Force measuring platform for plug seedling pot

Abstract

The invention provides a plug seedling bowl force measuring platform. The plug seedling bowl force measuring platform comprises a seedling taking end effector, a seedling tray positioning plate, a lifting module, a servo motor, an air compressor, a mechanism support, a force measuring system, a controller and a PC end. The upper end of the seedling taking end effector is connected with the lifting module, the lifting module is mounted at the upper part of the mechanism bracket, the servo motor is connected with the servo driver, and a power output shaft of the servo motor is connected with the lifting module; the seedling tray positioning plate is mounted at the lower part of the mechanism bracket; the air compressor is connected with the seedling taking end effector through an air pipe; the force measuring system is respectively connected with the seedling taking end executor and the PC end, and is used for detecting the clamping force and the disc separating force of the seedling taking end executor on the seedling pot. According to the plug seedling pot force measuring platform provided by the invention, the platform is constructed based on the seedling taking end executor, so that the clamping force and the tray releasing force of the seedling taking end executor on the seedling pot during working can be conveniently analyzed, various types of seedling taking end executors and the seedling pots with different sizes and specifications can be tested, and the adaptability is wide.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural planting, and in particular relates to a plug tray seedling pot force measuring platform. Background Art

[0002] At present, the seedling removal process in fully automatic transfer is usually performed by inserting the seedling removal needle in the seedling removal end effector into the seedling pot of the seedling tray, inserting and clamping the seedling pot matrix to remove the seedlings. The seedling pot of the seedling tray is usually brittle and easy to break, and the seedling removal end effector is a working part that directly acts on the seedlings in the pot during the transplanting process. Therefore, the transplanting effect of fully automatic transfer depends to a large extent on the working performance of the seedling removal end effector. The structural parameters of the seedling removal end effector and the interaction between the seedling removal end effector and the seedling pot will directly affect the seedling removal effect of the seedling removal end effector. For this reason, it is necessary to use a seedling tray seedling pot force measuring platform to conduct experiments to explore the interaction law between the seedling removal end effector and the seedling pot, and obtain the relevant mechanical properties of the seedling pot during the seedling removal process for quantitative analysis, providing a reference for the structural design of the seedling removal end effector.

[0003] However, the existing test plug tray seedling pot force measuring platform has the following disadvantages:

[0004] (1) There is no mechanical analysis system directly based on the seedling removal end effector, which makes it difficult to quantitatively reflect the interaction between the seedling removal end effector and the seedling pot during the seedling removal process, such as the clamping force and the separation force of the seedling pot when the seedling removal end effector is working;

[0005] (2) The structure of the seedling retrieval end effector is single, and there is no test platform built for the main structural parameters of the seedling retrieval end effector, such as the number of needles of the seedling retrieval end effector, which makes it difficult to meet the requirements of multi-factor level analysis of scientific research;

[0006] (3) The test platform is mostly designed for seedling trays of a single size, which makes it difficult to test seedling trays of different types and sizes, and lacks universality. Summary of the invention

[0007] In view of the above technical problems, and in order to solve at least one of the above problems, the present invention provides a force measuring platform for seedling pots in a plug tray. The platform is built for a seedling removal end effector, which is convenient for analyzing the clamping force and the tray-off force of the seedling pot when the seedling removal end effector is working. It can test various types of seedling removal end effectors and has wide adaptability.

[0008] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0009] The present invention achieves the above technical objectives through the following technical means.

[0010] A plug tray seedling pot force measuring platform, comprising a seedling taking end effector, a seedling tray positioning plate, a lifting module, a servo motor, an air compressor, a mechanism bracket, a force measuring system, a controller and a PC terminal;

[0011] The upper end of the seedling taking end effector is connected to the lifting module, the lifting module is installed on the upper part of the mechanism bracket, the servo motor is connected to the servo driver, the power output shaft of the servo motor is connected to the lifting module, and is used to drive the lifting module to drive the seedling taking end effector to move up and down; the seedling tray positioning plate is installed at the lower part of the mechanism bracket, and the air compressor is connected to the seedling taking end effector through the air pipe, and is used to drive the seedling taking end effector to clamp the plug tray seedling pot;

[0012] The force measuring system is connected to the seedling taking end effector and the PC end respectively, and is used to detect the clamping force and the disengagement force of the seedling taking end effector on the seedling pot;

[0013] The controller is connected with the servo driver and the air compressor respectively.

[0014] In the above scheme, the seedling taking end effector includes a seedling taking needle, a seedling taking flap, a flap fixing plate, a seedling pushing frame and a cylinder;

[0015] The cylinder comprises a cylinder body, a cylinder push rod and an air nozzle; one end of the air nozzle is connected to the air compressor, and the other end is connected to the cylinder body; the bottom of the cylinder body is mounted on the flap fixing plate; one end of the cylinder push rod penetrates into the cylinder body and can slide along the cylinder body, and the other end passes through the central through hole of the flap fixing plate;

[0016] A plurality of seedling taking flaps are arranged on the circumference of the flap fixing plate. The seedling taking flaps are connected to one end of a seedling taking needle, and the other end of the seedling taking needle passes through a guide hole at the bottom of the seedling pushing frame.

