WO2021253605A1

WO2021253605A1 - Automatic photographing line for transparent root system cultivation containers

Info

Publication number: WO2021253605A1
Application number: PCT/CN2020/109496
Authority: WO
Inventors: 吴劼; 姜东�; 丁艳锋; 周国栋
Original assignee: 南京星土科技有限公司
Priority date: 2020-06-19
Filing date: 2020-08-17
Publication date: 2021-12-23
Also published as: CN111830763A

Abstract

An automatic photographing line for transparent root system cultivation containers, comprising a walking guide rail (5), a transport trolley (2), two rows of photographing station groups (1), and a transparent root system cultivation container buffer mechanism (3), wherein the walking guide rail (5) is provided between the two rows of photographing station groups (1); one end of the walking guide rail (5) extends into a region formed by two vertical supports (3-12) and horizontal supports (3-2); the transport trolley (2) moves back and forth between the photographing station groups (1) and the transparent root system cultivation container buffer mechanism (3) along the walking guide rail (5); and when two buffer racks (G, H) both rotate to the vertical supports (3-12), same are used for the transportation of transparent root system cultivation containers between the photographing station groups (1) and the two buffer racks (G, H). The automatic photographing line achieves the transportation of the transparent root system cultivation containers between the photographing station groups and the two buffer racks, and achieves the the high-throughput and automatic real-time monitoring and acquisition of the transparent root system cultivation containers.

Description

Automatic photographing line for transparent root cultivation container

Technical field

The invention relates to a root system dynamic growth photographing system, in particular to an automatic line for photographing a transparent root system cultivation container.

Background technique

Crop phenotype research is an important means to accelerate crop breeding and improve improvement. The traditional phenotypic data acquisition is mainly through manual measurement. Manual measurement is destructive sampling, which can obtain plant diameter, leaf length, leaf number and other indicators, which requires a lot of time, and the accuracy of measurement results is low, the work is cumbersome, and the workload is large, which greatly limits the efficiency of large-scale genetic breeding screening. At present, there are many academic institutions and companies dedicated to the research and development of phenotype equipment platforms. Based on the "Plant-to-Sensor" conveyor belt operation mode combined with the 360-degree imaging of a digital camera to collect crop phenotypic information. Conveyor belt-based transportation is easy to achieve flux expansion, but its supporting equipment is costly, especially for super-large crop phenotype platforms, the cost of all configuration of the conveying system is extremely high. The use of a modular camera system can effectively reduce the number of configurations of the automatic transmission system, and can greatly reduce the construction cost. Therefore, based on the modular design concept, the starting point is to obtain underground crop phenotype information from all angles and angles, and develop a high-throughput and automated crop phenotype imaging platform to meet the needs of large-scale phenotypic data acquisition and crop breeding The requirements of scientific research.

technical problem

The invention aims to provide an automatic line for taking pictures of a transparent root cultivation container capable of high-throughput and automatic imaging of the transparent root cultivation container.

Technical solutions

The specific technical scheme of the present invention is as follows.

... An automatic photographing line for transparent root cultivation containers includes a walking guide rail, a transport trolley, two rows of groups of photographing stations, and a transparent root cultivation container buffer mechanism.

The transparent root cultivation container buffer mechanism includes a horizontal bracket, two vertical brackets on the same side of the horizontal bracket, two symmetrically arranged buffer racks for placing the transparent root cultivation container, and the two vertical brackets are respectively connected to the horizontal bracket. At the two ends, one ends of the two buffer racks are respectively rotatably connected at the connection between the vertical support and the horizontal support, so that both the two buffer racks can rotate between the vertical support and the horizontal support.

The walking guide rail is arranged between two rows of photographing station groups, one end of the walking guide rail extends into the area formed by the two vertical supports and the horizontal support, and the transport trolley is cultivated along the walking guide rail in the photographing station group and the transparent root system The container buffer mechanism moves back and forth, and when the two buffer shelves are both rotated to the vertical support, it is used for the transportation of the transparent root cultivation container between the photographing station group and the two buffer shelves.

... Preferably, the transparent root cultivation container includes a cultivation base, a cultivation container body, a light-shielding cover and a light-shielding cover.

The cultivation container body includes a transparent inner tube, a transparent outer tube, and a transparent top cover. The transparent outer tube is open up and down. The transparent inner tube and the transparent outer tube are nested with each other and fixed on the cultivation base. The transparent inner tube is provided with a transparent top. The top cover, the transparent inner tube and the transparent outer tube form a root ring-shaped cultivation space, a light-shielding cover is arranged above the root system ring-shaped cultivation space, the cultivation base is provided with a central hole communicating with the inner cavity of the transparent inner tube, and the cultivation base There is a water box underneath.

The shade is arranged between the shade cover and the cultivation base, the shade includes a left shade and a right shade that are detachably connected, the left shade and the right shade form a hollow rectangular structure, and the cultivation container body is arranged in the cavity Inside.

... Preferably, both the horizontal bracket and the vertical bracket are provided with a connecting piece that is detachably connected to the other end of the buffer rack, and the connecting piece includes a driving device, a positioning guide rod connected to the driving device, and the driving device drives the positioning guide rod to rise Or down, the other end of the buffer rack is provided with a positioning guide sleeve matching the positioning guide rod.

