conveyed to a photographing station D and a photographing station C
And (4) clamping transparent root system cultivation containers positioned on the caching station II and the caching station I according to the second step, and sending the transparent root system cultivation containers to the photographing station D and the photographing station C for photographing.
When the transport trolley 2 transports the transparent root system cultivation container 4 to the photographing station D and the photographing station C, the buffer storage frame G and the buffer storage frame H are loaded according to the first step.
The fourth step: transporting the transparent root system cultivation containers shot at the shooting station B and the shooting station A back to the cache frame G and the cache frame H
Controlling the conveying trolley 2 to move along the traveling guide rail 5 to the photographing station B and the photographing station A until the left gripping device E and the right gripping device F are positioned between the photographing station B and the photographing station A, and controlling the speed reduction motor 2-5 to drive the workbench to move up and down until the left gripping device E and the right gripping device F are positioned below the photographing station B and the photographing station A; controlling the cylinder 2-12 to drive the two left supporting claws 2-19, and controlling the cylinder 2-11 to drive the two right supporting claws 2-14 to synchronously move backwards; a motor on the control workbench drives positive and negative tooth lead screws 2-21 to drive a left grabbing device E and a right grabbing device F to synchronously move back to back, and meanwhile, the conveying trolley 2 is controlled to move along a walking guide rail 5 until two left supporting claws 2-19 and two right supporting claws 2-14 are respectively positioned right below transparent root system cultivation container cultivation bases 4-4 on a photographing station B and a photographing station A; controlling a speed reduction motor 2-5 to drive a workbench to move upwards, simultaneously controlling an air cylinder 2-12 to drive two left supporting claws 2-19 and an air cylinder 2-11 to drive two right supporting claws 2-14 to synchronously move in opposite directions, and respectively clamping cultivation bases 4-4 of transparent root cultivation containers on a photographing station B and a photographing station A by the two left supporting claws 2-19 and the two right supporting claws 2-14; and controlling a motor on the workbench to drive the positive and negative tooth screw rods 2-21 to drive the left gripping device E and the right gripping device F to synchronously move in opposite directions until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root system cultivation container clamped by the two left supporting claws 2-19 and the two right supporting claws 2-14 are positioned on the workbench.
Controlling the transport trolley 2 to move towards the transparent root system cultivation container caching mechanism 3 along the walking guide rail 5 until the transport trolley enters an area formed by the two vertical supports 3-12 and the transverse support 3-2; controlling a speed reduction motor 2-5 to drive the workbench to move up and down until the two left supporting claws 2-19 and the two right supporting claws 2-14 of the workbench and the transparent root system cultivation containers clamped by the two left supporting claws 2-14 are positioned above the cache station IV and the cache station III; a motor on the control workbench drives a positive and negative tooth screw rod 2-21 to drive a left grabbing device E and a right grabbing device F to synchronously move backwards, and the conveying trolley 2 is controlled to move along a walking guide rail 5 until positioning holes 4-9 on a transparent root system cultivation container cultivation base 4-4 clamped by two left supporting claws 2-19 and two right supporting claws 2-14 are respectively positioned right above positioning pins 3-10 of a cache station IV and a cache station III; controlling a speed reduction motor 2-5 to drive a workbench to move downwards, controlling an air cylinder 2-12 to drive two left supporting claws 2-19 and an air cylinder 2-11 to drive two right supporting claws 2-14 to synchronously move backwards, and respectively inserting positioning holes 4-9 on a transparent root system cultivation container cultivation base 4-4 into positioning pins 3-10 by the two left supporting claws 2-19 and the two right supporting claws 2-14.
The fifth step: the transparent root system cultivation containers to be photographed on the buffer storage rack G and the buffer storage rack H are conveyed to a photographing station B and a photographing station A
And (4) according to the second step, the transparent root system cultivation containers to be photographed on the cache frame G and the cache frame H are conveyed to a photographing station B and a photographing station A.
And a sixth step: transporting the transparent root system cultivation containers shot at the shooting stations D and C back to the cache frame G and the cache frame H
And (5) transporting the transparent root system cultivation containers shot completely on the shooting station D and the shooting station C back to the cache frame G and the cache frame H according to the fourth step.
When the transport trolley 2 carries out the fifth step and the sixth step, the buffer storage frame G and the buffer storage frame H carry out blanking of the photographed transparent root system cultivation container and feeding of the transparent root system cultivation container to be photographed.