[0017] In the above scheme, the force measuring system includes a clamping force sensor and a disc-off force sensor;

[0018] The lower stud of the clamping force sensor is connected to the seedling pushing frame, and the upper stud of the clamping force sensor is connected to the other end of the cylinder push rod through a long nut;

[0019] The lower stud of the off-disk force sensor is installed in the cushion block, the cushion block is connected to the top of the cylinder body, and the upper stud of the off-disk force sensor is connected to the lifting module through a connecting plate.

[0020] In the above scheme, the clamping force sensor is used to detect the pulling force value of the cylinder push rod on the seedling push frame and transmit it to the PC end, and the PC end calculates the clamping force of the seedling taking end effector on the seedling pot according to the pulling force value;

[0021] The off-disk force sensor is used to detect the force value required for the lifting module to drive the seedling end actuator to rise and separate the seedling pot from the seedling tray after the seedling end actuator clamps the seedling pot, and transmit it to the PC end. The PC end calculates the off-disk force of the seedling pot based on the force value.

[0022] In the above scheme, the clamping force F of the seedling pot is Jn Calculated according to the following formula:

[0023]

[0024] F S1 L 1 =F J1 (L 1 +L 2 )

[0025] F Jn =nF J1

[0026] In the formula: n is the number of needles of the seedling removal end effector, n is 2, 3, 4;

[0027] α is the angle between the seedling needle and the vertical direction when the seedling pot is clamped by the seedling end effector;

[0028] F 1 It is the tension measured by the clamping force sensor when the seedling removal end effector removes the seedling;

[0029] F 0n It is the tension measured by the clamping force sensor when the n-needle seedling removal end effector is empty;

[0030] F S1 It is the contraction force of the seedling pusher on a single seedling needle when the seedling end effector is taking seedlings;

[0031] F J1 It is the clamping force value of a single seedling needle on the seedling pot;

[0032] F Jn is the clamping force of the n-needle seedling removal end effector on the seedling pot;

[0033] L 1 It is the distance from the installation point of the seedling taking flap on the universal flap installation plate to the center of the circular hole at the bottom of the seedling pushing rack;

[0034] L 2 It is the distance from the center of the circular hole at the bottom of the seedling pusher to the insertion of the seedling needle into the seedling pot;

[0035] In the above scheme, the seedling pot off-plate force F Tn Calculated according to the following formula:

[0036] F 2 =F Tn +Gen +G S

[0037] F Tn = F 2 -G en -G S

[0038] Where: n is the number of needles of the seedling-taking end effector, and n takes 2, 3, or 4;

[0039] F 2 is the pulling force measured by the tray-removing force sensor when the seedling-taking end effector takes seedlings;

[0040] G en is the gravity of the n-needle seedling-taking end effector;

[0041] G S is the self-gravity of the seedling pot;

[0042] F Tn is the tray-removing force of the n-needle seedling-taking end effector on the seedling pot.

[0043] In the above solution, it also includes a linear bearing and a stepped screw 10;

[0044] A through hole is provided on the cushion block. The linear bearing is fixed in the through hole by a circlip. The stepped screw 10 passes through the linear bearing and is fixed on the connecting plate. The smooth rod part of the stepped screw 10 is in interference fit with the linear bearing, enabling it to have a slight sliding in the vertical direction along the inner through hole of the linear bearing.

[0045] In the above solution, the flap fixing plate has a "wood" - shaped structure, and through holes for connecting the seedling-taking flaps are provided at all six ends of the "wood" - shaped structure; the seedling-taking flaps are connected to the flap fixing plate by pin shafts and fixed by bolts passing through round holes and pressing against the pin shafts.

[0046] In the above solution, the seedling pushing frame includes a four-finger seedling pushing frame and a three-finger seedling pushing ring. The two-needle and four-needle seedling-taking end effectors can both adopt the four-finger seedling pushing frame, while the three-needle seedling-taking end effector adopts the three-finger seedling pushing frame;

[0047] The seedling-taking flap of the two-needle seedling-taking end effector is connected to the round hole at any horizontal end or any vertical end of the "wood" - shaped structure;

[0048] The seedling-taking flap of the three-needle seedling-taking end effector is connected to the round holes at any vertical end and the two ends of the "wood" - shaped structure;

[0049] The seedling-taking flap of the four-needle seedling-taking end effector is connected to the round holes at the four horizontal and vertical ends of the "wood" - shaped structure.

[0050] In the above scheme, the seedling tray positioning plate includes at least two transverse positioning blocks, at least two longitudinal positioning blocks and a seedling tray supporting plate;

[0051] The seedling tray support plate is symmetrically provided with a plurality of first U-shaped holes arranged in parallel in a transverse direction on both sides, and a plurality of second U-shaped holes arranged in parallel in a longitudinal direction are symmetrically provided in the middle of the seedling tray support plate;

[0052] The two transverse positioning blocks are symmetrically connected to the first U-shaped holes arranged transversely and in parallel on the seedling tray support plate, and the two longitudinal positioning blocks are symmetrically connected to the second U-shaped holes arranged longitudinally and in parallel on the seedling tray support plate. By changing the installation position of the transverse positioning block in the first U-shaped hole, the distance between the two transverse positioning blocks is adjusted, and by changing the installation position of the longitudinal positioning block in the second U-shaped hole, the distance between the two longitudinal positioning blocks is adjusted to adapt to hole trays of different specifications and sizes.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. The platform of the present invention is built for the seedling taking end effector, which is convenient for analyzing the clamping force and the disc-breaking force of the seedling taking end effector when the seedling taking end effector is working. It can test various types of seedling taking end effectors, and can be suitable for seedling taking end effectors with different numbers of needles, as well as for testing seedling trays and seedling pots of different specifications, and has wide adaptability.

