WO2019051991A1 - 一种穴盘苗集成式自动分选移栽补栽系统及实现方法 - Google Patents

一种穴盘苗集成式自动分选移栽补栽系统及实现方法 Download PDF

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Publication number
WO2019051991A1
WO2019051991A1 PCT/CN2017/110975 CN2017110975W WO2019051991A1 WO 2019051991 A1 WO2019051991 A1 WO 2019051991A1 CN 2017110975 W CN2017110975 W CN 2017110975W WO 2019051991 A1 WO2019051991 A1 WO 2019051991A1
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seedling
claw
transplanting
seedlings
sorting
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PCT/CN2017/110975
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English (en)
French (fr)
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刘继展
周昕
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江苏大学
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Priority to US16/334,453 priority Critical patent/US20200267911A1/en
Publication of WO2019051991A1 publication Critical patent/WO2019051991A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A01G9/083—Devices for setting plants in pots
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A01G9/086—Devices for repotting
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
    • A01G9/029—Receptacles for seedlings
    • A01G9/0299—Handling or transporting of soil blocks or seedlings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots

Definitions

  • the invention relates to the field of agricultural equipment, in particular to an integrated automatic sorting transplanting and replanting system and an implementation method thereof.
  • the seedlings In the industrialized seedlings, the seedlings must be transplanted from high-density trays to low-density trays once and several times, and the bad and weak seedlings should be replaced to cultivate a uniform and strong seedling.
  • the sorting, transplanting and replanting of the plug seedlings are mainly realized by labor.
  • the labor occupation is extremely large and time-consuming and labor-intensive.
  • the automatic transplanting and replanting has become an urgent need for the development of the factory seedling industry.
  • the system is complex and huge, completing row transplanting, unhealthy seedling detection, unhealthy seedling abandonment, cavity replanting, requiring high equipment investment and huge working space;
  • the object of the present invention is to provide an integrated automatic sorting and transplanting planting system for a plug seedling and a method for realizing the same. Efficient integration of automatic seedling sorting, transplanting and replanting.
  • the utility model relates to an integrated automatic sorting and transplanting planting system for plugging seedlings, which is characterized in that: the integrated automatic sorting and transplanting planting system is provided by the target tray conveying and positioning mechanism (1), the abandoned seedling box (2) and the platform. a frame (3), a single-jaw refilling mechanism (4), a multi-claw sorting transplanting mechanism (5), a seedling claw (6), a detecting module (7), and a source tray conveying positioning mechanism (8);
  • a detection module (7) and a disposal box (2) are installed between the source tray conveying positioning mechanism (8) and the target tray conveying positioning mechanism (1), and the detecting module (7) is positioned close to the source tray.
  • the seedling box (2) is located on the side of the target positioning mechanism (1);
  • the detecting module (7) is located behind the multi-claw sorting transplanting mechanism (5), and the base of the single-jaw refilling mechanism (4) is located in front of the multi-claw sorting transplanting mechanism (5).
  • the first row of holes of the source plug disk (10) along the feeding direction v is used as the single-jaw supplemental seedling source area F; the source plug disk (10) except all the holes of the first row of holes along the feeding direction v Both are used as the multi-claw transplanting seedling source area G.
  • the invention discloses an implementation method of an integrated automatic sorting and transplanting planting system for a plug seedling, which is characterized in that the following action steps are included:
  • Step one the multi-claw sorting transplanting mechanism (5) drives k to take only the seedling claws (6) from the first row of the feeding direction v in the multi-claw transplanting seedling source area G, and simultaneously extracts the k seedlings;
  • Step 2 the multi-claw sorting transplanting mechanism (5) drives k to take only the seedling claws (6) and holds the k-planted seedlings to travel along the moving path E in the multi-claw moving vertical plane H, k only takes the seedling claws (6)
  • the k-planted seedlings were first passed through the detection zone B, and the detection of the k-planted seedlings was completed in sequence through the in-process detection module (7), and it was judged whether there were nursery (12) deletions and seedlings on the seedlings (6).
  • Step 3 the multi-claw sorting transplanting mechanism (5) drives k to take only the seedling claws (6), and the k-planted seedlings continue to travel along the moving path E in the multi-claw moving vertical plane H through the abandoned seedling area C, k only Take the seedling claws (6) in turn, and discard the seedlings in the nursery area C, and the seedlings (12) are damaged, the seedlings (11) are missing, the seedlings (11) are not strong, and the seedlings (11) are damaged.
