WO2022063028A1 - 一种甘蔗切种装置及方法 - Google Patents

一种甘蔗切种装置及方法 Download PDF

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Publication number
WO2022063028A1
WO2022063028A1 PCT/CN2021/118783 CN2021118783W WO2022063028A1 WO 2022063028 A1 WO2022063028 A1 WO 2022063028A1 CN 2021118783 W CN2021118783 W CN 2021118783W WO 2022063028 A1 WO2022063028 A1 WO 2022063028A1
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WIPO (PCT)
Prior art keywords
sugarcane
roller
cutting
pen
plate
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PCT/CN2021/118783
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English (en)
French (fr)
Inventor
周德强
陈晖�
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江南大学
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Publication of WO2022063028A1 publication Critical patent/WO2022063028A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
    • B26D5/26—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed wherein control means on the work feed means renders the cutting member operative

Definitions

  • the invention relates to a sugarcane seed cutting device and method, belonging to the field of agricultural planting machinery.
  • sugarcane planting mechanization is of great significance to solve the labor shortage in sugarcane areas, reduce the cost of sugarcane production, and improve the competitiveness of the sugarcane market.
  • Sugarcane cutting must require a single segment of sugarcane to have stem nodes, so that sugarcane can grow.
  • sugarcane seeds are susceptible to pests and diseases.
  • the quality of sugarcane seeds is poor, and the yield of sugarcane decreases, which affects the income of sugarcane farmers.
  • the current market equipment and the equipment under research cannot meet this high standard of agronomic requirements. Therefore, it is urgent to develop a single sugarcane seed that must contain stem nodes when cutting seeds, and it is necessary to remove a section of sugarcane seeds containing diseases and insect pests.
  • a new type of stable, high-efficiency, whole cane seed cutting device has a complex structure and cannot adapt to sugarcanes of various diameters.
  • the existing sugarcane seed cutting device has a complex structure and cannot adapt to sugarcanes of various diameters.
  • the invention provides a sugarcane seed cutting device, comprising: a large equipment board, a roller set, a camera assembly component, a cutter mechanism, a sugarcane support plate, a servo motor mounting seat, a servo motor, a first synchronous pulley, and a feeding port guide plate ;
  • the feeding port guide plate is arranged at one end of the large board of the equipment
  • the cutter mechanism is arranged on the other end of the large board of the equipment
  • a plurality of sugarcane support plates are arranged at intervals between the feeding port guide plate and the cutter mechanism
  • a plurality of roller groups are arranged between the plurality of sugarcane pallets, and the roller groups include: a moving roller and a fixed roller; the moving roller and the fixed roller are respectively connected with roller shafts, and the position of the axis of the shaft of the fixed roller is fixed.
  • the moving roller is installed in the roller mounting seat and connected with the spring mechanism.
  • the spring mechanism is provided with a spring, and the spring mechanism is connected to the roller mounting seat through the spring.
  • the moving roller moves with it;
  • the servo motor mounting seat is arranged at one end of the guide plate of the feeding port, and the servo motor is arranged on the servo motor mounting seat to drive the first synchronous pulley, and the first synchronous pulley is connected to the fixed roller.
  • a roller shaft; the camera assembly component is arranged on one side of the sugar cane; an infrared sensor is arranged on one side of the cutter mechanism for detecting the position where one end of the sugar cane reaches.
  • the camera assembly assembly includes: a guide shaft support, a camera guide shaft, a connecting block, an adjustment slider, a lens mounting plate, an area scan camera, and a lens;
  • the camera guide shaft is mounted on the guide shaft
  • the lens mounting plate can be slid or rotated along the camera guide shaft through the connecting block and the adjusting slider to change the direction
  • the area scan camera is connected with the lens mounting plate
  • the lens is mounted on the area scan camera.