[0055] 2. The force measuring platform for seedling trays and seedling pots of the present invention adopts a seedling removal end effector with replaceable components and a seedling tray positioning plate with changeable component installation positions. It can not only test different types of seedling removal end effectors, but also can adapt to different types and specifications of seedling trays and seedling pots for testing. It also has a force sensor that can obtain relevant mechanical characteristic curves during the seedling removal process in real time, so as to quantitatively analyze the interaction law between the seedling removal end effector and the seedling pot, that is, to obtain the clamping force of the seedling removal end effector on the seedling pot and the tray-off force.

[0056] 3. The seedling pushing frame in the seedling taking end effector of the present invention has two different structural forms, and the installation points of the seedling taking flap on the flap fixing plate can be used to install various types of seedling taking flaps of the seedling taking end effectors. Therefore, by replacing the seedling pushing frame and changing the installation position and number of the seedling taking flap on the flap fixing plate, different types of seedling taking end effectors can be tested and compared and analyzed to meet the requirements of multi-factor horizontal analysis of scientific research.

[0057] 4. The flap fixing plate in the seedling taking end effector of the present invention has a variety of different external dimensions, which can enable the seedling taking end effector to take seedlings from seedling trays of different types and specifications, thereby enhancing the adaptability of the force measuring platform for seedling trays and seedling pots.

[0058] 5. The seedling tray support plate of the present invention is provided with a U-shaped hole for installing a horizontal positioning block and a vertical positioning block. By changing the installation positions of the horizontal positioning block and the vertical positioning block in the U-shaped hole to adapt to plug trays of different specifications and sizes, the seedling tray can be clamped to prevent it from shaking left and right during the seedling retrieval process. At the same time, it is beneficial for the movement trajectory of the seedling needle inserted into the seedling pot during each seedling retrieval process to be centrally symmetrical relative to the center line of the seedling pot, thereby ensuring the accuracy and reliability of each seedling retrieval test.

[0059] 6. The clamping force sensor and the off-disk force sensor of the present invention transmit the measured data to the PC in real time through the transmitter and the data line, and at the same time obtain the mechanical characteristic curve measured during each seedling removal operation, which is conducive to accurately quantitatively studying the interaction relationship between the seedling removal end effector and the seedling pot, that is, obtaining the clamping force of the seedling removal end effector on the seedling pot and the off-disk force.

[0060] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a schematic structural diagram of a force measuring platform for a plug tray seedling pot according to one embodiment of the present invention.

[0062] Figure 2 It is a structural schematic diagram of a seedling removal end effector structure according to an embodiment of the present invention.

[0063] Figure 3 It is a schematic structural diagram of a cylinder according to one embodiment of the present invention.

[0064] Figure 4 It is a cross-sectional view of an installation method of a clamping force sensor according to one embodiment of the present invention.

[0065] Figure 5 Schematic diagram of the structure of the flap fixing plate according to one embodiment of the present invention, wherein: Figure 5 (a) is a flap fixing plate suitable for 72-cell seedling trays. Figure 5 (b) is a flap fixing plate suitable for 128-cell seedling trays, Figure 5 (c) is a flap fixing plate suitable for 50-cell seedling tray seedling pots.

[0066] Figure 6 This is a schematic diagram of the installation point structure of the flap fixing plate in accordance with one embodiment of the present invention in combination with the end effector for taking seedlings with different needle numbers, wherein: Figure 6 (a) is the installation point of the two-needle seedling removal end effector. Figure 6 (b) is the installation point of the three-needle seedling removal end effector. Figure 6(c) The installation position of the four-needle seedling removal end effector.

[0067] Figure 7 Schematic diagram of the structure of a seedling pusher according to an embodiment of the present invention, wherein: Figure 7 (a) has a four-finger seedling pusher. Figure 7 (b) is a three-finger seedling push stand.

[0068] Figure 8 It is a schematic diagram of the installation of a disc-off force sensor and its anti-loosening component according to one embodiment of the present invention.

[0069] Fig. 9 It is a cross-sectional view of the installation method of the off-disk force sensor and its anti-loosening component according to one embodiment of the present invention.

[0070] Fig.10 It is a structural schematic diagram of a seedling tray positioning plate according to one embodiment of the present invention.

[0071] Fig.11 It is a schematic diagram of the working process of the seedling removal end effector according to one embodiment of the present invention.

[0072] Fig.12 It is a schematic diagram of the clamping force detection of the seedling pot according to one embodiment of the present invention.

[0073] Fig.13 It is a schematic diagram of seedling pot-falling-off force detection according to one embodiment of the present invention.