  • the seedling box (2) so that the seedlings are sorted in real time during the multi-claw transplanting process;
  • Step 4 the multi-claw sorting transplanting mechanism (5) drives k to take only the seedling claws (6), and the k-planted seedlings continue to travel along the moving path E in the multi-claw moving vertical plane H to reach the seedling-growing area D, multi-claw Sorting and transplanting mechanism (5) drives k to take only the seedling claws (6) and simultaneously discharges the seedlings to the target tray (9); due to the number of rows of the source trays (10) m 1 and the target trays (9) The number of columns m 2 is an integral multiple of the number k of the seedling claws (6), and the holes of m 2 columns ⁇ n 2 rows of the target plug disk (9), and the multi-claw sorting transplanting mechanism (5) drives k Only the seedlings (6) were taken to complete a total of m 2 ⁇ n 2 /k seedlings;
  • Step 5 In each multi-pig transplanting cycle, there are nursery (12) deletion, nursery (12) damage, seedling (11) deletion, seedling (11) not robust, and seedling (11) damaged.
  • the seedling hole (6) corresponding to the target plug (9) has a seedling vacancy, and according to the detection result of the detection module (7), the seedling vacancy in the target plug (9) can be obtained correspondingly.
  • Step 6 In the multi-claw sorting transplanting mechanism (5), taking only the seedling claws (6) to carry out the multi-claw transplanting of the seedlings, according to the serial number of the hole in which the seedling vacancies appear in the target plug (9), The single-jaw replanting mechanism (4) takes out the seedlings from the single-jaw supplemental seedling source area F and completes the replanting of the hole in the target plug disk (9) where the seedling vacancies appear.
  • the present invention has a beneficial effect.
  • the invention adopts the same disk partitioning seedling and master-slave operation on the way of multi-claw transplanting without pause detection, multi-claw sorting transplanting and single-jaw replanting, without changing the main structure of the existing multi-claw transplanting system
  • On the basis of the process it realizes the row and row transplanting of the plug seedlings, the non-stop detection and sorting, the integration of the machine and the minimalist and efficient operation, and greatly improves the detection and sorting of the multi-claw transplanting system.
  • it effectively avoids the complex and inefficient defects of the sorting and transplanting system.
  • FIG. 1 is a schematic view showing the overall structure of an integrated automatic sorting and transplanting planting system according to the present invention.
  • FIG. 2 is a schematic view showing the horizontal layout of the integrated automatic sorting and transplanting planting system of the present invention.
  • FIG. 3 is a schematic view showing the layout of the integrated automatic sorting and transplanting planting system of the present invention in the transfer vertical plane H.
  • Fig. 4 is a schematic view showing the division of the source tray.
  • Figure 5 is a schematic view of the structure of the seedling.
  • Target tray transport positioning mechanism 2. Abandoned seed box, 3. Bench, 4. Single claw replanting mechanism, 5. Multi-claw sorting and transplanting mechanism, 6. Take seedling claw, 7. Test Module, 8. source tray transport positioning mechanism, 9. target plug tray, 10. source plug tray, 11. seedling plant, 12. nursery, A. seedling area, B. detection area, C. abandoned seedling area, D. Putting seedling area, E. moving path, F. single claw replanting seedling source area, G. multi-claw transplanting seedling source area, H. multi-claw moving vertical plane, v. feeding direction
  • the integrated automatic sorting and transplanting planting system of the present invention comprises a target tray transport positioning mechanism 1, a seedling box 2, a stand 3, a single-jaw refilling mechanism 4, and a multi-claw point.
  • the transplanting mechanism 5, the seedling claw 6, the detecting module 7 and the source tray conveying and positioning mechanism 8 are selected.
  • the source tray transport positioning mechanism 8 is fixed to the gantry 3 in parallel with the target tray transport positioning mechanism 1, and feeds the source tray 10 and the target tray 9 in the same direction in the feeding direction v.
  • the source tray 10 has a hole of m 1 column ⁇ n 1 row, the hole pitch of the source disk 10 is p 1 ; the target disk 9 has a hole of m 2 columns ⁇ n 2 rows, and the hole of the target disk 9 The pitch is p 2 .