  • the cutter mechanism includes: a cutting blade, a cutter mounting plate, a cutting motor, a first circular flange bearing, a cutting blade shaft, a cutting blade fixing ring, a second synchronous pulley, The second round flange bearing and the cutting part mounting frame; the cutting device mounting plate is rotatably connected to the cutting part mounting frame through the second round flange bearing, the cutting motor is fixed on one end of the cutting device mounting plate, and the cutting blade shaft passes through the first circular
  • the flange bearing is fixed on the other end of the cutter mounting plate, the second synchronous pulley, the cutting blade fixing ring and the cutting blade are sequentially connected with the cutting blade shaft, and the second synchronous pulley is connected with the cutting motor.
  • a pen-shaped cylinder T-shaped seat, a pen-shaped cylinder, and a pen-shaped cylinder top plate are provided on one side of the cutter mechanism, and the pen-shaped cylinder and the pen-shaped cylinder top plate are arranged on the pen-shaped cylinder T-shaped seat, so The pen-shaped cylinder top plate is connected with the cutter mounting plate, and the pen-shaped cylinder is connected with the pen-shaped cylinder top plate.
  • the area scan camera is located just above the middle position of the plurality of sugarcane pallets.
  • the material of the moving roller and the fixed roller is rubber.
  • both sides of the longitudinal section of the moving roller and the fixed roller are inwardly concave arcs.
  • the magnitude of the clamping force on the sugar cane is adjusted by adjusting the number of coils in the spring mechanism or by replacing springs with different stiffnesses.
  • the present invention also provides a kind of sugarcane cutting method, it is characterized in that, comprises the following steps:
  • Step 1 The sugarcane rod enters the guide plate of the feeding port, and the sugarcane is clamped and fed by the moving roller and the fixed roller;
  • Step 2 When the cane rod reaches the infrared sensor position, the servo motor stops running;
  • Step 3 The area scan camera collects cane straw images
  • Step 4 Analyze the coordinates of each stem node of sugarcane
  • Step 5 Judging the axial displacement gap of the sugarcane stem according to the stem node coordinates
  • Step 6 According to each gap position, the servo motor drives the first synchronous pulley to rotate;
  • Step 7 The pen-shaped cylinder drives the cutting piece to rotate, contacts the sugar cane from top to bottom and completes the cutting.
  • the roller set of the present invention can adapt to sugarcanes of different diameters and can realize the moving, guiding and positioning of the sugarcane, instead of the conveyor belt device and the positioning device.
  • the surface of the sugarcane is damaged, and the two sides of the longitudinal section of the roller are inwardly concave arcs to match the cylindrical surface of the sugarcane.
  • the structure of the present invention is compact, and the sugarcane pallet is set as a hollow structure;
  • the present invention identifies the entire sugarcane based on the visual recognition technology, analyzes the position of each stem node and pests and diseases, calculates the rotation amount of the motor in advance, and realizes the precise cutting of the entire rod through the pen-shaped cylinder mechanism and the cutter mechanism.
  • Fig. 1 is the structure diagram of the sugarcane seed cutting machine of Example 1.
  • FIG. 2 is a schematic structural diagram of the sugarcane pallet of Example 1.
  • FIG. 2 is a schematic structural diagram of the sugarcane pallet of Example 1.
  • FIG. 3 is a schematic diagram of the structure of the roller in Embodiment 1.
  • FIG. 3 is a schematic diagram of the structure of the roller in Embodiment 1.
  • FIG. 4 is a schematic structural diagram of the camera assembly assembly of Embodiment 1.
  • FIG. 4 is a schematic structural diagram of the camera assembly assembly of Embodiment 1.
  • FIG. 5 is a schematic structural diagram of the cutter mechanism of Embodiment 1.
  • FIG. 5 is a schematic structural diagram of the cutter mechanism of Embodiment 1.
  • FIG. 6 is a schematic diagram of another perspective of the sugarcane seed cutting machine of Example 1.
  • FIG. 6 is a schematic diagram of another perspective of the sugarcane seed cutting machine of Example 1.