[0074] In the figure: 1. Seedling removal end effector; 2. Seedling tray positioning plate; 3. Lifting module; 4. Servo motor; 5. Control cabinet; 6. Air compressor; 7. Mechanism bracket; 8. Connecting plate; 9. Linear bearing; 10. Step screw; 1-1. Seedling removal needle; 1-2. Seedling removal flap; 1-3. Flip plate fixing plate; 1-3-1. First flap fixing plate; 1-3-2. Second flap fixing plate; 1-3-3. Third flap fixing plate; 1-4. Seedling pushing rack; 1-5. Clamping force sensor; 1-6. Off-disk force sensor; 1-7. Long nut; 1-8. Spacer; 1-9. Cylinder; 1-9-1. Cylinder body; 1-9-2. Cylinder push rod; 1-9-3. Air nozzle;

[0075] 1-4-1, four-finger seedling push rack; 1-4-2, three-finger seedling push ring; 2-1, horizontal positioning block; 2-2, vertical positioning block; 2-3, seedling tray support plate. DETAILED DESCRIPTION

[0076] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0077] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] Figure 1 The figure shows a preferred embodiment of the plug tray seedling pot force measuring platform, which includes a seedling removal end effector 1, a seedling tray positioning plate 2, a lifting module 3, a servo motor 4, a control cabinet 5, an air compressor 6, a mechanism bracket 7, a force measuring system, a controller and a PC terminal;

[0080] The upper end of the seedling taking end effector 1 is connected to the lifting module 3, the lifting module 3 is installed on the upper part of the mechanism bracket 7, the servo motor 4 is connected to the servo driver, and the power output shaft of the servo motor 4 is connected to the lifting module 3, which is used to drive the lifting module 3 to drive the seedling taking end effector 1 to move up and down to insert and lift the seedling pot; the seedling tray positioning plate 2 is installed at the lower part of the mechanism bracket 7, and the air compressor 6 is an external device, which is connected to the seedling taking end effector 1 through an air pipe and a solenoid valve, and is used to drive the seedling taking end effector 1 to clamp the seedling pot of the plug tray seedling; the detection mechanism is respectively connected to the seedling taking end effector 1 and the PC end, and is used to detect the clamping force and the disc-off force of the seedling taking end effector 1 on the seedling pot; the controller is respectively connected to the servo driver and the air compressor 6.

[0081] Preferably, the controller is a PLC.

[0082] The control cabinet 5 is installed behind the mechanism support 7, and electrical components such as a PLC, a servo driver, a step-down module, and a switching power supply are provided inside the control cabinet 5.

[0083] As Figure 2 and 3 shown, the seedling-taking end effector 1 includes a seedling-taking needle 1-1, a seedling-taking flap 1-2, a flap fixing plate 1-3, a seedling-pushing frame 1-4, a long nut 1-7, and a cylinder 1-9; the cylinder 1-9 includes a cylinder block 1-9-1, a cylinder push rod 1-9-2, and a nozzle 1-9-3; one end of the nozzle 1-9-3 is connected to the air compressor 6, and the other end is connected to the cylinder block 1-9-1. The bottom of the cylinder block 1-9-1 is installed on the flap fixing plate 1-3. One end of the cylinder push rod 1-9-2 penetrates into the cylinder block 1-9-1 and can slide inside the cylinder block 1-9-1, and the other end passes through the central through hole of the flap fixing plate 1-3 and is connected to the long nut 1-7; a plurality of seedling-taking flaps 1-2 are provided on the circumference of the flap fixing plate 1-3. The seedling-taking flap 1-2 is connected to one end of the seedling-taking needle 1-1, and the other end of the seedling-taking needle 1-1 passes through the guiding hole at the bottom of the seedling-pushing frame 1-4.

[0084] As Figure 4 shown, the detection mechanism includes a clamping force sensor 1-5 and a tray-removing force sensor 1-6; the lower stud of the clamping force sensor 1-5 is connected to the seedling-pushing frame 1-4, and the upper stud of the clamping force sensor 1-5 is connected to the long nut 1-7; the lower stud of the tray-removing force sensor 1-6 is installed in the threaded hole on the spacer block 1-8, and the spacer block 1-8 is connected to the threaded hole at the top of the cylinder block 1-9-1 by a bolt. The upper stud of the tray-removing force sensor 1-6 is connected to the lifting module 3 through a connecting plate 8.

[0085] Preferably, the seedling-taking needle 1-1 and the seedling-taking flap 1-2 are fixed in the form of a hoop, and then the seedling-taking flap 1-2 is connected to the flap fixing plate 1-3 in the form of a set screw. The seedling-taking flaps 1-2 are symmetrically distributed about the center on the flap fixing plate 1-3. The seedling-pushing frame 1-4 confines the seedling-taking needle 1-1 in the guiding hole at its bottom.

[0086] As Figure 5 shown, the flap fixing plate 1-3 is in a "wood" - shaped structure, and circular holes for connecting the seedling-taking flaps 1-2 are provided at six ends of the "wood" - shaped structure; the seedling-taking flap 1-2 is connected to the flap fixing plate 1-3 through a pin shaft and fixed by a bolt passing through the circular hole and pressing against the pin shaft.