Buffer memory frame G, buffer memory frame H carry out the unloading of the transparent root system cultivation container of having shot, wait to shoot the step of the material loading of transparent root system cultivation container as follows:
1. the speed reducing motor 3-13 drives the cache frame H to rotate to the transverse bracket 3-2 until the positioning guide sleeve 3-3 on the cache frame H is positioned right above the positioning guide rod 3-8 on the transverse bracket 3-2; controlling a cylinder 3-5 on a transverse bracket 3-2 to drive a positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into a positioning guide sleeve 3-3 on a cache frame H, taking down the photographed transparent root system cultivation container on a cache station III by adopting a manipulator, and then placing the transparent root system cultivation container to be photographed on the cache station I; controlling a cylinder 3-5 on the transverse bracket 3-2 to drive a positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the transverse bracket 3-2 is withdrawn from a positioning guide sleeve 3-3 of the cache frame H; controlling a speed reducing motor 3-13 to drive a cache frame H to rotate to a vertical support 3-12 until a positioning guide sleeve 3-3 on the cache frame H is positioned right above a positioning guide rod 3-8 on the vertical support 3-12; and controlling the air cylinder 3-5 on the vertical support 3-12 to drive the positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the vertical support 3-12 is inserted into the positioning guide sleeve 3-3 on the cache shelf H.
2. Controlling a speed reduction motor 3-13 to drive a cache frame G to rotate to a transverse bracket 3-2 until a positioning guide sleeve 3-3 on the cache frame G is positioned right above a positioning guide rod 3-8 on the transverse bracket 3-2; controlling a cylinder 3-5 on the transverse bracket 3-2 to drive a positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into a positioning guide sleeve 3-3 on the cache frame G; taking down the photographed transparent root system cultivation container on the caching station IV by adopting a manipulator, and then placing the transparent root system cultivation container to be photographed on the caching station II; controlling a cylinder 3-5 on the transverse bracket 3-2 to drive a positioning guide rod 3-8 to descend until the positioning guide rod 3-8 on the transverse bracket 3-2 is withdrawn from a positioning guide sleeve 3-3 of the cache frame G; controlling a speed reduction motor to drive the cache frame G to rotate to the vertical support 3-12 until the positioning guide sleeve 3-3 on the cache frame G is positioned right above the positioning guide rod 3-8 on the vertical support 3-12; and controlling the air cylinder 3-5 on the vertical support 3-12 to drive the positioning guide rod 3-8 to ascend until the positioning guide rod 3-8 on the vertical support 3-12 is inserted into the positioning guide sleeve 3-3 on the cache frame G. And finishing the blanking of the photographed transparent root system cultivation container and the feeding of the transparent root system cultivation container to be photographed by the buffer storage rack G and the buffer storage rack H.
The operation is circulated.
The present invention has been described with reference to the above embodiments, and the structure, arrangement, and connection of the respective members may be changed. On the basis of the technical scheme of the invention, the improvement or equivalent transformation of the individual components according to the principle of the invention is not excluded from the protection scope of the invention.
Claims (10)
1. An automatic photographing line for transparent root system cultivation containers is characterized by comprising a walking guide rail, a conveying trolley, two rows of grouped photographing stations and a transparent root system cultivation container caching mechanism;
the transparent root system cultivation container caching mechanism comprises a transverse support, two vertical supports and two caching frames, wherein the two vertical supports are positioned on the same side of the transverse support, the two caching frames are symmetrically arranged and used for placing transparent root system cultivation containers, the two vertical supports are respectively connected to two ends of the transverse support, one ends of the two caching frames are respectively rotatably connected to the connecting positions of the vertical supports and the transverse support, and therefore the two caching frames can rotate between the vertical supports and the transverse support;
the walking guide rail is established between two rows of unitized shooting work site groups, and walking guide rail one end extends to two vertical support and the region that horizontal support formed in, and the transport trolley is along walking guide rail reciprocating motion between shooting work site group and transparent root system cultivation container buffer memory mechanism, and two buffer memory frames all rotate when vertical support, are used for the migration of transparent root system cultivation container between shooting work site group and two buffer memory frames.
2. The automatic photographing line for transparent root system cultivation containers according to claim 1, wherein the transparent root system cultivation container comprises a cultivation base, a cultivation container body, a shading cover and a shading cover;
the cultivation container body comprises a transparent inner cylinder, a transparent outer cylinder and a transparent top cover, the transparent outer cylinder is opened up and down, the transparent inner cylinder and the transparent outer cylinder are mutually nested and fixed on a cultivation base, the transparent top cover is arranged at the top of the transparent inner cylinder, a root system annular cultivation space is formed between the transparent inner cylinder and the transparent outer cylinder, a shading cover is arranged above the root system annular cultivation space, a central hole communicated with an inner cavity of the transparent inner cylinder is formed in the cultivation base, and a water receiving box is arranged below the cultivation base;
the lens hood is established between shield cover and cultivation base, and the lens hood is including dismantling left lens hood and the right lens hood of connection, and left lens hood and right lens hood form hollow rectangle structure, and cultivation container body establishes in this cavity.