  • 4-1-guide shaft support 4-2-camera guide shaft, 4-3-connection block, 4-4-adjustment slider, 4-5-lens mounting plate, 4-6-area scan camera, 4- 7-lens;
  • this embodiment provides a sugarcane seed cutting machine, including: a large equipment board 1, a roller group 15, a camera assembly assembly 4, a cutter mechanism 5, a sugarcane support plate 7, and a servo motor installation Seat 8, servo motor 9, synchronous pulley 10 (defining synchronous pulley 10 as the first synchronous pulley), feed port guide plate 11, pen-shaped cylinder T-shaped seat 12, pen-shaped cylinder 13, pen-shaped cylinder top plate 14;
  • the feeding port guide plate 11 is provided at one end of the equipment large board 1, and the cutter mechanism 5 is provided on the other end of the equipment large board 1.
  • the roller groups 15 include: a moving roller 2 and a fixed roller 3; the moving roller 2 and the fixed roller 3 are respectively connected to the roller shafts 16 , the position of the axis of the roller shaft 16 of the fixed roller 3 is fixed, the moving roller 2 is installed in the roller mounting seat 17, and is connected with the spring mechanism 18, the spring mechanism 18 is provided with a spring 19, and the spring mechanism 18
  • the spring 19 is connected to the roller mounting seat 17, and through the compression or elongation of the spring 19, the roller mounting seat 17 can move radially along the sugar cane 6, and the moving roller 2 moves with it to change the distance between the moving roller 2 and the fixed roller 3.
  • the magnitude of the clamping force of the sugar cane 6 can be adjusted.
  • the moving roller 2 and the fixed roller 3 are made of rubber, which increases the friction force on the surface of the sugar cane 6 and reduces the damage to the surface of the sugar cane 6, and the two sides of the longitudinal section of the moving roller 2 and the fixed roller 3 are inwardly concave arcs , to mate with the cylindrical surface of the cane 6.
  • the servo motor mounting seat 8 is arranged on one end of the feed port guide plate 11, and the servo motor 9 is arranged on the servo motor mounting seat 8 to drive the synchronous pulley 10.
  • the synchronous pulley 10 is connected to the roller shaft 16 of the fixed roller 3. 6. The moving roller 2 and the fixed roller 3 are rotated and clamped to advance.
  • the camera assembly assembly 4 is disposed on one side of the sugar cane 6 , and the camera assembly assembly 4 includes: a guide shaft support 4-1, a camera guide shaft 4-2, a connecting block 4-3, an adjustment Slider 4-4, lens mounting plate 4-5, area scan camera 4-6, lens 4-7; camera guide shaft 4-2 is installed on guide shaft support 4-1, lens mounting plate 4-5 is connected by Block 4-3, the adjusting slider 4-4 can be slid or rotated along the camera guide shaft 4-2 to change the direction, the area scan camera 4-6 is connected with the lens mounting plate 4-5, and the lens 4-7 is installed on the area scan camera 4-6 on.
  • the cutter mechanism 5 includes: a cutting blade 5-1, a cutter mounting plate 5-2, a cutting motor 5-3, and a circular flange bearing 5-4 (defined as a circular flange bearing 5-4).
  • a cutting blade 5-1 is the first round flange bearing
  • cutting disc shaft 5-5 is the first round flange bearing
  • cutting disc fixing ring 5-6 is the first round flange bearing
  • synchronous pulley 5-7 defines synchronous pulley 5-7 as the second synchronous pulley
  • round flange bearing 5-8 defining the round flange bearing 5-8 as the second round flange bearing
  • the cutting part mounting frame 5-9 the cutter mounting plate 5-2 is rotatably connected to the cutting part installation through the round flange bearing 5-8
  • the cutting motor 5-3 is fixed to one end of the cutter mounting plate 5-2
  • the cutting blade shaft 5-5 is fixed to the other end of the cutter mounting plate 5-2 through the circular flange bearing 5-4
  • One side of the cutter mechanism 5 is provided with a pen-shaped cylinder T-shaped seat 12, a pen-shaped cylinder 13, and a pen-shaped cylinder top plate 14.