  • the source tray 10 is horizontally fixed on the conveyor belt of the source tray conveying and positioning mechanism 8 by the pressing rod, and the target tray 9 is horizontally fixed on the conveyor belt of the target tray conveying and positioning mechanism 1 by the pressing rod, and the source tray 10 is The columns of the column and the target tray 9 are all parallel to the feeding direction v.
  • the lower part of the multi-claw sorting transplanting mechanism 5 is mounted with k only the seedling claws 6, k only the seedling claws 6 are arranged in a horizontal line perpendicular to the feeding direction v, and the source tray 10 is arranged.
  • the number of columns m 1 and the number of columns m 2 of the target plugs 9 are all integer multiples of the number k of the seedlings.
  • the vertical linear moving unit in the multi-claw sorting transplanting mechanism 5 drives the k to take only the vertical movement of the seedling claws 6, and the horizontal linear moving unit in the multi-claw sorting and transplanting mechanism 5 drives k to take only the seedling claws 6 at the source points.
  • the upper horizontal movement of the disk transport positioning mechanism 8 and the target tray transport positioning mechanism 1 is horizontally moved, and the pick-up unit in the multi-claw sorting transplanting mechanism 5 is adjacently taken during the horizontal lateral movement of the pick-up claws 6 Miao center spacing pawl 6 from the pitch p 1 transformation point source plug 10 as a target pitch p. 9 of the plug hole 2.
  • the vertical and horizontal movement of the seedling claws 6 constitutes a moving path E which is always located in the multi-claw moving vertical plane H.
  • k takes only the seedlings 6 from the source tray 10 and then transfers them horizontally horizontally to the target tray 9, and sequentially passes through the seedling area A, the detection area B, the abandoned seedling area C and In the seedling area D, the source plug tray 10 on the source tray transport positioning mechanism 8 is located in the seedling area A, the detection module 7 is located in the detection area B, and the abandoned seed box 2 is located in the abandoned seedling area C, and the target tray transport positioning The target tray 9 on the mechanism 1 is located in the seedlinging zone D.
  • the detecting module 7 is located behind the multi-claw moving vertical plane H, and the center of the k-only claws 6 is located in the multi-claw moving vertical plane H, and the single-jaw replanting
  • the frame of the mechanism 4 is located in front of the multi-claw moving vertical plane H.
  • the first row of hole holes of the source tray 10 in the feeding direction v is used as the single-jaw replanting seedling source area F, and the source trays 10 are all points except the first row of holes in the feeding direction v.
  • the holes are used as the source area of the multi-claw transplanting seedlings.
  • each seedling includes a seedling 11 and a nursery 12.
  • the method for realizing the automatic sorting, transplanting and replanting integrated operation by using the integrated automatic sorting and transplanting planting system of the invention is as follows:
  • multi-claw sorting and transplanting mechanism 5 drives k to take only the seedling claws 6 from the first row of the multi-paw transplanting seedling source area G along the feeding direction v while taking out the k-plant seedlings;
  • Multi-claw sorting and transplanting mechanism 5 drives k to take only the seedling claws 6 to hold the k-planted seedlings to travel along the moving path E in the multi-claw moving vertical plane H, k only takes the seedling claws 6 to hold the k-seed seedlings first Through the detection zone B, the detection of the k seedlings is completed in sequence through the detection module 7 in the process, and it is judged whether there is a nursery 12 deletion, a nursery 12 damage, a seedling 11 deletion, a seedling on the seedlings 6 11 cases of non-sturdy and damaged seedlings 11;
  • Multi-claw sorting and transplanting mechanism 5 drives k to take only the seedling claws 6 to hold the k-planted seedlings to continue to travel along the moving path E in the multi-claw moving vertical plane H.
  • k only takes the seedling claws 6
  • the seedling area C is abandoned, the seedlings with the nursery 12 damaged, the seedling 11 is missing, the seedling 11 is not strong, and the seedling 11 is damaged, and the seedlings are discarded into the seedling box 2, thereby real-time synchronization in the multi-claw transplanting process.