[0087] As Figure 5As shown, since the installation point on the flap fixing plate 1-3 determines the insertion angle of the seedling taking needle 1-1 on the seedling taking end effector 1 to the seedling pot, and the angles of the wall surfaces of the seedling trays of different sizes are different, the required angles of the seedling taking needle 1-1 to be inserted into the seedling pot are also different. Flip fixing plates 1-3 of different sizes can be designed. Specifically, in a specific embodiment of the present invention, three different sizes of flap fixing plates 1-3 are designed, among which the first flap fixing plate 1-3-1 is suitable for 72-hole seedling tray seedling pots, such as Figure 5 As shown in (a), the second flap fixing plate 1-3-2 is suitable for a 128-hole seedling tray pot, such as Figure 5 As shown in (b), the third flap fixing plate 1-3-3 is suitable for a 50-hole seedling tray pot, such as Figure 5 As shown in (c), by replacing the flap fixing plates 1-3 of different sizes, the plug tray seedling pot force measuring platform can meet different test requirements.

[0088] like Figure 7 As shown, the seedling pusher frame 1-4 includes two structural forms: a four-finger seedling pusher frame 1-4-1 and a three-finger seedling pusher ring 1-4-2. Both the two-needle and four-needle seedling removal end effectors 1 can adopt the four-finger seedling pusher frame 1-4-1. Figure 7 (a), and the three-needle seedling removal end effector 1 adopts a three-finger seedling pusher 1-4-2, as shown in FIG. Figure 7 (b) as shown.

[0089] like Figure 6 As shown, the seedling removal flap 1-2 of the two-needle seedling removal end effector 1 is connected to the circular hole at either the horizontal end or the vertical end of the "wood" shaped structure, as shown in FIG. Figure 6 (a)

[0090] The seedling removal flap 1-2 of the three-needle seedling removal end effector 1 is connected to any vertical end of the "wood"-shaped structure and the circular holes at the two ends of the "wood"-shaped structure, such as Figure 6 (b)

[0091] The seedling removal flap 1-2 of the four-needle seedling removal end effector 1 is connected to the circular holes at the four ends of the horizontal and vertical ends of the "wood" shaped structure, such as Figure 6 (c) as shown.

[0092] like Figure 8 and 9As shown, the plug tray seedling pot force measuring platform also includes a linear bearing 9 and a step screw 10; a through hole is provided on the cushion block 1-8, and the linear bearing 9 is fixed in the through hole by a retaining spring, and the step screw 10 passes through the linear bearing 9 and is fixed on the connecting plate 8, and the light rod part of the step screw 10 is interference fit with the linear bearing (9), so that it can slide slightly in the vertical direction along the through hole in the linear bearing 9, and the screw part of the step screw 10 is connected to the connecting plate 8, which can prevent the off-disc force sensor 1-6 from loosening from the connecting plate 8; at the same time, the linear bearing 9 only guides the light rod part of the step screw 10, avoiding relative fixation between the cushion block 1-8 and the connecting plate 8, which can make the data measurement of the off-disc force sensor 1-6 more accurate. The cross-sectional diagram of the installation method of this part is shown in the figure Figure 8 shown.

[0093] like Fig.10 As shown, the seedling tray positioning plate 2 includes at least two transverse positioning blocks 2-1, at least two longitudinal positioning blocks 2-2 and a seedling tray supporting plate 2-3;

[0094] The seedling tray support plate 2-3 is symmetrically provided with a plurality of first U-shaped holes arranged in parallel in a transverse direction on both sides, and a plurality of second U-shaped holes arranged in parallel in a longitudinal direction are symmetrically provided in the middle of the seedling tray support plate 2-3;

[0095] The two transverse positioning blocks 2-1 are symmetrically connected to the first U-shaped holes arranged transversely and parallelly on the seedling tray support plate 2-3 by bolts, and the two longitudinal positioning blocks 2-2 are symmetrically connected to the second U-shaped holes arranged longitudinally and parallelly on the seedling tray support plate 2-3 by bolts. By changing the installation position of the transverse positioning block 2-1 in the first U-shaped hole, the distance between the two transverse positioning blocks 2-1 is adjusted, and by changing the installation position of the longitudinal positioning block 2-2 in the second U-shaped hole, the distance between the two longitudinal positioning blocks 2-2 is adjusted to adapt to hole trays of different specifications and sizes.

[0096] During operation, the operator presets the installation positions of the transverse positioning block 2-1 and the longitudinal positioning block 2-2 according to the seedling tray used, and then places the seedling tray on the seedling tray support plate 2-3, so that the transverse positioning block 2-1 and the longitudinal positioning block 2-2 are stuck in the middle of the trapezoidal groove at the bottom of the seedling tray, so as to achieve the clamping of the seedling tray when taking the seedlings, prevent the seedling tray from shaking left and right during the seedling taking process, and ensure that the seedling taking position of the seedling pot taken by the seedling taking end effector 1 is the same when the measured seedling pot is changed each time, thereby ensuring the accurate positioning of the seedling pot taken during the seedling taking process.

[0097] The clamping force sensor 1-5 is used to detect the pulling force of the cylinder push rod 1-9-2 on the seedling pushing frame 1-4, and transmit it to the PC end, and the PC end calculates the clamping force of the seedling taking end effector 1 on the seedling pot according to the pulling force value; the off-disk force sensor 1-6 is used to detect the force value required for the lifting module 3 to drive the seedling taking end effector 1 to rise and separate the seedling pot from the seedling tray after the seedling taking end effector 1 clamps the seedling pot, and transmit it to the PC end, and the PC end calculates the off-disk force of the seedling pot according to the force value.

