A grafting seedling terminal for plug tray seedlings

Abstract

The present invention relates to the technical field of agricultural grafting devices. The technical solution is: a grafting seedling terminal for plug seedlings, characterized in that it includes a rotating mechanism for driving the overall rotation of the seedling terminal, two groups of four-bar linkage mechanisms symmetrically installed on both sides of the rotating frame of the rotating mechanism and movable in a vertical plane, a driving mechanism installed on the rotating frame to drive the two groups of four-bar linkage mechanisms to move synchronously, a clamping mechanism installed at the bottom of the two groups of four-bar linkage mechanisms to clamp the seedlings, a stretching mechanism installed in the middle of the two groups of four-bar linkage mechanisms, and a controller for controlling the coordinated work of each mechanism; the stretching mechanism is connected to the clamping mechanism by a traction rope, so that the stretching mechanism drives the clamping mechanism to perform the seedling clamping action. The seedling terminal can clamp the seedlings together with the soil by inserting it into the soil around the seedlings to avoid the stem breaking phenomenon caused by only grabbing the seedlings, and at the same time can ensure that there is enough space at the top of the grabbed seedlings for grafting.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural grafting devices, in particular to a grafting seedling terminal for plug tray seedlings. Background Art

[0002] At present, the mainstream automatic grafting machines are divided into three types according to the degree of automation, namely fully automatic grafting machines, semi-automatic grafting machines and manual grafting machines. Since the fully automatic grafting machines are too expensive and cannot be promoted, most of the grafting machines developed in China are semi-automatic grafting machines. The operation of taking the rootstock and scion seedlings from these semi-automatic grafting machines needs to be done manually, which has low production efficiency.

[0003] Automatic seedling retrieval technology can greatly improve the working efficiency of the grafting machine. However, the existing automatic seedling retrieval device for plug tray seedlings is mainly used for plug tray seedling transplanting. Its implementation scheme is: through machine vision analysis, a robot arm is used to grab the stem of the seedling from above the seedling, and then move vertically upward to grab the seedling.

[0004] The above seedling picking device grabs the stem of the seedling. Since the stem of the seedling is relatively fragile and the root is connected to the soil block, it is easy to cause the stem of the seedling to break. In addition, the seedling picking device grabs from the top of the seedling, so there is no space on the top of the seedling for the rest of the grafting action. Therefore, the existing automatic seedling picking technology is not well applicable to the grafting of plug tray seedlings. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a grafting seedling terminal for plug tray seedlings. The seedling terminal can be used as an automatic seedling retrieval device of a semi-automatic grafting machine. By inserting it into the soil around the seedlings, the seedlings are clamped together with the soil to avoid stem breakage caused by only grabbing the seedlings. At the same time, it can ensure that there is enough space at the top of the grabbed seedlings for grafting. The terminal has the characteristics of simple structure, low cost, stable and reliable operation and high production efficiency.

[0006] The technical solution provided by the present invention is:

[0007] A seedling-taking terminal for grafting seedlings in a plug tray, characterized in that it includes a rotating mechanism for driving the overall rotation of the seedling-taking terminal, two groups of four-bar linkages symmetrically installed on both sides of a rotating frame of the rotating mechanism and movable in a vertical plane, a driving mechanism installed on the rotating frame to drive the two groups of four-bar linkages to move synchronously, a clamping mechanism installed at the bottom of the two groups of four-bar linkages to clamp the seedlings, a stretching mechanism installed in the middle of the two groups of four-bar linkages, and a controller for controlling the coordinated operation of the various mechanisms; the stretching mechanism is connected to the clamping mechanism by a traction rope so that the stretching mechanism drives the clamping mechanism to perform a seedling clamping action.

[0008] The rotating mechanism comprises a rotating frame which can rotate around a vertical axis and a rotating motor which is installed on an external grafting machine and drives the rotating frame to rotate.

[0009] The driving mechanism comprises a driving shaft horizontally arranged and rotatably positioned on the rotating frame, a driving motor installed on the rotating frame to drive the driving shaft, and a driven shaft horizontally fixed on the rotating frame.