  • Multi-claw sorting and transplanting mechanism 5 drives k to take only the seedling claws 6 to hold the k-seed seedlings to continue to travel along the moving path E in the multi-claw moving vertical plane H to reach the seedling-growing area D, multi-claw sorting and transplanting
  • the mechanism 5 drives the k to take only the seedling claws 6 and simultaneously releases the seedlings to the target tray 9; since the number of rows m 1 of the source trays 10 and the number of rows of the target trays m 2 are both the number k of the seedling claws 6 Integer multiple, for the m 2 column ⁇ n 2 rows of the target plug 9 hole, the multi-claw sorting transplanting mechanism 5 drives k to take only the seedlings 6 to complete a total of m 2 ⁇ n 2 / k seedlings;
  • the k-claws are taken only to carry out the multi-claw transplanting of the seedlings, and the single-claw replanting mechanism 4 according to the serial number of the hole in which the seedling vacancies appear in the target plug 9
  • the seedlings were taken out from the single-jaw supplemented seedling source area F and the replanting of the hole holes in the target plug disk 9 where the seedling vacancies appeared was completed.

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Abstract

一种穴盘苗集成式自动分选移栽补栽系统及实现方法。该系统由目标穴盘输送定位机构(1)、弃苗箱(2)、台架(3)、单爪补栽机构(4)、多爪分选移栽机构(5)、取苗爪(6)、检测模块(7)和源穴盘输送定位机构(8)组成，其中检测模块(7)和单爪补栽机构(4)分别位于多爪移动竖直平面(H)的后方和前方。多爪取苗移送过程中依次经过取苗区(A)、检测区(B)、弃苗区(C)和放苗区(D)。将源穴盘(10)沿送进方向的第一行穴孔和其他穴孔分别作为单爪补栽苗源区(F)与多爪移栽苗源区(G)。通过多爪移栽的途中无停顿检测分选、多爪分选移栽与单爪补栽的同盘分区供苗和主从配合作业，实现了穴盘苗的成排移栽、无停歇检测分选、随栽随补的一机集成和简单高效作业，避免了分选移栽补栽成套化系统的复杂和低效缺陷。

Description

一种穴盘苗集成式自动分选移栽补栽系统及实现方法 技术领域
本发明涉及农业装备领域，特别涉及一种集成式自动分选移栽补栽系统及实现方法。
背景技术
工厂化育苗中穴盘苗必须经过一次到数次从高密度盘向低密度盘的移栽，并将坏苗和弱苗进行补换，以培育整齐一致的壮苗。目前穴盘苗的分选移栽和补栽主要由人工来实现，劳动力占用极大且耗时耗力，自动化移栽与补栽已成为工厂化育苗产业发展的急需。