[0098] like Fig.11 As shown, after the seedling taking end effector 1 clamps and inserts the seedling pot of the plug tray, the control cabinet 5 drives the lifting module 3 to continue to move through the servo motor 4, driving the seedling taking end effector 1 to rise and return to the initial position, and the seedling taking end effector 1 pushes the seedling pot down; in the process of the seedling taking end effector 1 clamping the seedling pot of the plug tray to separate the seedling pot from the plug tray, the separation force sensor 1-6 starts to work, and the force measured by it is the force value required for the plug tray seedling pot to separate from the seedling tray. After the force measuring platform completes the above set of work processes, the operator re-places the seedling tray on the seedling tray positioning plate 2 to conduct a seedling taking test for the next plug tray seedling pot.

[0099] The working process of the present invention is:

[0100] First, the operator places the seedling tray on the seedling tray positioning plate 2 and then starts the force measuring platform;

[0101] The PLC controls the servo driver to drive the servo motor 4 to operate, thereby driving the lifting module 3 to drive the seedling removal end effector 1 to descend to the predetermined seedling removal position;

[0102] The PLC controls the air compressor 6 to drive the seedling taking end effector 1 to clamp the seedling pot in the plug tray; at the same time, the servo driver is controlled to make the servo motor 4 drive the lifting module 3 to continue to move, driving the seedling taking end effector 1 to continue to descend, so as to insert the seedling taking end effector 1 into the plug tray seedling pot; the clamping force sensor 1-5 detects the tension value of the cylinder push rod 1-9-2 on the seedling pushing frame 1-4, and sends it to the PC end, and the PC end calculates the clamping force of the seedling taking end effector 1 on the seedling pot according to the tension value;

[0103] After the seedling taking end effector 1 clamps and inserts the seedling pot in the plug tray, the PLC controls the servo driver to make the servo motor 4 drive the lifting module 3 to continue to move, and drives the seedling taking end effector 1 to rise and return to the initial position. During the process, the seedling pot is separated from the plug tray. The off-disk force sensor 1-6 detects the force value required for the lifting module 3 to drive the seedling taking end effector 1 to rise and separate the seedling pot from the seedling tray after the seedling taking end effector 1 clamps the seedling pot, and sends it to the PC. The PC calculates the seedling pot off-disk force according to the force value. After a set of work processes are completed on the force measuring platform, the operator puts the seedling tray back on the seedling tray positioning plate 2 to conduct a seedling taking test for the next plug tray seedling pot.

[0104] Specifically, the force measuring platform needs to be adjusted as follows before the test begins:

[0105] The positions of the transverse positioning block 2-1 and the longitudinal positioning block 2-2 on the seedling tray support plate 2-3 need to be preset according to the specifications of the selected plug tray seedling tray, and then fixed to form the seedling tray fixing plate 2;

[0106] Replace the required flap fixing plates 1-3 according to the specifications and dimensions of the selected plug tray seedling tray;

[0107] According to the test requirements, the installation position and number of the seedling taking flap 1-2 on the flap fixing plate 1-3 are changed, and the seedling taking end effector 1 with the required number of seedling taking needles is realized by replacing the seedling pushing frame 1-4;

[0108] In the PC-side force measurement software, the clamping force sensors 1-5 and the disc-off force sensors 1-6 are calibrated and reset to zero. After the above-mentioned force measurement platform adjustment is completed, the force measurement platform is started to carry out the seedling removal test.

[0109] Specifically, PLC controls the air compressor 6 through the solenoid valve to provide power to drive the cylinder 1-9 to work, and the cylinder push rod 1-9-2 in the cylinder retracts to drive the seedling pushing frame 1-4 to rise, and the seedling needle 1-1 is tightened under the action of the guide hole at the bottom of the seedling pushing frame 1-4, so that the seedling taking end effector 1 clamps the seedling pot. At the same time, the seedling taking end effector 1 needs to cooperate with the lifting module 3 to complete the insertion of the seedling pot, so that the seedling taking end effector 1 can insert and clamp the seedling pot at the same time to ensure the synchronization of work; when the lifting module 3 drives the seedling taking end effector 1 to rise and return to the initial position, the cylinder push rod 1-9-2 of the cylinder 1-9 is pushed out to drive the seedling pushing frame 1-4 to descend and push the seedling pot down, completing a working cycle. During the operation of the seedling removal end effector 1, the clamping force sensors 1-5 and the off-disk force sensors 1-6 transmit the measured data to the PC in real time through the transmitter and the data line, and the relevant mechanical characteristic curves measured during the seedling removal test are obtained through the PC. The clamping force and off-disk force of the seedling removal end effector 1 on the seedling pot can be obtained through calculation. After the force measurement platform completes the above set of work processes, the operator will re-place the seedling tray on the seedling tray positioning plate 2 to conduct a seedling removal test for the next seedling pot in the seedling tray.

