A grafted seedling adjustment, picking and conveying device

Abstract

The present invention discloses a grafted seedling orientation removal and conveying device, which includes a seedling tray conveyor belt, an opposing seedling tray conveyor belt, an adjacent grafting tray conveyor belt, an image acquisition assembly spanning the seedling tray conveyor belt and the seedling tray conveyor belt, a truss I motion assembly spanning the seedling tray conveyor belt, a row-wide orientation removal robot mounted on the truss I motion assembly, a truss II motion assembly spanning between the grafting tray conveyor belt and the seedling tray conveyor belt, and a orientation removal robot mounted on the truss II motion assembly. The device uses the image acquisition assembly to identify seedlings in a plug tray, distinguishing between inferior and skewed seedlings. The inferior seedlings are removed and discarded by a rotatable orientation removal robot, and the skewed seedlings are rotated to the correct orientation and placed in a grafting plug tray. This provides rootstock and scion seedlings with uniform orientation to the entire row of vegetable grafting machines, thereby improving the efficiency of subsequent fully automatic grafting operations.

Description

Technical Field

[0001] The invention relates to the field of transplanting machinery, in particular to a grafted seedling direction-adjusting, picking and conveying device. Background Art

[0002] Grafting is a method of artificial plant propagation, often used to improve plant traits and enhance their resistance to soil-borne pests and diseases. Grafted seedlings are divided into a scion and a rootstock. The scion is the flowering and fruiting part, while the rootstock is the part inserted into the soil to absorb water and nutrients. Vegetable grafting typically takes a short time, requiring a high level of skill.

[0003] Grafting machines can complete grafting operations in a short period of time. Currently, there are two types of grafting machines: single-tree grafting machines and whole-row grafting machines. Most of the existing grafting machines are single-tree grafting machines, which cut the rootstock and scion wood separately, and then dock and clamp them. The overall grafting efficiency is relatively low. The whole-row grafting machine cuts a row of rootstock and scion wood at a time and docks and clamps them at the same time. The working efficiency is higher than that of the single-tree grafting machine.

[0004] However, in the grafting operation, there is a requirement for the cotyledon orientation when grafting melon vegetables, that is, the cotyledon directions of the scion and the rootstock should be arranged in a cross shape. However, in most seedling cultivation processes, the growth direction of the plant seedlings is disordered. When grafting melon vegetables with a whole-row grafting machine, the cotyledon orientation of the seedlings to be grafted needs to be manually adjusted for grafting. This process prevents the operating efficiency of the grafting machine from being further improved and limits the development of the whole-row grafting machine for melon vegetables. Summary of the Invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a grafted seedling adjustment, picking and conveying device, which can improve the working efficiency and operation effect of the grafting machine.

[0006] In order to achieve the above object, the specific scheme adopted by the present invention is:

[0007] A grafted seedling adjustment, picking and conveying device, comprising:

[0008] A seedling tray conveyor belt is extended along a first direction and is used to convey seedlings to be transplanted;

[0009] A seedling-filling tray conveyor belt is extended along a first direction and is used to convey seedlings to be filled in pots. The seedling-filling tray conveyor belt and the seedling-raising tray conveyor belt are arranged opposite to and spaced apart from each other along a second direction, and the second direction is perpendicular to the first direction;

[0010] The grafting tray conveyor belt is arranged on one side of the interval between the seedling tray conveyor belt and the seedling supplementing tray conveyor belt, and is used to convey the grafted seedlings. There is a first overlapping area between the grafting tray conveyor belt and the seedling tray conveyor belt, and a second overlapping area between the grafting tray conveyor belt and the seedling supplementing tray conveyor belt;

[0011] A truss motion assembly, comprising a truss I motion assembly spanning the first overlapping region and a truss II motion assembly spanning the second overlapping region;

[0012] Image acquisition components: There are two image acquisition components, one across the seedling tray conveyor belt and the other across the seedling tray conveyor belt, used to identify the quality and orientation of the seedlings in the pot;

[0013] There are N direction-adjusting and seedling-picking robots, among which (N-1) direction-adjusting and seedling-picking robots are arranged on the truss I motion component at intervals along the first direction, and the spacing between two adjacent direction-adjusting and seedling-picking robots is consistent with the spacing between adjacent hole trays on the grafting tray conveyor belt. Under the action of the truss I motion component, the inferior seedlings to be transplanted can be removed and discarded, the crooked seedlings can be adjusted, and then the seedlings that meet the requirements can be placed in the hole trays on the grafting tray conveyor belt; the remaining one direction-adjusting and seedling-picking robot is arranged on the truss II motion component. Under the action of the truss II motion component, the seedlings to be supplemented that meet the requirements can be added to the hole trays that are short of seedlings on the grafting tray conveyor belt.

[0014] As a preferred solution, the motion units in the truss motion assembly all adopt synchronous belt modules.