Preferably, the cache rack includes an upper cache rack, a lower cache rack, and a reinforcing plate arranged between the upper cache rack and the lower cache rack.

The rotating end of the buffer rack is connected with a rotating device, the rotating device includes a rotating support shaft, a driving mechanism that drives the rotating support shaft to rotate; the rotating support shaft includes a rotating shaft, an upper support plate and a lower support plate, and an upper support plate , The lower support plate is arranged between the upper buffer rack and the lower buffer rack and is respectively connected with the upper buffer rack and the lower buffer rack. One end of the rotating shaft is connected with the output end of the driving mechanism, and the other end is connected with the upper support plate and the lower support plate. For connection, reinforcing ribs are arranged between the upper support plate and the lower support plate.

... Preferably, a universal wheel is provided at the bottom of the buffer rack, and a guide rail for the universal wheel to travel when the buffer rack rotates is provided on the inner side of the connection between the horizontal support and the vertical support.

... Preferably, the transport trolley includes a trolley support, and a workbench that is arranged on the trolley support and can move up and down along the trolley support. The left and right sides of the workbench are provided with a left grasping device and a right grasping device for grasping the transparent root cultivation container. Picking device, a drive mechanism for driving the left grabbing device and the right grabbing device to move toward or away from each other synchronously is installed on the workbench.

... Preferably, the left grasping device includes a left base plate, a left moving frame, and two left supporting claws. The left moving frame is installed on the side of the left base plate close to the center of the worktable, and the two left supporting claws are symmetrically arranged on the left base plate. The other side forms a horizontal movement pair with the left base plate. The left base plate is equipped with a left drive mechanism for driving the two left claws to move toward or away from each other synchronously.

The right grasping device includes a right base plate, a right moving frame, and two right supporting claws. The right moving frame is installed on one side of the right base plate close to the center of the workbench, and the two right supporting claws are symmetrically arranged on the other side of the right base plate. And it forms a horizontal moving pair with the right base plate. The right base plate is equipped with a right drive mechanism for driving the two right pawls to move toward or away from each other synchronously.

... Preferably, the left mobile frame and the right mobile frame are slidably connected to the sliding rails of the workbench, and when the left mobile frame and the right mobile frame move toward each other synchronously, the left mobile frame moves into the right mobile frame.

Preferably, a trolley roof is provided above the workbench, a driving device is provided on the trolley roof, and the output end of the driving device is connected to one end of a ball screw, and the ball screw is screwed with the worktable to form a ball screw pair. The other end of the screw rod is connected with the trolley support through a bearing, and a guide rod is arranged between the roof of the trolley and the trolley support.

... Preferably, the workbench includes 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.

Beneficial effect

The invention realizes the transportation of the transparent root cultivation container between the photographing station group and the two buffer racks by reciprocating the transport trolley along the walking guide rail between the photographing station group and the transparent root cultivation container buffer rack, and the photographing station The group took pictures of the transparent root cultivation container at the same time to realize the high-throughput, automatic real-time monitoring and acquisition of the transparent root cultivation container. The entire system is based on a modular and high-efficiency design concept to achieve automatic grabbing and transportation of transparent root cultivation containers, automatic photographing, meeting high-throughput and automatic photographing requirements, and improving photographing efficiency. The invention adopts the transportation trolley to move along the walking guide rail to complete the transportation of the transparent root cultivation container, the system structure is light and simple, and the cost is low compared with the transportation mode of the conveyor belt.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of the automatic photographing line of the transparent root cultivation container of the present invention.

Fig. 2 is a schematic diagram of the structure of the transparent root cultivation container of the present invention.

Fig. 3 is a front view of Fig. 2.

Fig. 4 is a cross-sectional view of A-A in Fig. 3.

Fig. 5 is a top view of Fig. 3.

Fig. 6 is a schematic diagram of the structure of the transparent root cultivation container buffer mechanism of the present invention.

Fig. 7 is a schematic diagram of the structure of the buffer rack and the rotating device of the present invention.

Fig. 8 is a schematic diagram of the structure of the transport trolley according to the present invention.

Fig. 9 is a schematic diagram of the structure of the transport trolley according to the present invention after the roof of the trolley is removed.

Embodiments of the present invention

Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to understand the purpose, features and advantages of the present invention more clearly. It should be understood that the embodiments shown in the drawings do not limit the scope of the present invention, but merely illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all the prior art.

... 1 and 6, the present invention provides a transparent root cultivation container photographing automatic line, including a walking guide 5, a transport trolley 2, two rows of groups of photographing station groups 1, a transparent root cultivation container buffer mechanism 3.

The transparent root cultivation container buffer mechanism 3 includes a horizontal bracket 3-2, two vertical brackets 3-12 located on the same side of the horizontal bracket 3-2, two symmetrically arranged buffer racks G for placing the transparent root cultivation container, and Cache rack H, two vertical racks 3-12 are respectively connected to both ends of the horizontal rack 3-2, one end of the cache rack G and the cache rack H are respectively rotatably connected to the vertical rack 3-12 and the horizontal rack 3- The connection of 2 enables the buffer rack G and the buffer rack H to rotate between the vertical support 3-12 and the horizontal support 3-2.