  • the pen-shaped cylinder 13 and the pen-shaped cylinder top plate 14 are arranged on the pen-shaped cylinder T-shaped seat 12.
  • the pen-shaped cylinder The top plate 14 is connected with the cutter mounting plate 5 - 2
  • the pen-shaped cylinder 13 is connected with the pen-shaped cylinder top plate 14 .
  • the area scan cameras 4-6 are located just above the middle positions of the plurality of sugarcane pallets 7, where the image of the entire sugarcane straw 6 can be collected to the greatest extent conveniently.
  • An infrared sensor (not shown in the figure) is also provided on one side of the cutter mechanism 5, and the position of the infrared sensor is flush with the cutting blade 5-1, so as to detect the position where one end of the sugar cane 6 reaches.
  • a method for cutting seeds of a whole sugarcane comprising the following steps:
  • Step 1 The sugarcane rod 6 enters the guide plate 11 of the feeding port, and the sugarcane 6 is clamped and fed by the moving roller 2 and the fixed roller 3;
  • Step 2 When the cane rod 6 reaches the position of the infrared sensor, the servo motor 9 stops running;
  • Step 3 Area scan cameras 4-6 collect images of cane straw 6;
  • Step 4 analyze the coordinates of each stem node of sugarcane 6;
  • Step 5 Determine the axial displacement gap amount of the cane rod 6 according to the stem node coordinates
  • Step 6 According to each gap position, the servo motor 9 drives the synchronous pulley 10 to rotate;