针对秧苗的自动化分选移栽和补栽，国内外学者开展了多年研究，并形成了诸多有效的成果，荷兰Visser、美国TTA、荷兰Flier等公司相继推出了配备视觉监测系统的自动移栽补栽机产品。但是，由于现有的移栽系统、检测与分选系统、补栽系统之间相互独立，造成了以下重大缺陷：
(1)系统复杂庞大，完成成排移栽、非健康苗检测、非健康苗挑弃、空穴补栽，需要高昂的装备投资和庞大的作业空间；
(2)需成排取苗植入目标穴盘后，再检出、取出和丢弃非健康苗，非健康苗检测主要在目标穴盘内静态进行，非健康苗挑弃、健康苗移栽、空穴补栽亦需要按流程依次进行，同时存在对苗植入和取出丢弃的重复操作，造成作业流程复杂冗长。
目前尽管自动化高效移栽已在发达国家得到较多应用，但配套的自动分选、补栽的推广应用率仍然很低，分选移栽补栽成套系统的复杂和低效成为限制其应用的关键瓶颈。
此外，有研究利用并联机器人等进行单苗的逐一检测、分选、移栽和补栽，但其作业效率过低而不适用于大规模化作业，目前仍仅限于研究而未得到生产领域的欢迎。
发明内容
针对现有自动穴盘苗分选、移栽、补栽技术和装备的不足，本发明的目的在于提供一种穴盘苗集成式自动分选移栽补栽系统及实现方法，以实现穴盘苗自动分选、移栽、补栽的高效集成作业。
为了解决以上技术问题，本发明采用的具体技术方案如下：
一种穴盘苗集成式自动分选移栽补栽系统，其特征在于：由集成式自动分选移栽补栽系统由目标穴盘输送定位机构(1)、弃苗箱(2)、台架(3)、单爪补栽机构(4)、多爪分选移栽机构(5)、取苗爪(6)、检测模块(7)和源穴盘输送定位机构(8)组成；
在源穴盘输送定位机构(8)与目标穴盘输送定位机构(1)之间安装有检测模块(7)和弃苗箱(2)，且检测模块(7)在靠近源穴盘输送定位机构(8)一侧，弃苗箱(2)在靠近目标穴盘输送定位机构(1)一侧；
沿送进方向v，检测模块(7)位于多爪分选移栽机构(5)的后方，单爪补栽机构(4)的机座位于多爪分选移栽机构(5)的前方。
源穴盘(10)沿送进方向v的第一行穴孔作为单爪补栽苗源区F；源穴盘(10)除沿送进方向v的第一行穴孔外的所有穴孔均作为多爪移栽苗源区G。
一种穴盘苗集成式自动分选移栽补栽系统的实现方法，其特征在于包括以下动作步骤：
步骤一，多爪分选移栽机构(5)带动k只取苗爪(6)从多爪移栽苗源区G内沿送进方向v的最前一行同时取出k株秧苗；
步骤二，多爪分选移栽机构(5)带动k只取苗爪(6)夹持k株秧苗在多爪移动竖直平面H内沿移动路径E行进，k只取苗爪(6)夹持k株秧苗首先通过检测区B，通过过程中检测模块(7)依次完成对k株秧苗的检测，并判断出k只取苗爪(6)上是否存在苗坨(12)缺失、苗坨(12)受损、苗株(11)缺失、苗株(11)不健壮、苗株(11)受损5类情况之一；
步骤三，多爪分选移栽机构(5)带动k只取苗爪(6)夹持k株秧苗在多爪移动竖直平面H内沿移动路径E继续行进通过弃苗区C，k只取苗爪(6)依次通过弃苗区C时将存在苗坨(12)受损、苗株(11)缺失、苗株(11)不健壮、苗株(11)受损的秧苗丢弃入弃苗箱(2)，从而在多爪移栽过程中实时同步完成秧苗的分选；
步骤四，多爪分选移栽机构(5)带动k只取苗爪(6)夹持k株秧苗在多爪移动竖直平面H内沿移动路径E继续行进到达放苗区D，多爪分选移栽机构(5)带动k只取苗爪(6)同时完成向目标穴盘(9)的放苗；由于源穴盘(10)的列数m1和目标穴盘(9)的列数m2均为 取苗爪(6)的数量k的整数倍，对目标穴盘(9)的m2列×n2行的穴孔，多爪分选移栽机构(5)带动k只取苗爪(6)完成共m2×n2/k次放苗；
步骤五，每一多爪移栽周期中，存在苗坨(12)缺失、苗坨(12)受损、苗株(11)缺失、苗株(11)不健壮、苗株(11)受损的5类情况的取苗爪(6)所对应目标穴盘(9)的穴孔则出现秧苗的空缺，根据检测模块(7)的检测结果可对应得到目标穴盘(9)中出现秧苗空缺的穴孔的序号；
步骤六，在多爪分选移栽机构(5)带动k只取苗爪(6)实施秧苗的多爪移栽的同时，根据目标穴盘(9)中出现秧苗空缺的穴孔的序号，单爪补栽机构(4)从单爪补栽苗源区F内取出秧苗并完成对目标穴盘(9)中出现秧苗空缺的穴孔的补栽。