The walking guide rail 5 is arranged between two rows of grouped photographing station groups 1, one end of the walking guide rail 5 extends to the area formed by the two vertical supports 3-12 and the horizontal support 3-2, and the transport trolley 2 travels along The guide rail 5 reciprocates between the camera station group 1 and the transparent root cultivation container buffer mechanism 3. When the buffer rack G and the buffer rack H rotate to the vertical support 3-12, it is used for the transparent root cultivation container 4 in the camera station Movement between group 1 and cache rack G and cache rack H.

Further, referring to FIGS. 2 to 5, the transparent root 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 includes a transparent inner tube 4-8, a transparent outer tube 4-7, and a transparent top cover 4-6. The transparent outer tube 4-7 is open up and down, and the transparent inner tube 4-8 and the transparent outer tube 4-7 are mutually Nested and fixed on the cultivation base 4-4, the transparent top cover 4-6 is set on the top of the transparent inner tube 4-8, and the root ring-shaped cultivation space is formed between the transparent inner tube 4-8 and the transparent outer tube 4-7. A light-shielding cover 4-2 is set above the root ring-shaped cultivation space, and a central hole (not shown in the figure) communicating with the inner cavity of the transparent inner tube 4-8 is also opened on the cultivation base 4-4. The cultivation base 4-4 Four corners are provided with positioning holes 4-9, and a water receiving box 4-5 is provided under the cultivation base 4-4. When in use, soil is filled in the root ring-shaped cultivation space, and seeds are sown at a depth of 3 to 4 cm in the soil, and the crop roots grow in the soil. The shading hood is arranged between the shading cover 4-2 and the cultivation base 4-4. The shading hood includes a left shading hood 4-3 and a right shading hood 4-1 which are detachably connected, and a left shading hood 4-3 and a right shading hood 4 -1 forms a hollow rectangular structure, and the cultivation container body is arranged in the cavity. Pull the left lens hood 4-3 and the right lens hood 4-1 strongly to separate the left lens hood 4-3 and the right lens hood 4-1, and the left lens hood 4-3 and the right lens hood 4-1 are close The left lens hood 4-3 and the right lens hood 4-1 can be snapped together when squeezed hard. When it is necessary to image the root system of the plant in the cultivation container, simply disassemble the left and right hoods. After imaging, snap the left hood 4-3 and the right hood 4-1 together. .

Preferably, the cultivation base 4-4 is provided with a through hole (not shown in the figure) communicating with the annular cultivation space of the root system to facilitate the seepage of excess water from the bottom of the transparent outer tube 4-7 and the transparent inner tube 4-8. Avoid stagnant water at the bottom of the cultivation container; the excess water seeping from the bottom of the transparent outer tube 4-7 and the transparent inner tube 4-8 flows out and enters the water receiving box 4-5 to avoid soiling the ground.

... Further, referring to Figures 1 and 6, the horizontal bracket 3-2 and the vertical bracket 3-12 are both provided with a connecting piece that is detachably connected to the other end of the buffer rack G and the buffer rack H, and the connecting piece includes a drive Device 3-5, the positioning guide rod 3-8 connected with the driving device 3-5, the driving device 3-5 is preferably an air cylinder; the air cylinder 3-5 drives the positioning guide rod 3-8 to rise or fall, the buffer rack G, the buffer rack The other end of H is provided with a positioning guide sleeve 3-3 matching the positioning guide rod 3-8. When the other end of the buffer rack G or the buffer rack H rotates to the horizontal bracket 3-2 or the vertical bracket 3-12, the cylinder 3-5 on the horizontal bracket 3-2 or the vertical bracket 3-12 drives the positioning guide rod 3-8 rises, the positioning guide rod 3-8 is inserted into the positioning guide sleeve 3-3 at the other end of the buffer rack G or the buffer rack H, and the buffer rack G or the buffer rack H is fixed on the horizontal bracket 3-2 or the vertical bracket 3- 12, when the buffer rack G or the buffer rack H needs to rotate, the cylinder 3-5 on the horizontal support 3-2 or the vertical support 3-12 drives the positioning guide rod 3-8 down, and the positioning guide rod 3-8 exits the buffer The positioning guide sleeve 3-3 at the other end of the frame G or the buffer frame H, the buffer frame G or the buffer frame H can be rotated. Preferably, the transverse support 3-2 of the present invention is provided with a connecting piece, and when the buffer rack G or the buffer rack H rotates to the transverse support 3-2, the connecting piece is connected with the other end of the buffer rack G or the buffer rack H.