[0010] The two groups of four-bar linkages have the same structure; each group of four-bar linkages includes an active link, a master-slave link connector and a driven link; the active link, the master-slave link connector, the driven link and the rotating frame are hinged end to end in sequence to form a four-bar linkage; the active link and the driven link have the same length and are parallel to each other; the hinge axis between the active link and the rotating frame is the active axis, and the active link is fixedly connected to the active axis; the hinge axis between the driven link and the rotating frame is the driven axis, and the driven link is hinged to the driven axis.

[0011] The clamping mechanism includes a linear guide rail which is arranged horizontally and has its two ends respectively fixed on two master-slave rod connecting pieces, two slides which can be slidably positioned on the linear guide rail, two slider baffles respectively fixed on the two slides, two clamps respectively fixed on the bottom of the two slider baffles and arranged in an inverted "eight" shape for clamping seedlings, and an elastic member which horizontally connects the two slider baffles.

[0012] The stretching mechanism includes a support plate horizontally fixed on two driven connecting rods, a stretching motor installed on the support plate and whose motor shaft vertically passes through the support plate downward, a lead screw driven by the stretching motor, a lead screw nut matched with the lead screw thread, and a guide rod fixed on the support plate and vertically passing through the lead screw nut to limit the rotation of the lead screw nut; the guide rod is slidably matched with the lead screw nut.

[0013] The screw nut is fixedly connected to the two slider baffles by the traction rope, so that when the screw nut moves vertically upward, the traction rope drives the two slider baffles to move relative to each other, thereby driving the two clamps to approach each other and clamp the seedlings.

[0014] One end of the traction rope is fixedly connected to one of the slider baffles, and the other end of the traction rope is fixedly connected to the other slider baffle after passing through the screw nut, so that the screw nut applies force to the middle part of the traction rope when moving upward.

[0015] The rotating motor, the driving motor and the stretching motor are electrically connected to the controller respectively.

[0016] The working principle of the present invention is as follows:

[0017] When the seedling retrieval terminal of the present invention is used to clamp the seedlings, the two clamps in the clamping mechanism are first inserted into the soil around the seedlings, and then the stretching mechanism drives the screw nut to move vertically upward, and then the two slider baffles are driven to move relative to each other through the traction rope, so that the two clamps are close to each other and tightly clamp the seedlings and the soil; then the driving mechanism drives the stretching mechanism and the clamping mechanism to move upward synchronously through two groups of quadrilateral mechanisms, thereby lifting the seedlings and the soil upward to realize the seedling retrieval action.

[0018] The beneficial effects of the present invention are:

[0019] 1) The two clamps of the present invention clamp the soil around the seedlings, avoiding the fragile stems of the seedlings, which can greatly reduce the stem breakage of the seedlings and improve the integrity rate and survival rate of the seedlings.

[0020] 2) In the four-bar linkage of the present invention, the active link and the driven link are of the same length and are parallel to each other, so that the four-bar linkage is a parallel four-bar linkage. When the four-bar linkage moves, the posture of the clamping mechanism fixed on the master-slave rod connecting piece will not change, thereby ensuring that the seedlings clamped by the clamping mechanism always maintain the same posture during the upward lifting process; in addition, since the two clamps are in an inverted "eight" shape, the two clamps are respectively clamped on both sides of the seedlings, which will not occupy the space on the top of the seedlings, and is convenient for subsequent seedling grafting operations.

[0021] 3) An elastic member is horizontally connected between the two slider baffles. When the traction rope is relaxed, the two slider baffles close to each other can be automatically reset under the elastic force of the elastic member, ensuring that the seedling picking terminal can continuously perform the seedling picking operation.

[0022] 4) The present invention can realize automatic grasping of seedlings and can operate continuously for a long time, which greatly reduces labor costs and improves the efficiency of grafting seedlings. In addition, the present invention has a reasonable structural design, occupies a small space, is low in cost, can grasp seedlings conveniently and stably, has strong practicality, and is suitable for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0024] Figure 2 It is a schematic diagram of the main structure of the present invention.

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the rotating mechanism in the present invention.

[0026] Figure 4 It is a schematic diagram of the installation structure of the active connecting rod and the driven connecting rod on the rotating frame in the present invention (viewed from the left).