[0110] like Fig.12 As shown, the clamping force F of the seedling pot Jn Calculated according to the following formula:

[0111]

[0112] F S1 L 1 =F J1 (L 1 +L 2 )

[0113] F Jn =nF J1

[0114] Where: n is the number of needles of the seedling-taking end effector 1, and n is 2, 3, or 4;

[0115] α is the angle between the seedling needle 1 - 1 and the vertical direction when the seedling taking end effector 1 clamps the seedling pot;

[0116] F 1 is the tension measured by the clamping force sensors 1-5 when the seedling removal end effector 1 removes the seedling, N;

[0117] F 0n is the tension measured by the clamping force sensors 1-5 when the n-needle seedling removal end effector 1 is empty, N;

[0118] F S1 is the contraction force of the seedling pusher 1-4 on the single seedling needle 1-1 when the seedling end effector 1 is taking seedlings, N;

[0119] F J1 is the clamping force of a single seedling needle 1-1 on the seedling pot, N;

[0120] F Jn is the clamping force of the n-needle seedling removal end effector 1 on the seedling pot, N;

[0121] L 1 is the distance from the installation point of the seedling taking flap 1-2 on the universal flap mounting plate 1-3 to the center of the circular hole at the bottom of the seedling pushing rack 1-4, mm;

[0122] L 2 It is the distance from the center of the circular hole at the bottom of the seedling pusher 1-4 to the insertion of the seedling needle 1-1 into the seedling pot, mm, preferably, it is the distance from the center of the circular hole at the bottom of the seedling pusher 1-4 to the insertion of the seedling needle 1-1 into the 2 / 3 of the seedling pot;

[0123] like Fig.13 As shown, the seedling pot off-plate force F Tn Calculated according to the following formula:

[0124] F 2 =F Tn +G en +G S

[0125] F Tn =F 2 -G en -G S

[0126] In the formula: n is the number of needles of the seedling removal end effector, n is 2, 3, 4;

[0127] F 2 It is the pulling force measured by the force sensor 1-6 when the seedling removal end effector removes the seedling, N;

[0128] G en is the gravity of the end effector of the n-needle seedling removal, N;

[0129] G S is the weight of the seedling pot itself, N

[0130] F Tn is the force exerted by the n-needle seedling removal end effector on the seedling pot, N.

[0131] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0132] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A plug tray seedling pot force measuring platform, characterized in that: It includes a seedling removal end effector (1), a seedling tray positioning plate (2), a lifting module (3), a servo motor (4), an air compressor (6), a mechanism bracket (7), a force measurement system, a controller and a PC terminal; The upper end of the seedling taking end effector (1) is connected to the lifting module (3), the lifting module (3) is installed on the upper part of the mechanism bracket (7), the servo motor (4) is connected to the servo driver, and the power output shaft of the servo motor (4) is connected to the lifting module (3) to drive the lifting module (3) to drive the seedling taking end effector (1) to move up and down; the seedling tray positioning plate (2) is installed at the lower part of the mechanism bracket (7), and the air compressor (6) is connected to the seedling taking end effector (1) through the air pipe, and is used to drive the seedling taking end effector (1) to clamp the plug tray seedling pot; The force measuring system is connected to the seedling removal end effector (1) and the PC end respectively, and is used to detect the clamping force and the disengagement force of the seedling removal end effector (1) on the seedling pot; The controller is connected to the servo drive and the air compressor (6) respectively.

2. The plug tray seedling pot force measuring platform according to claim 1, characterized in that: The seedling retrieval end effector (1) comprises a seedling retrieval needle (1-1), a seedling retrieval flap (1-2), a flap fixing plate (1-3), a seedling pushing frame (1-4) and a cylinder (1-9); The cylinder (1-9) comprises a cylinder body (1-9-1), a cylinder push rod (1-9-2) and an air nozzle (1-9-3); one end of the air nozzle (1-9-3) is connected to the air compressor (6), and the other end is connected to the cylinder body (1-9-1); the bottom of the cylinder body (1-9-1) is installed on the flap fixing plate (1-3); one end of the cylinder push rod (1-9-2) penetrates into the cylinder body (1-9-1) and can slide along the cylinder body (1-9-1), and the other end passes through the central through hole of the flap fixing plate (1-3); A plurality of seedling taking flaps (1-2) are arranged on the circumference of the flap fixing plate (1-3); the seedling taking flaps (1-2) are connected to one end of a seedling taking needle (1-1); and the other end of the seedling taking needle (1-1) passes through a guide hole at the bottom of the seedling pushing frame (1-4).

3. The plug tray seedling pot force measuring platform according to claim 2, characterized in that: The force measuring system comprises a clamping force sensor (1-5) and a disc-off force sensor (1-6); The lower stud of the clamping force sensor (1-5) is connected to the seedling pushing frame (1-4), and the upper stud of the clamping force sensor (1-5) is connected to the other end of the cylinder push rod (1-9-2) through a long nut (1-7); The lower stud of the off-disk force sensor (1-6) is installed in the cushion block (1-8), the cushion block (1-8) is connected to the top of the cylinder body (1-9-1), and the upper stud of the off-disk force sensor (1-6) is connected to the lifting module (3) through the connecting plate (8).

4. The plug tray seedling pot force measuring platform according to claim 3, characterized in that: The clamping force sensor (1-5) is used to detect the pulling force value of the cylinder push rod (1-9-2) on the seedling pushing frame (1-4) and transmit it to the PC end, and the PC end calculates the clamping force of the seedling taking end effector (1) on the seedling pot according to the pulling force value; The off-disk force sensor (1-6) is used to detect the force value required for the lifting module (3) to drive the seedling taking end effector (1) to rise and separate the seedling pot from the seedling tray after the seedling taking end effector (1) clamps the seedling pot, and transmits it to the PC end, and the PC end calculates the off-disk force of the seedling pot based on the force value.