... Further, referring to Figures 6 and 7, the cache rack G and the cache rack H both include an upper cache rack 3-18, a lower cache rack 3-19, and one of the upper cache rack 3-18 and the lower cache rack 3-19. Between the reinforcement board 3-20. The rotating ends of the buffer rack G and the buffer rack H are connected to the rotating device 3-1. The rotating device 3-1 includes a rotating support shaft, and a driving mechanism 3-13 that drives the rotating support shaft to rotate. The driving mechanism 3-13 is preferably a geared motor . The rotating support shaft includes a rotating shaft 3-14, an upper support plate 3-17 and a lower support plate 3-15. The upper support plate 3-17 and the lower support plate 3-15 are provided on the upper buffer rack 3-18 and the lower buffer rack 3 -19 and respectively connected to the upper buffer rack 3-18 and the lower buffer rack 3-19, one end of the rotating shaft 3-14 is connected to the output end of the geared motor 3-13, and the other end is connected to the upper support plate 3-17 It is connected with the lower support plate 3-15, and a reinforcing rib 3-16 is arranged between the upper support plate 3-17 and the lower support plate 3-15. After adopting the above structure, 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 a larger load; even if the rotating arms of the cache rack G and the cache rack H are longer and the load is large It can still rotate smoothly, which improves the stability of the cache rack G and the cache rack H when rotating.

... Further, referring to Figures 6 and 7, the bottom of the buffer rack G and the buffer rack H are provided with universal wheels 3-4, and the inner side of the connection between the horizontal support 3-2 and the vertical support 3-12 is used for the buffer rack G or the buffer. When the frame H rotates, the universal wheel 3-4 travels on the guide rail 3-11. There are two universal wheels 3-4, which are located on both sides of the bottom of the buffer rack to provide support when the buffer rack rotates. Without affecting the rotation of the buffer rack, it can still be stable even if the rotating arm of the buffer rack is longer and the load is large. Spin.

... Further, referring to Figures 6 and 7, the top of the non-rotating ends of the buffer rack G and the buffer rack H are provided with a plurality of positioning seats for placing transparent root cultivation containers, and each positioning seat includes four supporting pins 3-9, The four corners of the cultivation base 4-4 are placed on the four support pins 3-9, and the two support pins 3-9 on the diagonal position of the positioning base are provided with positioning holes 4-9 on the cultivation base 4-4. Matching positioning pins 3-10. After adopting the above structure, not only can the transparent root cultivation container 4 be supported, the positioning pins 3-10 can also be positioned when the transparent root cultivation container 4 is placed; and the structure is simple and the cost is low. Preferably, two positioning seats are provided on the top of the non-rotating end of the buffer rack G and the buffer rack H.

... Further, referring to Figure 6, the lateral support 3-2 and the vertical support 3-12 are both provided with blocking plates 3-7 to prevent the buffer rack G and the buffer rack H from rotating to the horizontal support 3-2 or the vertical support 3 -12 outside; there is an inductive proximity switch 3-6 next to the blocking plate 3-7, which is used to detect the rotation distance of the buffer rack G and the buffer rack H.

... Further, referring to Figures 8 and 9, the transport trolley 2 includes a trolley support 2-1, a workbench that is arranged on the trolley support 2-1 and can move up and down along the trolley support 2-1, and the left and right sides of the workbench are provided with For the left grasping device E and right grasping device F for grasping the transparent root cultivation container 4, a drive mechanism for driving the left grasping device E and the right grasping device F to move toward or away from each other synchronously is installed on the workbench ( Not shown in the figure). The driving mechanism is preferably a motor. The motor drives the left grabbing device E and the right grabbing device F to move toward each other or back to move synchronously, so that the left grabbing device E and the right grabbing device F are retracted and extended at the same time. The transparent root cultivation container 4 in the photographing station group 1 can be clamped or put down at the same time, or the buffer rack G and the buffer rack H can be rotated to the vertical support 3-12, the transparent root system on the buffer rack G and the buffer rack H can be cultivated The container 4 can be clamped or put down at the same time, which improves work efficiency and saves time and cost.

... Further, referring to Figures 8 and 9, the left grasping device E includes a left base plate 2-18, a left moving frame 2-17, and two left claws 2-19. The left moving frame 2-17 is mounted on the left base plate 2- 18 One side close to the center of the workbench, two left pawls 2-19 are symmetrically arranged on the other side of the left base 2-18 and form a horizontal movement pair with the left base 2-18. The left base 2-18 is installed for driving The left driving mechanism 2-12 for the two left pawls 2-19 to move towards each other or back to move synchronously. The right gripping device F includes the right base plate 2-15, the right moving frame 2-16, and two right claws 2-14. The right moving frame 2-16 is installed on the right base plate 2-15 near the center of the workbench. The right pawl 2-14 is symmetrically arranged on the other side of the right base plate 2-15 and forms a horizontal movement pair with the right base plate 2-15. The right base plate 2-15 is installed to drive the two right pawls 2-14 to face each other synchronously. Right drive mechanism for movement or back movement 2-11. The left driving mechanism 2-12 and the right driving mechanism 2-11 are preferably air cylinders. The air cylinder drives the two left pawls 2-19 or the two right pawls 2-14 to move toward each other or back to each other synchronously, so as to realize a transparent root cultivation container 4's gripping or putting down.