[0027] Figure 5 It is a schematic diagram of the main structure of the stretching mechanism in the present invention.

[0028] Figure 6 It is a schematic diagram of the main structure of the clamping mechanism in the present invention.

[0029] Figure 7 This is one of the schematic diagrams of the working state of the present invention (the two clamps do not clamp the seedlings, and the seedlings are not shown).

[0030] Figure 8 This is the second schematic diagram of the working state of the present invention (two clamps clamp the seedlings, and the seedlings are not shown).

[0031] Fig. 9 This is a right-side structural schematic diagram of the present invention when the seedling is lifted to the highest point (the seedling is not shown).

[0032] 1. Rotating mechanism; 1-1. Rotating frame; 1-2. Rotating motor connector; 1-3. Rotating motor; 2. Driving mechanism; 2-1. Active shaft; 2-2. Driving motor; 2-3. Driven shaft; 3. Four-bar linkage; 3-1. Active connecting rod; 3-2. Master-slave rod connector; 3-3. Driven connecting rod; 4. Clamping mechanism; 4-1. Linear guide; 4-2. Slide; 4-3. Slider baffle; 4-4. Clamp; 4-5. Elastic member; 5. Stretching mechanism; 5-1. Support plate; 5-2. Stretching motor; 5-3. Screw rod; 5-4. Screw rod nut; 5-5. Guide rod; 6. Traction rope. DETAILED DESCRIPTION

[0033] The following is a further description with reference to the embodiments shown in the accompanying drawings.

[0034] For the convenience of description, the up and down directions in this embodiment are Figure 2 Up and down direction.

[0035] like Figure 1 , Figure 2 The grafting seedling terminal of the plug tray seedling shown includes a rotating mechanism 1, a driving mechanism 2, two groups of four-bar linkage mechanisms 3, a clamping mechanism 4, a stretching mechanism 5 and a controller (not shown in the figure). The rotating mechanism is used to drive the seedling terminal to rotate a certain angle as a whole to adapt to the cotyledon opening angle and opening direction of the seedling (not shown in the figure) to facilitate subsequent grafting operations. The driving mechanism is installed on the rotating frame of the rotating mechanism and is used to drive the two groups of four-bar linkages to move synchronously. The two groups of four-bar linkages have the same structure and are symmetrically installed on both sides of the rotating frame of the rotating mechanism. The two groups of four-bar linkages can move synchronously in a vertical plane driven by the driving mechanism. The clamping mechanism is installed at the lower part of the two groups of four-bar linkages for clamping the seedlings. The stretching mechanism is installed in the middle of the two groups of four-bar linkages, and the stretching mechanism drives the clamping mechanism through the traction rope 6 to realize the seedling clamping action. The clamping mechanism and the stretching mechanism can realize the lifting action of the seedlings under the drive of the two groups of four-bar linkages.

[0036] like Figure 3 As shown, the rotating mechanism includes a rotating frame 1-1 and a rotating motor 1-3. The rotating frame can rotate around a vertical axis, and a rotating motor connector 1-2 is fixed at the center of the upper part of the rotating frame; the rotating motor is installed on an external grafting machine (not shown in the figure), and the motor shaft of the rotating motor is fixedly connected to the rotating motor connector to drive the rotating frame to rotate.

[0037] like Figure 2 As shown, the driving mechanism includes a driving shaft 2-1, a driving motor 2-2 and a driven shaft 2-3. The driving shaft is horizontally arranged and rotatably positioned on the rotating frame; the driving motor is installed on the rotating frame to drive the driving shaft to rotate; and the driven shaft is horizontally fixed on the rotating frame.