5. The plug tray seedling pot force measuring platform according to claim 4, characterized in that: The clamping force F of the seedling pot Jn Calculated according to the following formula: F S1 L1=F J1 (L1+L2) F Jn =nF J1 Where: n is the number of needles of the seedling removal end effector (1), n ​​is 2, 3, 4; α is the angle between the seedling picking needle (1-1) and the vertical direction when the seedling picking end effector (1) clamps the seedling pot; F1 is the tension measured by the clamping force sensor (1-5) when the seedling removal end effector (1) removes the seedling; F 0n It is the tension measured by the clamping force sensor (1-5) when the n-needle seedling removal end effector (1) is empty; F S1 It is the contraction force of the seedling pushing frame (1-4) on a single seedling picking needle (1-1) when the seedling picking end effector (1) picks the seedlings; F J1 is the clamping force of a single seedling needle (1-1) on the seedling pot; F Jn is the clamping force of the n-needle seedling removal end effector (1) on the seedling pot; L1 is the distance from the installation point of the seedling taking flap (1-2) on the universal flap installation plate (1-3) to the center of the circular hole at the bottom of the seedling pushing frame (1-4); L2 is the distance from the center of the circular hole at the bottom of the seedling pushing frame (1-4) to the insertion of the seedling taking needle (1-1) into the seedling pot.

6. The plug tray seedling pot force measuring platform according to claim 4, characterized in that: The seedling pot off-plate force F Tn Calculated according to the following formula: F2=F Tn +G en +G S F Tn =F2-G en -G S In the formula: n is the number of needles of the seedling removal end effector, n is 2, 3, 4; F2 is the pulling force measured by the off-disk force sensor (1-6) when the seedling removal end effector removes the seedling; G en is the gravity of the end effector of the n-needle seedling removal; G S It is the seedling pot’s own gravity; F Tn It is the force exerted by the n-needle seedling removal end effector on the seedling pot to remove the seedling.

7. The plug tray seedling pot force measuring platform according to claim 3, characterized in that: It also includes a linear bearing (9) and a step screw (10); The cushion block (1-8) is provided with a through hole, a linear bearing (9) is fixed in the through hole via a retaining ring, a step screw (10) passes through the linear bearing (9) and is fixed on the connecting plate (8), and the light rod part of the step screw (10) is interference fit with the linear bearing (9), so that it can slide in the vertical direction along the through hole in the linear bearing (9).

8. The plug tray seedling pot force measuring platform according to claim 2, characterized in that: The flap fixing plate (1-3) is a "wood"-shaped structure, and the six ends of the "wood"-shaped structure are all provided with round holes for connecting the seedling-taking flap (1-2); the seedling-taking flap (1-2) is connected to the flap fixing plate (1-3) via a pin shaft, and is fixed by bolts passing through the round holes to support the pin shaft.

9. The plug tray seedling pot force measuring platform according to claim 8, characterized in that: The seedling pushing frame (1-4) comprises a four-finger seedling pushing frame (1-4-1) and a three-finger seedling pushing ring (1-4-2); both the two-needle and four-needle seedling taking end effectors (1) can use the four-finger seedling pushing frame (1-4-1), while the three-needle seedling taking end effector (1) uses the three-finger seedling pushing frame (1-4-2); The seedling picking flap (1-2) of the two-needle seedling picking end effector (1) is connected to the circular hole at any horizontal end or any vertical end of the "wood" shaped structure; The seedling picking flap (1-2) of the three-needle seedling picking end effector (1) is connected to any vertical end of the "wood"-shaped structure and the circular holes at the two ends of the "wood"-shaped structure; The seedling picking flap (1-2) of the four-needle seedling picking end effector (1) is connected to the circular holes at the four horizontal and vertical ends of the "wood"-shaped structure.

10. The plug tray seedling pot force measuring platform according to claim 8, characterized in that: The seedling tray positioning plate (2) comprises at least two transverse positioning blocks (2-1), at least two longitudinal positioning blocks (2-2) and a seedling tray supporting plate (2-3); The seedling tray support plate (2-3) has a plurality of rows of first U-shaped holes symmetrically arranged in parallel and transversely on both sides, and a plurality of rows of second U-shaped holes symmetrically arranged in parallel and longitudinally in the middle of the seedling tray support plate (2-3); The two transverse positioning blocks (2-1) are symmetrically connected to first U-shaped holes arranged transversely and in parallel on the seedling tray support plate (2-3), and the two longitudinal positioning blocks (2-2) are symmetrically connected to second U-shaped holes arranged longitudinally and in parallel on the seedling tray support plate (2-3). By changing the installation position of the transverse positioning block (2-1) in the first U-shaped hole, the distance between the two transverse positioning blocks (2-1) is adjusted, and by changing the installation position of the longitudinal positioning block (2-2) in the second U-shaped hole, the distance between the two longitudinal positioning blocks (2-2) is adjusted to adapt to plug trays of different specifications and sizes.

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