[0015] As a preferred solution, the truss I motion assembly is a two-degree-of-freedom truss consisting of a truss I longitudinal motion unit and a truss I vertical motion unit; a fixed plate extending along a first direction is installed at the end of the truss I vertical motion unit, and a plurality of direction-adjusting seedling-picking robots are arranged on the fixed plate at intervals along the first direction, and the distance between two adjacent direction-adjusting seedling-picking robots is adjustable.

[0016] As a preferred solution, the truss II motion assembly is a three-degree-of-freedom truss consisting of a truss II longitudinal moving unit, a truss II transverse moving unit and a truss II vertical moving unit, and the seedling adjustment robot is arranged on the truss II vertical moving unit.

[0017] As a preferred solution, the direction-adjusting seedling-picking manipulator includes a manipulator base, a partition is provided in the manipulator base, two finger cylinders are diagonally installed above the manipulator base, and the cylinder rods of the finger cylinders pass through the partition and are fixedly connected to the push plate provided below the partition; a split-type hanging cage is provided below the push plate, and the hanging cage includes an upper circular plate, a lower circular plate and a connecting plate for connecting the upper and lower circular plates; the upper circular plate is uniformly distributed along its circumference with a number of radially arranged slots with an opening direction away from the center of the upper circular plate, and the lower circular plate is uniformly distributed along its circumference with a number of radially arranged slots with an opening direction away from the center of the upper circular plate, and the lower circular plate is uniformly distributed along its circumference with a number of radially arranged slots with an opening direction away from the center of the upper circular plate, and the lower circular plate is uniformly distributed along its circumference with a number of radially arranged slots with an opening direction away from the center of the upper circular plate, and the lower circular plate is uniformly distributed along its circumference with a number of radially arranged slots with a ... There are long holes at the position of the positive projection of the slot hole, and a swing sleeve is provided in each long hole. There are arc plates on both sides of each long hole, which form a rotating pair with the rotating shafts on both sides of the swing sleeve. The swing sleeve passes through the long hole and can rotate at a certain angle. A seedling needle that can rotate relative to the push plate is provided under the push plate. The seedling needle passes through the slot hole and the swing sleeve in sequence and extends to the lower part of the manipulator base; a spring is provided on the seedling needle between the push plate and the upper circular plate, and the seedling needle can be pushed downward by the finger cylinder;

[0018] A motor is installed on the bottom surface of the upper circular plate, and a cam is installed on the shaft of the motor. The outer peripheral surface of the cam is an arc surface with a plurality of grooves evenly distributed. The openings of the grooves face away from the center of the cam. The number of grooves is consistent with the number of seedling needles. When the swing sleeve is located in the groove, the seedling needle remains vertical. When the cam rotates, the rotating outer peripheral contour surface of the cam pushes the swing sleeve from vertical to inclined, and the tip distance of the seedling needle becomes smaller, so that the seedlings in the pot can be clamped.

[0019] A motor is installed in the center of the upper part of the manipulator base, and a pair of bevel gears are installed on the motor shaft. The horizontal bevel gears are fixedly connected to the upper circular plate through the main shaft. The motor can drive the hanging cage to rotate, and then drive the seedling needle to rotate to adjust the direction of the clamped pot seedlings.

[0020] As a preferred solution, the upper ends of the plurality of swing sleeves are provided with an annular groove, and a latex ring is provided in each of the annular grooves.

[0021] As a preferred solution, the top end of the seedling removal needle is provided with a universal roller that can rotate relative to the bottom surface of the push plate.

[0022] As a preferred embodiment, the top end of the seedling removal needle is hinged with two rollers whose rotating shafts are perpendicular to each other, wherein the rotating shaft of one roller extends along the radial direction of the upper circular plate, and the rotating shaft of the other roller extends along the tangential direction of the upper circular plate.

[0023] As a preferred solution, the image acquisition assembly includes an image acquisition box spanning the corresponding conveying mechanism, and an acquisition device and a light source arranged in the image acquisition box.

[0024] As a preferred solution, a hole tray recovery and conveying mechanism is provided below the gap between the seedling tray conveyor belt and the seedling supplement tray conveyor belt for collecting empty hole trays after the seedlings are taken out.

[0025] Beneficial effects:

[0026] The device uses a slender seedling removal needle to remove seedlings, minimizing damage to the seedlings. The device also features a compact, directional seedling removal robot. Combined with an image acquisition component, it effectively identifies the degree of skew in the cotyledon direction of low-quality or skewed seedlings, aligning seedlings with different orientations. This pre-processes the seedlings to be grafted, improving the efficiency and effectiveness of subsequent fully automatic vegetable grafting machines throughout the entire row.

[0027] 2) Compared with the traditional ejection-clamping type seedling-adjusting robot, the seedling-adjusting robot of the present invention has a more compact structure; compared with the oblique insertion type seedling-adjusting robot, it is smaller in size; compared with the seedling-adjusting robot that clamps while inserting, the present invention divides insertion and clamping into two action logics, and encounters less resistance when inserting into the hole tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the overall structure of the device of the present invention.