本发明具有有益效果。本发明通过多爪移栽的途中无停顿检测分选、多爪分选移栽与单爪补栽的同盘分区供苗和主从配合作业，在不改变现有多爪移栽系统主体结构与流程的基础上，实现了穴盘苗的成排移栽、无停歇检测分选、随栽随补的一机集成和极简高效作业，在大大提高多爪移栽系统的检测分选与补栽能力的同时，有效避免了分选移栽补栽成套化系统的复杂和低效缺陷。
附图说明
图1为本发明集成式自动分选移栽补栽系统总体结构示意图。
图2为本发明集成式自动分选移栽补栽系统水平面布局示意图。
图3为本发明集成式自动分选移栽补栽系统在移送竖直平面H的布局示意图。
图4为源穴盘的区域划分示意图。
图5为秧苗结构示意图。
图中：1.目标穴盘输送定位机构，2.弃苗箱，3.台架，4.单爪补栽机构，5.多爪分选移栽机构，6.取苗爪，7.检测模块，8.源穴盘输送定位机构，9.目标穴盘，10.源穴盘，11.苗株，12.苗坨，A.取苗区，B.检测区，C.弃苗区，D.放苗区，E.移动路径，F.单爪补栽苗源区，G.多爪移栽苗源区，H.多爪移动竖直平面，v.送进方向
具体实施方式
下面结合附图和具体实施例，对本发明的技术方案作进一步详细说明。
如图1和图2所示，本发明的集成式自动分选移栽补栽系统由目标穴盘输送定位机构1、弃苗箱2、台架3、单爪补栽机构4、多爪分选移栽机构5、取苗爪6、检测模块7和源穴盘输送定位机构8组成。源穴盘输送定位机构8与目标穴盘输送定位机构1平行固定于台架3上，并实现源穴盘10与目标穴盘9沿送进方向v的同向送进。源穴盘10具有m1列×n1行的穴孔，源穴盘10的穴孔距为p1；目标穴盘9具有m2列×n2行的穴孔，目标穴盘9的穴孔距为p2。源穴盘10被压杆水平固定于源穴盘输送定位机构8的输送带上，目标穴盘9被压杆水平固定于目标穴盘输送定位机构1的输送带上，且源穴盘10的列、目标穴盘9的列均和送进方向v平行。
如图1、图2和图3，多爪分选移栽机构5的下方安装k只取苗爪6，k只取苗爪6沿与送进方向v垂直的水平直线排列，源穴盘10的列数m1和目标穴盘9的列数m2均为取苗爪数k的整数倍。多爪分选移栽机构5内的竖直直线移动单元带动k只取苗爪6竖直移动，多爪分选移栽机构5内的水平直线移动单元带动k只取苗爪6在源穴盘输送定位机构8和目标穴盘输送定位机构1的上方水平横向移动，在k只取苗爪6在水平横向移动过程中由多爪分选移栽机构5内的展合单元使相邻取苗爪6的中心间距从源穴盘10的穴孔距p1变换为目标穴盘9的穴孔距p2。取苗爪6的竖直和水平移动构成移动路径E，移动路径E始终位于多爪移动竖直平面H内。
如图2和图3，k只取苗爪6从源穴盘10内取出秧苗后向目标穴盘9横向水平移送的过程中，依次经过取苗区A、检测区B、弃苗区C和放苗区D，源穴盘输送定位机构8上的源穴盘10位于取苗区A内、检测模块7位于检测区B内，弃苗箱2位于弃苗区C内、目标穴盘输送定位机构1上的目标穴盘9位于放苗区D内。
如图2和图3，沿送进方向v，检测模块7位于多爪移动竖直平面H的后方，k只取苗爪6的中心均位于多爪移动竖直平面H内，单爪补栽机构4的机座位于多爪移动竖直平面H的前方。
如图4，源穴盘10沿送进方向v的第一行穴孔作为单爪补栽苗源区F，而源穴盘10除沿送进方向v的第一行穴孔外的所有穴孔均作为多爪移栽苗源区G。
如图5，每一秧苗包括苗株11和苗坨12。
利用本发明的集成式自动分选移栽补栽系统，进行实现自动分选移栽补栽集成作业的方法为：
(1)多爪分选移栽机构5带动k只取苗爪6从多爪移栽苗源区G内沿送进方向v的最前一行同时取出k株秧苗；
(2)多爪分选移栽机构5带动k只取苗爪6夹持k株秧苗在多爪移动竖直平面H内沿移动路径E行进，k只取苗爪6夹持k株秧苗首先通过检测区B，通过过程中检测模块7依次完成对k株秧苗的检测，并判断出k只取苗爪6上是否存在苗坨12缺失、苗坨12受损、苗株11缺失、苗株11不健壮、苗株11受损的5类情况；
(3)多爪分选移栽机构5带动k只取苗爪6夹持k株秧苗在多爪移动竖直平面H内沿移动路径E继续行进通过弃苗区C，k只取苗爪6依次通过弃苗区C时将存在苗坨12受损、苗株11缺失、苗株11不健壮、苗株11受损的秧苗丢弃入弃苗箱2，从而在多爪移栽过程中实时同步完成秧苗的分选；