... Further, referring to Figures 8 and 9, slide rails 2-20 parallel to each other are provided on the workbench, and the drive screw 2-21 is arranged in the middle of and parallel to the slide rails 2-20, and the slider (not shown in the figure) Out) pass through the sliding rail 2-20, the left movable frame 2-17 and the right movable frame 2-16 are slidably connected to the sliding rail 2-20 of the workbench through a sliding block (not shown in the figure); The drive screw 2-21 is a positive and negative screw, the positive and negative screw 2-21 is connected with the output shaft of the motor (not shown in the figure), and the left moving frame 2-17 and the right moving frame 2-16 pass through respectively The first nut fixing seat 2-22 and the second nut fixing seat 2-13 are connected with the positive and negative threaded screws 2-21. When working, the motor drives the positive and negative screw 2-21 to rotate, and the positive and negative screw 2-21 drives the slider to move linearly on the slide rail 2-20, thereby driving the left moving frame 2-17 and the right moving frame 2 -16 Synchronous movement towards each other or back movement. When the left mobile frame 2-17 and the right mobile frame 2-16 move towards each other synchronously, the left mobile frame 2-17 moves into the right mobile frame 2-16, which saves space and makes the structure more compact.

... Further, referring to Figures 8 and 9, a trolley roof plate 2-7 is provided above the workbench, and a drive device 2-5 is provided on the trolley roof plate 2-7. The drive device 2-5 is preferably a geared motor, and a geared motor 2- 5 Install on the motor support 2-6, the output end of the geared motor 2-5 is connected with one end of the ball screw 2-3, the ball screw 2-3 is screwed with the worktable to form a ball screw pair, the ball screw The other end of 2-3 is connected to the trolley support 2-1 through the bearing 2-2. There are guide rods 2-10 between the roof plate 2-7 and the trolley support 2-1. There are four guide rods 2-10. The up and down movement of the worktable is guided, and the reduction motor 2-5 drives the ball screw 2-3 to rotate, thereby driving the up and down movement of the worktable. Improve the response speed and stability of the worktable when moving up and down, and significantly reduce production and maintenance costs.

... Further, referring to Figures 8 and 9, the workbench includes a rail base plate 2-8 and a rail top plate 2-4 in order from top to bottom. The left grabbing device E and the right grabbing device F are arranged on the rail base plate 2-8, There is a reinforcing plate 2-9 between the guide rail base plate 2-8 and the guide rail top plate 2-4; it is used to ensure the rigidity and strength of the workbench.

... Further, a photoelectric switch (not shown in the figure) is provided on the outer side of the sliding rail 2-20 for detecting the movement trajectory of the left grabbing device E and the right grabbing device F.

Refer to Figure 1 for a detailed description of the working process of the present invention. In Figure 1, the cache station II and the cache station IV correspond to the two positioning seats on the cache rack G, and the cache station I and the cache station III correspond to the cache rack. The two positioning seats on H; take the photo-taking station group as an example, the specific working process is as follows.

The first step: the loading of the cache rack G and the cache rack H.

The buffer rack G is located on the vertical support 3-12, and the geared motor 3-13 is controlled to drive the buffer rack H to rotate to the horizontal support 3-2 until the positioning guide sleeve 3-3 on the buffer rack H is located on the horizontal support 3-2 Directly above the positioning guide rod 3-8; control the cylinder 3-5 on the transverse bracket 3-2 to drive the positioning guide rod 3-8 up until the positioning guide rod 3-8 on the transverse bracket 3-2 is inserted into the buffer rack H In the positioning guide sleeve 3-3; use a manipulator to place the transparent root cultivation container to be photographed on the buffer station I; control the cylinder 3-5 on the horizontal bracket 3-2 to drive the positioning guide rod 3-8 down until the horizontal bracket 3 The positioning guide rod 3-8 on the -2 exits from the positioning guide sleeve 3-3 of the buffer rack H; the geared motor 3-13 is controlled to drive the buffer rack H to rotate to the vertical support 3-12 until the position on the buffer rack H The positioning guide sleeve 3-3 is located directly above the positioning guide rod 3-8 on the vertical support 3-12; the air cylinder 3-5 on the vertical support 3-12 drives the positioning guide 3-8 up to the vertical support The positioning guide rod 3-8 on the 3-12 is inserted into the positioning guide sleeve 3-3 on the buffer rack H. Control the geared motor 3-13 to drive the buffer rack G to rotate to the horizontal bracket 3-2 until the positioning guide sleeve 3-3 on the buffer rack G is directly above the positioning guide rod 3-8 on the horizontal bracket 3-2; control the horizontal direction The cylinder 3-5 on the bracket 3-2 drives the positioning guide rod 3-8 up, until the positioning guide rod 3-8 on the transverse support 3-2 is inserted into the positioning guide sleeve 3-3 on the buffer rack G; The transparent root cultivation container to be photographed is placed on the buffer station II, and the cylinder 3-5 on the horizontal support 3-2 is controlled to drive the positioning guide 3-8 down until the positioning guide 3-8 on the horizontal support 3-2 is removed from The positioning guide sleeve 3-3 of the buffer rack G exits; the geared motor 3-13 is controlled to drive the buffer rack G to rotate to the vertical support 3-12 until the positioning guide sleeve 3-3 on the buffer rack G is located on the vertical support 3 -12 is directly above the positioning guide rod 3-8; control the cylinder 3-5 on the vertical support 3-12 to drive the positioning guide 3-8 up until the positioning guide 3-8 on the vertical support 3-12 Insert into the positioning guide sleeve 3-3 on the buffer rack G. Finish the loading of the cache rack G and the cache rack H.

The second step: transport the transparent root cultivation containers to be photographed on the buffer rack G and the buffer rack H to the photographing station B and the photographing station A.