  • Step 7 The pen-shaped cylinder 13 drives the cutting blade 5-1 to rotate, contacts the sugar cane 6 from top to bottom and completes the cutting.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Pretreatment Of Seeds And Plants (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

一种甘蔗切种装置，包括：设备大板（1）、滚轮组（15）、相机装配组件（4）、切割器机构（5）、甘蔗托板（7）、伺服电机安装座（8）、伺服电机（9）、第一同步带轮（10）、进料口导向板（11）；进料口导向板设于设备大板的一端，切割器机构设于设备大板的另一端，在进料口导向板与切割器机构之间间隔地设置有多个甘蔗托板，在多个甘蔗托板之间设有多个滚轮组，相机装配组件设于甘蔗的一侧；切割器机构一侧设有红外传感器，用于检测甘蔗一端到达的位置。还涉及一种甘蔗切种方法。该装置和方法基于视觉识别技术对整根甘蔗进行识别，分析各茎节及病虫害的位置，提前计算出电机的转动量，通过笔形气缸机构、切割器机构实现整根甘蔗的精准切割。

Description

一种甘蔗切种装置及方法 技术领域
本发明涉及一种甘蔗切种装置及方法，属于农业种植机械领域。
背景技术
食糖90％以上来源于蔗糖。传统的甘蔗种植过程全部由人工来完成，需要人工较多，劳动强度较大，效率低。由于近些年劳动力紧缺，人工成本大幅度提高。因此，加快发展甘蔗种植机械化，对解决蔗区劳动力紧缺，降低甘蔗生产本成，提高蔗糖市场竞争力具有重要意义。
甘蔗切种必须要求切出的单段蔗种上有茎节，这样才会长出甘蔗，同时蔗种易受病虫害干扰，若将含有病虫害的蔗种播种后，甘蔗会出现病虫害，导致种植的蔗种的质量较差，甘蔗产量下降，影响蔗农的收入。目前市场的机具及在研的机具无法满足这种高标准的农艺要求，因此，亟需开发一种切种时单根蔗种上必须含有茎节，而且需将含有病虫害的一段蔗种清除掉，新型的稳定、高效、整杆蔗种切种装置。现有蔗种切种装置结构复杂且不能适应各种直径的甘蔗。
发明内容
[技术问题]
现有蔗种切种装置结构复杂且不能适应各种直径的甘蔗。
[技术方案]
本发明提供一种甘蔗切种装置，包括：设备大板、滚轮组、相机装配组件、切割器机构、甘蔗托板、伺服电机安装座、伺服电机、第一同步带轮、进料口导向板；所述进料口导向板设于设备大板的一端，切割器机构设于设备大板的另一端，在进料口导向板与切割器机构之间间隔地设置有多个甘蔗托板，在多个甘蔗托板之间设有多个滚轮组，所述滚轮组包括：移动滚轮、固定滚轮；移动滚轮、固定滚轮分别连接滚轮轴，所述固定滚轮的轴的轴线的位置固定不变，移动滚轮安装于滚轮安装座中，并与弹簧机构连接，所述弹簧机构中设有弹簧，弹簧机构通过弹簧连接于滚轮安装座，通过弹簧的压缩或伸长，滚轮安装座沿甘蔗径向移动，移动滚轮随之移动；所述伺服电机安装座设于进料口导向板一端，伺服电机设于伺服电机安装座上，以驱动第一同步带轮，第一同步带轮连接固定滚轮的滚轮轴；所述相机装配组件设于甘蔗的一侧；所述切割器机构一侧设有红外传感器，用于检测甘蔗一端到达的位置。
在本发明的一种实施方式中，所述相机装配组件包括：导向轴支座、相机导向轴、连接块、调节滑块、镜头安装板、面阵相机、镜头；相机导向轴安装于导向轴支座上，镜头安装 板通过连接块、调节滑块可沿相机导向轴上滑动或转动改变方向，面阵相机与镜头安装板连接，镜头安装于面阵相机上。
在本发明的一种实施方式中，所述切割器机构包括：切割片、切割器安装板、切割电机、第一圆法兰轴承、切割片轴、切割片固定环、第二同步带轮、第二圆法兰轴承、切割部件安装架；切割器安装板通过第二圆法兰轴承转动连接于切割部件安装架上，切割电机固定于切割器安装板的一端，切割片轴通过第一圆法兰轴承固定于切割器安装板的另一端，第二同步带轮、切割片固定环、切割片依次与切割片轴连接，第二同步带轮与切割电机连接。