(4)多爪分选移栽机构5带动k只取苗爪6夹持k株秧苗在多爪移动竖直平面H内沿移动路径E继续行进到达放苗区D，多爪分选移栽机构5带动k只取苗爪6同时完成向目标穴盘9的放苗；由于源穴盘10的列数m1和目标穴盘9的列数m2均为取苗爪6的数量k的整数倍，对目标穴盘9的m2列×n2行的穴孔，多爪分选移栽机构5带动k只取苗爪6完成共m2×n2/k次放苗；
(5)每一多爪移栽周期中，存在苗坨12缺失、苗坨12受损、苗株11缺失、苗株11不健壮、苗株11受损的5类情况的取苗爪6所对应目标穴盘9的穴孔则出现秧苗的空缺，根据检测模块7的检测结果可对应得到目标穴盘9中出现秧苗空缺的穴孔的序号；
(6)在多爪分选移栽机构5带动k只取苗爪6实施秧苗的多爪移栽的同时，根据目标穴盘9中出现秧苗空缺的穴孔的序号，单爪补栽机构4从单爪补栽苗源区F内取出秧苗并完成对目标穴盘9中出现秧苗空缺的穴孔的补栽。

Claims (3)

  1. 一种穴盘苗集成式自动分选移栽补栽系统，其特征在于：由集成式自动分选移栽补栽系统由目标穴盘输送定位机构(1)、弃苗箱(2)、台架(3)、单爪补栽机构(4)、多爪分选移栽机构(5)、取苗爪(6)、检测模块(7)和源穴盘输送定位机构(8)组成；
    在源穴盘输送定位机构(8)与目标穴盘输送定位机构(1)之间安装有检测模块(7)和弃苗箱(2)，且检测模块(7)在靠近源穴盘输送定位机构(8)一侧，弃苗箱(2)在靠近目标穴盘输送定位机构(1)一侧；
    沿送进方向v，检测模块(7)位于多爪分选移栽机构(5)的后方，单爪补栽机构(4)的机座位于多爪分选移栽机构(5)的前方。
  2. 根据权利要求1所述的一种穴盘苗集成式自动分选移栽补栽系统，其特征在于：源穴盘(10)沿送进方向v的第一行穴孔作为单爪补栽苗源区F；源穴盘(10)除沿送进方向v的第一行穴孔外的所有穴孔均作为多爪移栽苗源区G。
  3. 根据权利要求1所述的一种穴盘苗集成式自动分选移栽补栽系统的实现方法，其特征在于包括以下动作步骤：
    步骤一，多爪分选移栽机构(5)带动k只取苗爪(6)从多爪移栽苗源区G内沿送进方向v的最前一行同时取出k株秧苗；
    步骤二，多爪分选移栽机构(5)带动k只取苗爪(6)夹持k株秧苗在多爪移动竖直平面H内沿移动路径E行进，k只取苗爪(6)夹持k株秧苗首先通过检测区B，通过过程中检测模块(7)依次完成对k株秧苗的检测，并判断出k只取苗爪(6)上是否存在苗坨(12)缺失、苗坨(12)受损、苗株(11)缺失、苗株(11)不健壮、苗株(11)受损5类情况之一；
    步骤三，多爪分选移栽机构(5)带动k只取苗爪(6)夹持k株秧苗在多爪移动竖直平面H内沿移动路径E继续行进通过弃苗区C，k只取苗爪(6)依次通过弃苗区C时将存在苗坨(12)受损、苗株(11)缺失、苗株(11)不健壮、苗株(11)受损的秧苗丢弃入弃苗箱(2)，从而在多爪移栽过程中实时同步完成秧苗的分选；
    步骤四，多爪分选移栽机构(5)带动k只取苗爪(6)夹持k株秧苗在多爪移动竖直平面H内沿移动路径E继续行进到达放苗区D，多爪分选移栽机构(5)带动k只取苗爪(6)同时 完成向目标穴盘(9)的放苗；由于源穴盘(10)的列数m1和目标穴盘(9)的列数m2均为取苗爪(6)的数量k的整数倍，对目标穴盘(9)的m2列×n2行的穴孔，多爪分选移栽机构(5)带动k只取苗爪(6)完成共m2×n2/k次放苗；
    步骤五，每一多爪移栽周期中，存在苗坨(12)缺失、苗坨(12)受损、苗株(11)缺失、苗株(11)不健壮、苗株(11)受损的5类情况的取苗爪(6)所对应目标穴盘(9)的穴孔则出现秧苗的空缺，根据检测模块(7)的检测结果可对应得到目标穴盘(9)中出现秧苗空缺的穴孔的序号；
    步骤六，在多爪分选移栽机构(5)带动k只取苗爪(6)实施秧苗的多爪移栽的同时，根据目标穴盘(9)中出现秧苗空缺的穴孔的序号，单爪补栽机构(4)从单爪补栽苗源区F内取出秧苗并完成对目标穴盘(9)中出现秧苗空缺的穴孔的补栽。
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