Control the transport trolley 2 to move along the walking guide 5 toward the transparent root cultivation container buffer mechanism 3 until it enters the area formed by the two vertical supports 3-12 and the horizontal supports 3-2; control the reduction motor 2-5 to drive the workbench up and down Move until the left grasping device E and right grasping device F of the worktable are located below the buffer station II and the buffer station I; at the same time control the cylinder 2-12 to drive the two left pawls 2-19 and the cylinder 2-11 Drive the two right claws 2-14 to move backwards synchronously; control the transport trolley 2 to move along the walking rail 5, and control the motor on the worktable to drive the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing The device F moves towards each other or backwards synchronously until the two left pawls 2-19 and the two right pawls 2-14 are respectively located on the buffer station II and the buffer station I. The transparent root cultivation container 4 cultivation base 4-4 Immediately below; control the reduction motor 2-5 to drive the worktable upward, and at the same time control the cylinder 2-12 to drive the two left claws 2-19, and the cylinder 2-11 to drive the two right claws 2-14 to move synchronously. Two left pawls 2-19 and two right pawls 2-14 respectively grip the cultivation base 4-4 of the transparent root cultivation container 4 on the buffer station II and the buffer station I; the motor drive on the control workbench The positive and negative screw 2-21 drives the left grabbing device E and the right grabbing device F to move towards each other synchronously, until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent roots that are clamped by them are cultivated. The container is located on the workbench.

Control the transport trolley 2 to move along the walking rail 5 to the direction of the camera station B and the camera station A until the two left pawls 2-19, the two right pawls 2-14 and the transparent root cultivation container clamped by them are located Between photographing station B and photographing station A, control the reduction motor 2-5 to drive the worktable to move up and down until the two left pawls 2-19, the two right pawls 2-14 and the transparent roots that are clamped by them are cultivated The container is located above the photographing station B and the photographing station A; the motor on the control workbench drives the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing device F to move back simultaneously, and control the transport trolley at the same time 2 Move along the walking guide 5 until the transparent root cultivation containers clamped by the two left pawls 2-19 and the two right pawls 2-14 are located directly above the photographing station B and the photographing station A; control the decelerating motor 2-5 drives the worktable to move downwards, while controlling the cylinder 2-12 to drive the two left claws 2-19, and the cylinder 2-11 to drive the two right claws 2-14 to move backwards simultaneously, and the two left claws 2 -19. Two right paws 2-14 respectively place the transparent root cultivation container on the photographing station B and photographing station A; the photographing station B and the photographing station A respectively take pictures of the transparent root cultivation container above them .

When the transport trolley 2 transports the transparent root cultivation container 4 to the photographing station B and the photographing station A, the buffer rack G and the buffer rack H are loaded with reference to the first step.

After the transport trolley 2 places the transparent root cultivation container on the photographing station B and the photographing station A, the transport trolley 2 is controlled to move along the walking guide 5 toward the transparent root cultivation container buffer mechanism 3.

The third step: transport the transparent root cultivation container to be photographed on the buffer rack G and the buffer rack H to the photographing station D and the photographing station C.

Refer to the second step to pick up the transparent root cultivation container located on the buffer station II and the buffer station I, and send it to the photographing station D and the photographing station C for taking pictures.

When the transport trolley 2 transports the transparent root cultivation container 4 to the photographing station D and the photographing station C, the buffer rack G and the buffer rack H are loaded with reference to the first step.

The fourth step: transport the transparent root cultivation container that has been photographed on the camera station B and the camera station A back to the buffer rack G and the buffer rack H.

Control the transport trolley 2 to move along the walking rail 5 to the camera station B and the camera station A until the left grabbing device E and the right grabbing device F are located between the camera station B and the camera station A, and control the decelerating motor 2-5 Drive the workbench to move up and down until the left grabbing device E and the right grabbing device F are located below the camera station B and camera station A; control the cylinder 2-12 to drive the two left claws 2-19, cylinder 2-11 drives the two right claws 2-14 to move backwards synchronously; controls the motor on the workbench to drive the positive and negative screw 2-21 to drive the left grasping device E and the right grasping device F to move backwards simultaneously, at the same time Control the transport trolley 2 to move along the walking guide 5 until the two left pawls 2-19 and the two right pawls 2-14 are respectively located on the transparent root cultivation container cultivation base 4-4 on the photographing station B and the photographing station A. Directly below; control the decelerating motor 2-5 to drive the worktable upward, and at the same time control the cylinder 2-12 to drive the two left claws 2-19, and the cylinder 2-11 to drive the two right claws 2-14 to move in opposite directions simultaneously. Two left pawls 2-19 and two right pawls 2-14 respectively grip the cultivation base 4-4 of the transparent root cultivation container on the photographing station B and photographing station A; the motor on the control workbench drives the front and back The screw 2-21 drives the left grabbing device E and the right grabbing device F to move towards each other synchronously, until the two left supporting claws 2-19, the two right supporting claws 2-14 and the transparent root cultivation container clamped by them are located On the workbench.