3. The automatic transparent root system cultivation container photographing line according to claim 1, wherein the transverse support and the vertical support are both provided with a connecting piece detachably connected with the other end of the cache frame, the connecting piece comprises a driving device and a positioning guide rod connected with the driving device, the driving device drives the positioning guide rod to ascend or descend, and the other end of the cache frame is provided with a positioning guide sleeve matched with the positioning guide rod.
4. The automatic transparent root system cultivation container photographing line according to claim 1, wherein the cache shelf comprises an upper cache shelf, a lower cache shelf, and a reinforcing plate arranged between the upper cache shelf and the lower cache shelf;
the rotating end of the cache frame is connected with a rotating device, the rotating device comprises a rotating support shaft and a driving mechanism for driving the rotating support shaft to rotate; the rotary supporting shaft comprises a rotating shaft, an upper supporting plate and a lower supporting plate, the upper supporting plate and the lower supporting plate are arranged between an upper cache frame and a lower cache frame and are respectively connected with the upper cache frame and the lower cache frame, one end of the rotating shaft is connected with the output end of a driving mechanism, the other end of the rotating shaft is connected with the upper supporting plate and the lower supporting plate, and reinforcing ribs are arranged between the upper supporting plate and the lower supporting plate.
5. The automatic transparent root system cultivation container photographing line according to claim 1, wherein universal wheels are arranged at the bottom of the cache frame, and guide rails for the universal wheels to walk when the cache frame rotates are arranged on the inner sides of the joints of the transverse brackets and the vertical brackets.
6. The automatic transparent root system cultivation container photographing line according to any one of claims 1 to 5, wherein the transport trolley comprises a trolley support and a workbench which is arranged on the trolley support and can move up and down along the trolley support, a left grabbing device and a right grabbing device for grabbing the transparent root system cultivation container are arranged on the left side and the right side of the workbench, and a driving mechanism for driving the left grabbing device and the right grabbing device to synchronously move in opposite directions or move in a back direction is installed on the workbench.
7. The automatic photographing line for the transparent root system cultivation container according to claim 6, wherein the left grabbing device comprises a left base plate, a left moving frame and two left supporting claws, the left moving frame is installed on one side of the left base plate close to the center of the workbench, the two left supporting claws are symmetrically arranged on the other side of the left base plate and form a horizontal moving pair with the left base plate, and a left driving mechanism for driving the two left supporting claws to synchronously move in opposite directions or move in opposite directions is installed on the left base plate;
the right grabbing device comprises a right base plate, a right moving frame and two right supporting claws, the right moving frame is arranged on one side, close to the center of the workbench, of the right base plate, the two right supporting claws are symmetrically arranged on the other side of the right base plate and form a horizontal moving pair with the right base plate, and a right driving mechanism used for driving the two right supporting claws to synchronously move in opposite directions or move in a back direction is arranged on the right base plate.
8. The automatic transparent root system cultivation container photographing line according to claim 7, wherein the left moving frame and the right moving frame are slidably connected to a slide rail of the workbench, and when the left moving frame and the right moving frame synchronously move in opposite directions, the left moving frame moves into the right moving frame.
9. The automatic transparent root system cultivation container photographing line according to claim 6, wherein a trolley top plate is arranged above the workbench, a driving device is arranged on the trolley top plate, an output end of the driving device is connected with one end of a ball screw, the ball screw is in threaded connection with the workbench to form a ball screw pair, the other end of the ball screw is connected with a trolley support through a bearing, and a guide rod is arranged between the trolley top plate and the trolley support.
10. The automatic transparent root system cultivation container photographing line according to claim 6, wherein the workbench comprises a guide rail base plate and a guide rail top plate in sequence from top to bottom, the left grabbing device and the right grabbing device are arranged on the guide rail base plate, and a reinforcing plate is arranged between the guide rail base plate and the guide rail top plate.
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| CN202021145044.0U CN212623532U (en) | 2020-06-19 | 2020-06-19 | Automatic photographing line for transparent root system cultivation container |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111792253A (en) * | 2020-06-19 | 2020-10-20 | 南京慧瞳作物表型组学研究院有限公司 | Buffer memory frame device based on transparent root system cultivation container automation line of shooing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111792253A (en) * | 2020-06-19 | 2020-10-20 | 南京慧瞳作物表型组学研究院有限公司 | Buffer memory frame device based on transparent root system cultivation container automation line of shooing |
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