[0038] like Figure 1 , Figure 4 As shown, each set of four-bar linkages includes an active link 3-1, a master-slave link connector 3-2 and a driven link 3-3. The active link, the master-slave link connector, the driven link and the rotating frame are hinged end to end in sequence to form a four-bar linkage. The active link and the driven link are of the same length and parallel to each other, so that both sets of four-bar linkages are parallel four-bar linkages; when the four-bar linkage moves, the posture of the clamping mechanism fixed on the master-slave link connector will not change, which can ensure that the seedlings always maintain the same posture during the upward lifting process, which is convenient for the subsequent grafting of seedlings. The hinge axis between the active link and the rotating frame is the active axis, and the active link is fixedly connected to the active axis; the hinge axis between the driven link and the rotating frame is the driven axis, and the driven link is hinged to the driven axis. During operation, the driving mechanism drives the active axis to rotate a certain angle, so that the active axis drives the two active links to swing synchronously, thereby realizing the synchronous movement of the two sets of four-bar linkages. In this embodiment, the initial positions of the active connecting rod and the driven connecting rod are both arranged vertically, and the maximum swing angle of the active connecting rod and the driven connecting rod can reach 90° (see Fig. 9 ); In order to avoid interference between the active connecting rod and the driven connecting rod during the swinging process, the axes of the active shaft and the driven shaft are not in the same horizontal plane, that is, there is a certain height difference between the active shaft and the driven shaft in the vertical direction (the height difference is determined according to the actual parameters of the active connecting rod and the driven connecting rod).

[0039] like Figure 6As shown, the clamping mechanism includes a linear guide 4-1, two slides 4-2, two slider baffles 4-3, two clamps 4-4 and an elastic member 4-5 (such as a spring). The linear guide is arranged horizontally and its two ends are respectively fixed on two master-slave rod connecting members. The two slides can be slidably positioned on the linear guide; the two slider baffles are respectively fixed on the two slides; the two clamps are respectively fixed on the bottom of the two slider baffles and arranged in an inverted "eight" shape, so as to clamp the two sides of the seedlings, which is convenient for the subsequent grafting operation of the seedlings. The elastic member horizontally connects the two slider baffles, so that the two slider baffles close to each other can automatically reset, ensuring that the seedling terminal can continuously perform the seedling operation.

[0040] like Figure 5 As shown, the stretching mechanism includes a support plate 5-1, a stretching motor 5-2, a screw 5-3, a screw nut 5-4 and a guide rod 5-5. The support plate is horizontally fixed on two driven connecting rods; the stretching motor is installed on the support plate and its motor shaft vertically passes through the support plate downward; the screw is vertically fixed on the motor shaft of the stretching motor and is driven by the stretching motor; the screw nut cooperates with the screw thread so as to move vertically under the drive of the screw; the guide rod is fixed on the support plate and vertically passes through the screw nut to limit the screw nut from rotating integrally with the screw; the guide rod is slidably matched with the screw nut.

[0041] like Figure 1 , Figure 2 As shown, the screw nut and the two slider baffles are fixedly connected by the traction rope 6, so that when the screw nut moves vertically upward along the screw, the traction rope is tightened, and the traction rope drives the two slider baffles to move relative to each other, so that the two clamps are close to each other and clamp the seedlings. Preferably, one end of the traction rope is fixedly connected to one of the slider baffles, and the other end of the traction rope is fixedly connected to the other slider baffle after passing through the screw nut, so that when the screw nut moves upward, a force is applied to the middle part of the traction rope.

[0042] The rotating motor, driving motor and stretching motor are electrically connected to a controller (not shown) respectively, so that the controller can control the working coordination of each mechanism.

[0043] The working mode of the present invention is as follows:

[0044] The first is the seedling clamping action, such as Figure 7 , Figure 8Before the seedlings are clamped, the controller controls the rotary motor to rotate to the corresponding angle according to the opening angle and opening direction of the cotyledons of the seedlings; then the external grafting machine (not shown in the figure) drives the entire seedling terminal to move downward, so that the two clamps are inserted into the soil on both sides of the seedlings, and at the same time, the controller controls the stretching motor in the stretching mechanism to rotate, and the screw nut is driven by the screw rod to move upward along the guide rod; during the upward movement of the screw nut, the traction rope is gradually tightened until it drives the two slider baffles to move relative to each other, so that the two clamps are close to each other and tightly clamp the seedlings and the surrounding soil.

[0045] The second is the upward lifting action of the seedlings, e.g. Fig. 9 After the seedlings are clamped, the controller controls the driving motor to rotate, and the driving motor drives the two sets of four-bar linkages to move synchronously through the active shaft, lifting the stretching mechanism and the clamping mechanism fixed on the two sets of four-bar linkages upward until the active link and the driven link swing to the maximum angle. At this time, the seedlings are lifted to the highest point, completing the seedling removal action, and subsequent grafting operations can be carried out.