Control the transport trolley 2 to move along the walking guide 5 toward the transparent root cultivation container buffer mechanism 3 until it enters the area formed by the two vertical supports 3-12 and the horizontal supports 3-2; control the reduction motor 2-5 to drive the workbench up and down Move until the two left claws 2-19, the two right claws 2-14 and the transparent root cultivation container clamped by the workbench are located above the buffer station IV and the buffer station III; The motor drives the positive and negative screw 2-21 to drive the left grabbing device E and the right grabbing device F to move backwards synchronously, and at the same time control the transport trolley 2 to move along the walking rail 5 until the two left pawls 2-19, two The positioning holes 4-9 on the cultivation base 4-4 of the transparent root cultivation container clamped by the right pawl 2-14 are respectively located directly above the positioning pins 3-10 of the buffer station IV and the buffer station III; control the reduction motor 2- 5 Drive the worktable to move downward, and control the cylinder 2-12 to drive the two left claws 2-19, and the cylinder 2-11 to drive the two right claws 2-14 to move backwards simultaneously, and the two left claws 2-19. , The two right claws 2-14 respectively insert the positioning holes 4-9 on the cultivation base 4-4 of the transparent root cultivation container into the positioning pins 3-10.

Step 5: Transport the transparent root cultivation containers to be photographed on the buffer rack G and the buffer rack H to the photographing station B and the photographing station A.

Refer to the second step to transport the transparent root cultivation containers to be photographed on the buffer rack G and the buffer rack H to the photographing station B and the photographing station A.

Step 6: Transport the transparent root cultivation container that has been photographed at the camera station D and the camera station C back to the buffer rack G and the buffer rack H.

Refer to the fourth step to transport the transparent root cultivation containers that have been photographed on the photographing station D and the photographing station C back to the buffer rack G and the buffer rack H.

While the transport trolley 2 is performing the fifth and sixth steps, the buffer rack G and the buffer rack H perform unloading of the transparent root cultivation container that has been photographed, and loading of the transparent root cultivation container to be photographed.

The steps for the buffer rack G and the buffer rack H to unload the transparent root cultivation container that has been photographed and load the transparent root cultivation container to be photographed are as follows.

1. The geared motor 3-13 drives the buffer rack H to rotate to the transverse support 3-2 until the positioning guide sleeve 3-3 on the buffer rack H is directly above the positioning guide rod 3-8 on the transverse support 3-2; control The cylinder 3-5 on the transverse support 3-2 drives the positioning guide rod 3-8 up until the positioning guide rod 3-8 on the transverse support 3-2 is inserted into the positioning guide sleeve 3-3 on the buffer rack H, using a robot Remove the transparent root cultivation container that has been photographed on the buffer station III, and then place the transparent root cultivation container to be photographed on the buffer station I; control the cylinder 3-5 on the lateral support 3-2 to drive the positioning guide rod 3- 8 Lower until the positioning guide rod 3-8 on the horizontal support 3-2 exits from the positioning guide sleeve 3-3 of the buffer rack H; control the reduction motor 3-13 to drive the buffer rack H to rotate to the vertical support 3-12 , Until the positioning guide sleeve 3-3 on the buffer rack H is located directly above the positioning guide rod 3-8 on the vertical support 3-12; control the cylinder 3-5 on the vertical support 3-12 to drive the positioning guide rod 3- 8 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 buffer rack H.

2. Control the geared motor 3-13 to drive the buffer rack G to rotate to the horizontal bracket 3-2 until the positioning guide sleeve 3-3 on the buffer rack G is directly above the positioning guide rod 3-8 on the horizontal bracket 3-2; Control the cylinder 3-5 on the transverse support 3-2 to drive the positioning guide rod 3-8 up until the positioning guide rod 3-8 on the transverse support 3-2 is inserted into the positioning guide sleeve 3-3 on the buffer rack G; The manipulator removes the transparent root cultivation container that has been photographed on the buffer station IV, and then places the transparent root cultivation container to be photographed on the buffer station II; controls the cylinder 3-5 on the lateral support 3-2 to drive the positioning guide 3 -8 descend until the positioning guide rod 3-8 on the horizontal support 3-2 exits from the positioning guide sleeve 3-3 of the buffer rack G; control the geared motor to drive the buffer rack G to rotate to the vertical support 3-12 until The positioning guide sleeve 3-3 on the buffer rack G is located directly above the positioning guide rod 3-8 on the vertical support 3-12; the cylinder 3-5 on the vertical support 3-12 is controlled to drive the positioning guide 3-8 up , Until the positioning guide rod 3-8 on the vertical support 3-12 is inserted into the positioning guide sleeve 3-3 on the buffer rack G. Finish the unloading of the transparent root cultivation container that has been photographed in the buffer rack G and the buffer rack H, and the loading of the transparent root cultivation container to be photographed.

This cycle runs.