在本发明的一种实施方式中，所述切割器机构一侧设有笔形气缸T型座、笔形气缸、笔形气缸顶板，所述笔形气缸、笔形气缸顶板设于笔形气缸T型座上，所述笔形气缸顶板与切割器安装板连接，所述笔形气缸与笔形气缸顶板连接。
在本发明的一种实施方式中，所述面阵相机位于多个甘蔗托板中间位置的正上方。
在本发明的一种实施方式中，移动滚轮、固定滚轮材质为橡胶。
在本发明的一种实施方式中，移动滚轮、固定滚轮的纵剖面的两边为向内凹陷的弧形。
在本发明的一种实施方式中，通过调整弹簧机构中的弹簧圈数或者替换刚度不同的弹簧调整夹紧甘蔗力的大小。
本发明还提供一种甘蔗切种方法，其特征在于，包括以下步骤：
步骤1：蔗杆进入进料口导向板，甘蔗由移动滚轮、固定滚轮夹持送进；
步骤2：蔗杆到达红外传感器位置，伺服电机停止运行；
步骤3：面阵相机采集蔗杆图像；
步骤4：分析甘蔗各茎节坐标；
步骤5：根据茎节坐标判断蔗杆轴向位移间隙量；
步骤6：根据各间隙位置，伺服电机带动第一同步带轮转动；
步骤7：笔形气缸带动切割片转动，由上向下接触甘蔗并完成切断。
[有益效果]
1、本发明的滚轮组可适应不同直径的甘蔗并可实现甘蔗的移动引导定位，代替了传送带装置、定位装置，移动滚轮、固定滚轮材质为橡胶，增大了甘蔗表面的摩擦力及减少对甘蔗表面的损伤，且滚轮的纵剖面的两边为向内凹陷的弧形，以与甘蔗圆柱形的表面配合。
2、本发明结构紧凑，甘蔗托板设为中空结构；
3、本发明基于视觉识别技术对对整根甘蔗进行识别，分析各茎节及病虫害的位置，提前计算出电机的转动量，通过笔形气缸机构、切割器机构实现整杆的精准切割。
附图说明
图1为实施例1的甘蔗切种机结构图。
图2为实施例1的甘蔗托板结构示意图。
图3为实施例1的滚轮结构示意图。
图4为实施例1的相机装配组件结构示意图。
图5为实施例1的切割器机构结构示意图。
图6为实施例1的甘蔗切种机的又一视角的示意图。
图中：1-设备大板、2-移动滚轮、3-固定滚轮、4-相机装配组件、5-切割器机构、6-甘蔗、7-甘蔗托板、8-伺服电机安装座、9-伺服电机、10-同步带轮、11-进料口导向板、12-笔形气缸T型座、13-笔形气缸、14-笔形气缸顶板。
4-1-导向轴支座、4-2-相机导向轴、4-3-连接块、4-4-调节滑块、4-5-镜头安装板、4-6-面阵相机、4-7-镜头；
5-1-切割片、5-2-切割器安装板、5-3-切割电机、5-4-圆法兰轴承、5-5-切割片轴、5-6-切割片固定环、5-7-同步带轮、5-8-圆法兰轴承、5-9-切割部件安装架。
15-滚轮组、16-滚轮轴、17-滚轮安装座、18-弹簧机构、19-弹簧。
具体实施方式
下面结合附图和实施例对本发明作进一步详细说明。
实施例1
如图1-3或6所示，本实施例提供一种甘蔗切种机，包括：设备大板1、滚轮组15、相机装配组件4、切割器机构5、甘蔗托板7、伺服电机安装座8、伺服电机9、同步带轮10(定义同步带轮10为第一同步带轮)、进料口导向板11、笔形气缸T型座12、笔形气缸13、笔形气缸顶板14；
所述进料口导向板11设于设备大板1的一端，切割器机构5设于设备大板1的另一端，在进料口导向板11与切割器机构5之间间隔地设置有多个甘蔗托板7，在多个甘蔗托板7之间设有多个滚轮组15，所述滚轮组15包括：移动滚轮2、固定滚轮3；移动滚轮2、固定滚轮3分别连接滚轮轴16，所述固定滚轮3的滚轮轴16的轴线的位置固定不变，移动滚轮2安装于滚轮安装座17中，并与弹簧机构18连接，所述弹簧机构18中设有弹簧19，弹簧机构18通过弹簧19连接于滚轮安装座17，通过弹簧19的压缩或伸长，滚轮安装座17可以沿甘蔗6径向移动，移动滚轮2随之移动，以改变移动滚轮2、固定滚轮3之间的距离，以适应不同直径的甘蔗6，此外，通过调整弹簧机构18中的弹簧19圈数或者替换刚度不同的弹 簧19可以调整夹紧甘蔗6力的大小。移动滚轮2、固定滚轮3材质为橡胶，增大的一甘蔗6表面的摩擦力及减少对甘蔗6表面的损伤，且移动滚轮2、固定滚轮3的纵剖面的两边为向内凹陷的弧形，以与甘蔗6圆柱形的表面配合。