[0046] After the grafting operation of the seedlings is completed, each mechanism performs a reverse action, and the two slider baffles automatically return to the initial position under the elastic force of the elastic member, and the next seedling removal action can be performed, and this reciprocating process is used to achieve continuous seedling removal.

[0047] Finally, it should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and there may be multiple variations. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. A seedling grafting terminal for plug tray seedlings, characterized in that: The invention comprises a rotating mechanism (1) for driving the overall rotation of the seedling picking terminal, two groups of four-bar linkage mechanisms (3) symmetrically mounted on both sides of a rotating frame of the rotating mechanism and movable in a vertical plane, a driving mechanism (2) mounted on the rotating frame to drive the two groups of four-bar linkage mechanisms to move synchronously, a clamping mechanism (4) mounted at the bottom of the two groups of four-bar linkage mechanisms, a stretching mechanism (5) mounted in the middle of the two groups of four-bar linkage mechanisms, and a controller for controlling the coordinated operation of the various mechanisms; the stretching mechanism and the clamping mechanism are connected via a traction rope (6) so that the stretching mechanism drives the clamping mechanism to perform a seedling picking action; The two groups of four-bar linkage mechanisms have the same structure; each group of four-bar linkage mechanisms comprises an active link (3-1), a master-slave link connector (3-2) and a driven link (3-3); the active link, the master-slave link connector, the driven link and the rotating frame are hinged end to end in sequence to form a four-bar linkage; the active link and the driven link are of the same length and are parallel to each other; the hinge axis between the active link and the rotating frame is the active shaft (2-1), and the active link is fixedly connected to the active shaft; the hinge axis between the driven link and the rotating frame is the driven shaft (2-3), and the driven link is hinged to the driven shaft; The clamping mechanism comprises a linear guide rail (4-1) arranged horizontally and having its two ends respectively fixed on two master-slave rod connecting members, two slides (4-2) slidably positioned on the linear guide rail, two slider baffles (4-3) respectively fixed on the two slides, two clamps (4-4) respectively fixed on the bottom of the two slider baffles and arranged in an inverted "eight" shape to form a clamping mechanism, and an elastic member (4-5) horizontally connecting the two slider baffles; The stretching mechanism comprises a support plate (5-1) fixed horizontally on two driven connecting rods, a stretching motor (5-2) mounted on the support plate and having a motor shaft vertically passing through the support plate downward, a lead screw (5-3) driven by the stretching motor, a lead screw nut (5-4) matched with the lead screw thread, and a guide rod (5-5) fixed on the support plate and vertically passing through the lead screw nut to limit the rotation of the lead screw nut; the guide rod is slidably matched with the lead screw nut.

2. The grafting seedling terminal for plug tray seedlings according to claim 1, characterized in that: The rotating mechanism comprises a rotating frame (1-1) which can rotate around a vertical axis, and a rotating motor (1-3) which is installed on an external grafting machine and drives the rotating frame to rotate.

3. The grafting seedling terminal for plug tray seedlings according to claim 2, characterized in that: The driving mechanism comprises the driving shaft arranged horizontally and rotatably positioned on the rotating frame, a driving motor (2-2) installed on the rotating frame to drive the driving shaft, and the driven shaft fixed horizontally on the rotating frame.

4. The grafting seedling terminal for plug tray seedlings according to claim 3, characterized in that: The screw nut and the two slider baffles are fixedly connected via the traction rope (6), so that when the screw nut moves vertically upward, the traction rope drives the two slider baffles to move relative to each other, thereby driving the two clamps to approach each other and clamp the mechanism.

5. The grafting seedling terminal for plug tray seedlings according to claim 4, characterized in that: One end of the traction rope is fixedly connected to one of the slider baffles, and the other end of the traction rope is fixedly connected to the other slider baffle after passing through the screw nut, so that the screw nut applies force to the middle part of the traction rope when moving upward.

6. The grafting seedling terminal for plug tray seedlings according to claim 5, characterized in that: The rotating motor, the driving motor and the stretching motor are electrically connected to the controller respectively.

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