The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims

An automatic photographing line for transparent root cultivation containers, which is characterized by comprising a walking guide rail, a transport trolley, two rows of grouped photographing stations, and a transparent root cultivation container buffer mechanism;

The transparent root cultivation container buffer mechanism includes a horizontal bracket, two vertical brackets on the same side of the horizontal bracket, two symmetrically arranged buffer racks for placing the transparent root cultivation container, and the two vertical brackets are respectively connected to the horizontal bracket. At both ends, one end of the two cache racks is respectively rotatably connected at the connection between the vertical support and the horizontal support, so that both the two cache racks can rotate between the vertical support and the horizontal support;

The walking guide rail is arranged between two rows of photographing station groups, one end of the walking guide rail extends into the area formed by the two vertical supports and the horizontal support, and the transport trolley is cultivated along the walking guide rail in the photographing station group and the transparent root system The container buffer mechanism moves back and forth, and when the two buffer shelves are both rotated to the vertical support, it is used for the transportation of the transparent root cultivation container between the photographing station group and the two buffer shelves.
The automatic line for taking pictures of a transparent root cultivation container according to claim 1, wherein the transparent root cultivation container comprises a cultivation base, a cultivation container body, a light-shielding cover and a light-shielding cover;

The cultivation container body includes a transparent inner tube, a transparent outer tube, and a transparent top cover. The transparent outer tube is open up and down. The transparent inner tube and the transparent outer tube are nested with each other and fixed on the cultivation base. The transparent inner tube is provided with a transparent top. The top cover, the transparent inner tube and the transparent outer tube form a root ring-shaped cultivation space, a light-shielding cover is arranged above the root system ring-shaped cultivation space, the cultivation base is provided with a central hole communicating with the inner cavity of the transparent inner tube, and the cultivation base There is a water box underneath;

The shade is arranged between the shade cover and the cultivation base, the shade includes a left shade and a right shade that are detachably connected, the left shade and the right shade form a hollow rectangular structure, and the cultivation container body is arranged in the cavity Inside.
The automatic photo-taking line for a transparent root cultivation container according to claim 1, characterized in that, both the horizontal support and the vertical support are provided with a connecting piece that is detachably connected to the other end of the buffer rack, and the connecting piece includes a driving device, and The positioning guide rod connected with the driving device, the driving device drives the positioning guide rod to rise or fall, and the other end of the buffer rack is provided with a positioning guide sleeve matching the positioning guide rod.
The automatic photographing line for transparent root cultivation containers according to claim 1, wherein the buffer rack comprises an upper buffer rack, a lower buffer rack, and a reinforcing plate arranged between the upper buffer rack and the lower buffer rack;

The rotating end of the buffer rack is connected with a rotating device, the rotating device includes a rotating support shaft, a driving mechanism that drives the rotating support shaft to rotate; the rotating support shaft includes a rotating shaft, an upper support plate and a lower support plate, and an upper support plate , The lower support plate is arranged between the upper buffer rack and the lower buffer rack and is respectively connected with the upper buffer rack and the lower buffer rack. One end of the rotating shaft is connected with the output end of the driving mechanism, and the other end is connected with the upper support plate and the lower support plate. For connection, reinforcing ribs are arranged between the upper support plate and the lower support plate.
The transparent root cultivation container photographing automatic line according to claim 1, wherein the bottom of the buffer rack is provided with a universal wheel, and the inner side of the connection between the horizontal support and the vertical support is provided with a universal wheel for walking when the buffer rack rotates. guide.
The automatic photo-taking line for transparent root cultivation containers according to any one of claims 1 to 5, wherein the transport trolley includes a trolley support, a workbench that is arranged on the trolley support and can move up and down along the trolley support, and The left and right sides are provided with a left grabbing device and a right grabbing device for grabbing the transparent root cultivation container, and a driving mechanism for driving the left grabbing device and the right grabbing device to move toward each other or back in synchronization is installed on the workbench.
The automatic line for photographing transparent root cultivation containers according to claim 6, wherein the left grasping device comprises a left base plate, a left moving frame, and two left claws, and the left moving frame is installed on the left base plate close to the worktable. On the center side, two left pawls are symmetrically arranged on the other side of the left base plate and form a horizontal movement pair with the left base plate. The left base plate is equipped with a left drive mechanism for driving the two left pawls to move toward or away from each other synchronously. ；

The right grasping device includes a right base plate, a right moving frame, and two right supporting claws. The right moving frame is installed on one side of the right base plate close to the center of the worktable, and the two right supporting claws are symmetrically arranged on the other side of the right base plate. And it forms a horizontal moving pair with the right base plate, and the right base plate is equipped with a right drive mechanism for driving the two right pawls to move toward or away from each other synchronously.
The automatic line for taking pictures of a transparent root cultivation container according to claim 7, wherein the left and right moving frames are slidably connected to the slide rails of the workbench, and when the left and right moving frames move towards each other synchronously, the left The moving frame moves to the right moving frame.
The automatic line for photographing transparent root cultivation containers according to claim 6, characterized in that a cart roof is provided above the workbench, a driving device is provided on the cart roof, and the output end of the driving device is connected with one end of the ball screw, The ball screw is screwed with the worktable to form a ball screw pair, the other end of the ball screw is connected with the trolley support through a bearing, and a guide rod is arranged between the top plate of the trolley and the trolley support.
The automatic photo-taking line for transparent root cultivation containers according to claim 6, wherein the workbench includes a guide rail base plate and a guide rail top plate in sequence from top to bottom, and the left gripping device and the right gripping device are arranged on the guide rail base plate, and the guide rail A reinforcing plate is arranged between the base plate and the top plate of the guide rail.