所述伺服电机安装座8设于进料口导向板11一端，伺服电机9设于伺服电机安装座8上，以驱动同步带轮10，同步带轮10连接固定滚轮3的滚轮轴16，甘蔗6通过移动滚轮2、固定滚轮3转动夹持前进。
如图4所示，所述相机装配组件4设于甘蔗6的一侧，所述相机装配组件4包括：导向轴支座4-1、相机导向轴4-2、连接块4-3、调节滑块4-4、镜头安装板4-5、面阵相机4-6、镜头4-7；相机导向轴4-2安装于导向轴支座4-1上，镜头安装板4-5通过连接块4-3、调节滑块4-4可沿相机导向轴4-2上滑动或转动改变方向，面阵相机4-6与镜头安装板4-5连接，镜头4-7安装于面阵相机4-6上。
如图5所示，所述切割器机构5包括：切割片5-1、切割器安装板5-2、切割电机5-3、圆法兰轴承5-4(定义圆法兰轴承5-4为第一圆法兰轴承)、切割片轴5-5、切割片固定环5-6、同步带轮5-7(定义同步带轮5-7为第二同步带轮)、圆法兰轴承5-8(定义圆法兰轴承5-8为第二圆法兰轴承)、切割部件安装架5-9；切割器安装板5-2通过圆法兰轴承5-8转动连接于切割部件安装架5-9上，切割电机5-3固定于切割器安装板5-2的一端，切割片轴5-5通过圆法兰轴承5-4固定于切割器安装板5-2的另一端，同步带轮5-7、切割片固定环5-6、切割片5-1依次与切割片轴5-5连接，同步带轮5-7与切割电机5-3连接。
所述切割器机构5一侧设有笔形气缸T型座12、笔形气缸13、笔形气缸顶板14，所述笔形气缸13、笔形气缸顶板14设于笔形气缸T型座12上，所述笔形气缸顶板14与切割器安装板5-2连接，所述笔形气缸13与笔形气缸顶板14连接。
所述面阵相机4-6位于多个甘蔗托板7中间位置的正上方，此处可实现最大程度方便采集蔗杆6整杆的图像。
所述切割器机构5一侧还设有红外传感器(图中未示出)，红外传感器位置与切割片5-1齐平，以此来检测甘蔗6一端到达的位置。
实施例2
一种整杆甘蔗切种方法，包括以下步骤：
步骤1：蔗杆6进入进料口导向板11，甘蔗6由移动滚轮2、固定滚轮3夹持送进；
步骤2：蔗杆6到达红外传感器位置，伺服电机9停止运行；
步骤3：面阵相机4-6采集蔗杆6图像；
步骤4：分析甘蔗6各茎节坐标；
步骤5：根据茎节坐标判断蔗杆6轴向位移间隙量；
步骤6：根据各间隙位置，伺服电机9带动同步带轮10转动；
步骤7：笔形气缸13带动切割片5-1转动，由上向下接触甘蔗6并完成切断。
本发明的保护范围并不仅局限于上述实施例，凡是在本发明构思的精神和原则之内，本领域的专业人员能够做出的任何修改、等同替换和改进等均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种甘蔗切种装置，其特征在于，包括：设备大板(1)、滚轮组(15)、相机装配组件(4)、切割器机构(5)、甘蔗托板(7)、伺服电机安装座(8)、伺服电机(9)、同步带轮(10)、进料口导向板(11)；所述进料口导向板(11)设于设备大板(1)的一端，切割器机构(5)设于设备大板(1)的另一端，在进料口导向板(11)与切割器机构(5)之间间隔地设置有多个甘蔗托板(7)，在多个甘蔗托板(7)之间设有多个滚轮组(15)，所述滚轮组(15)包括：移动滚轮(2)、固定滚轮(3)；移动滚轮(2)、固定滚轮(3)分别连接滚轮轴(16)，所述固定滚轮(3)的滚轮轴(16)的轴线的位置固定不变，移动滚轮(2)安装于滚轮安装座(17)中，并与弹簧机构(18)连接，所述弹簧机构(18)中设有弹簧(19)，弹簧机构(18)通过弹簧(19)连接于滚轮安装座(17)，通过弹簧(19)的压缩或伸长，滚轮安装座(17)沿甘蔗(6)径向移动，移动滚轮(2)随之移动；所述伺服电机安装座(8)设于进料口导向板(11)一端，伺服电机(9)设于伺服电机安装座(8)上，以驱动同步带轮(10)，同步带轮(10)连接固定滚轮(3)的滚轮轴(16)；所述相机装配组件(4)设于甘蔗(6)的一侧；所述切割器机构(5)一侧设有红外传感器，用于检测甘蔗(6)一端到达的位置；
    所述切割器机构(5)包括：切割片(5-1)、切割器安装板(5-2)、切割电机(5-3)、圆法兰轴承(5-4)、切割片轴(5-5)、切割片固定环(5-6)、同步带轮(5-7)、圆法兰轴承(5-8)、切割部件安装架(5-9)；切割器安装板(5-2)通过圆法兰轴承(5-8)转动连接于切割部件安装架(5-9)上，切割电机(5-3)固定于切割器安装板(5-2)的一端，切割片轴(5-5)通过圆法兰轴承(5-4)固定于切割器安装板(5-2)的另一端，同步带轮(5-7)、切割片固定环(5-6)、切割片(5-1)依次与切割片轴(5-5)连接，同步带轮(5-7)与切割电机(5-3)连接；
    移动滚轮(2)、固定滚轮(3)的纵剖面的两边为向内凹陷的弧形。
  2. 如权利要求1所述的一种甘蔗切种装置，其特征在于，所述相机装配组件(4)包括：导向轴支座(4-1)、相机导向轴(4-2)、连接块(4-3)、调节滑块(4-4)、镜头安装板(4-5)、面阵相机(4-6)、镜头(4-7)；相机导向轴(4-2)安装于导向轴支座(4-1)上，镜头安装板(4-5)通过连接块(4-3)、调节滑块(4-4)沿相机导向轴(4-2)上滑动或转动改变方向，面阵相机(4-6)与镜头安装板(4-5)连接，镜头(4-7)安装于面阵相机(4-6)上。
  3. 如权利要求2所述的一种甘蔗切种装置，其特征在于，所述切割器机构(5)一侧设有笔形气缸T型座(12)、笔形气缸(13)、笔形气缸顶板(14)，所述笔形气缸(13)、笔 形气缸顶板(14)设于笔形气缸T型座(12)上，所述笔形气缸顶板(14)与切割器安装板(5-2)连接，所述笔形气缸(13)与笔形气缸顶板(14)连接。
  4. 如权利要求3所述的一种甘蔗切种装置，其特征在于，所述面阵相机(4-6)位于多个甘蔗托板(7)中间位置的正上方。
  5. 如权利要求4所述的一种甘蔗切种装置，其特征在于，移动滚轮(2)、固定滚轮(3)材质为橡胶。
  6. 如权利要求5所述的一种甘蔗切种装置，其特征在于，通过调整弹簧机构(18)中的弹簧(19)圈数或者替换刚度不同的弹簧(19)调整夹紧甘蔗(6)力的大小。
  7. 一种整杆甘蔗切种方法，其特征在于，所述方法利用权利要求1-7任一所述的甘蔗切种装置。
  8. 一种甘蔗切种方法，其特征在于，包括以下步骤：
    步骤1：蔗杆(6)进入进料口导向板(11)，甘蔗(6)由移动滚轮(2)、固定滚轮(3)夹持送进；
    步骤2：蔗杆(6)到达红外传感器位置，伺服电机(9)停止运行；
    步骤3：面阵相机(4-6)采集蔗杆(6)图像；
    步骤4：分析甘蔗(6)各茎节坐标；
    步骤5：根据茎节坐标判断蔗杆(6)轴向位移间隙量；
    步骤6：根据各间隙位置，伺服电机(9)带动同步带轮(10)转动；
    步骤7：笔形气缸(13)带动切割片(5-1)转动，由上向下接触甘蔗(6)并完成切断。
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