[0029] Figure 2 It is a structural diagram of the truss I vertical motion unit and the orientation adjustment and seedling removal robot.

[0030] Figure 3 This is one of the structural diagrams of the direction-adjusting seedling-picking robot in the present invention.

[0031] Figure 4 for Figure 3 Enlarged view of point I in the middle.

[0032] Figure 5 This is the second structural diagram of the direction-adjusting seedling-picking manipulator in the present invention.

[0033] Figure 6 for Figure 5 Enlarged view of point II in the middle.

[0034] Figure 7 It is a stage operation effect diagram of the present invention.

[0035] Figure 8 The present invention is a flowchart of the work flow of the seedling-taking manipulator for adjusting the direction.

[0036] Markings in the figure: 1. Seedling tray conveyor belt, 2. Truss II longitudinal motion unit, 3. Truss II lateral motion unit, 4. Seedling adjustment robot, 401. Motor, 402. Robot base, 403. Finger cylinder, 404. Bevel gear, 405. Spindle, 406. Bearing, 407. Bearing seat, 408. Push plate, 409. Roller, 410. Spring, 411. Connecting plate, 412. Lower circular plate, 413. Arc plate, 414. Swing sleeve, 415. Cam, 416. Latex ring, 417. Upper circular plate, 418. Seedling needle, 419. Motor, 5. Grafting tray conveyor belt, 6. Truss II vertical motion unit, 7. Seedling tray conveyor belt, 8. Fixed plate, 9. Truss I longitudinal motion unit, 10. Truss I vertical motion unit, 11. Image acquisition component. DETAILED DESCRIPTION

[0037] The technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] The device uses a visual system to identify the seedlings in the seedling tray, distinguish between inferior seedlings and crooked seedlings, and remove and discard the inferior seedlings through a rotatable seedling-adjusting robot 4. The crooked seedlings are turned to the correct direction and placed in the grafting hole tray, providing rootstock seedlings and scion seedlings with uniform direction to the entire row of vegetable grafting machines, thereby improving the efficiency of subsequent fully automatic grafting operations.

[0039] A grafted seedling adjustment and replenishment conveying device, please refer to Figure 1 and Figure 2 The device includes a seedling tray conveyor belt 7 for conveying seedlings to be transplanted, a seedling tray conveyor belt 1 for conveying seedlings to be supplemented, and a grafting tray conveyor belt 5 for conveying seedlings to be grafted. The seedling tray conveyor belt 7 and the seedling tray conveyor belt 1 are both along the first direction (i.e. Figure 1The left and right directions in the figure are arranged oppositely, and conveyed oppositely. Image acquisition components 11 are installed on the two conveyor belts to identify the seedlings in the pots and distinguish inferior seedlings and skewed seedlings; the grafting tray conveyor belt 5 is located on one side of the interval area between the seedling raising tray conveyor belt 7 and the seedling-replenishing tray conveyor belt 1, for conveying seedlings to be grafted, there is a first overlapping area between it and the seedling raising tray conveyor belt 7, and there is a second overlapping area between it and the seedling-replenishing tray conveyor belt 1; the first overlapping area is spanned by a truss I motion assembly, and a whole row of seedling-replenishing manipulators 4 composed of several adjustment to seedling-replenishing manipulators 4 are installed on the truss I motion assembly. Under the action of the truss I motion assembly, the seedlings in the pots to be transplanted can be rejected and discarded, the skewed seedlings are adjusted, and the seedlings in the pots that meet the requirements are then placed in the hole tray on the grafting tray conveyor belt 5; the second overlapping area is spanned by a truss II motion assembly, and a seedling-replenishing manipulator 4 is also installed on the truss II motion assembly, which can replenish the seedlings in the pots that are missing seedlings on the grafting tray conveyor belt 5.

[0040] In detail, the truss I motion assembly is composed of a truss I longitudinal motion unit 9 and a truss I vertical motion unit 10. The truss I longitudinal motion unit 9 moves in the second direction (i.e. Figure 1 The truss 1 vertical motion unit 10 is provided on the truss 1 longitudinal motion unit 9 and can move along the truss 1 vertical motion unit 10. The truss 1 vertical motion unit 10 can move in the third direction (i.e. Figure 1 A plurality of adjusting and removing seedling manipulators 4 are installed on the truss I vertical motion unit 10, and the spacing between adjacent adjusting and removing seedling manipulators 4 is adjustable, so as to adapt to different specifications of plug trays.

[0041] In detail, a fixed plate 8 is provided on the vertical motion unit 10 of the truss I, and a plurality of strip holes are provided on the fixed plate 8 at intervals along the first direction. The fasteners cooperate with the strip holes to fix the direction-adjusting seedling-picking robot 4, and the distance between two adjacent direction-adjusting seedling-picking robots 4 can be adjusted through the strip holes to adapt to hole trays of different specifications.

[0042] A truss II motion assembly is placed at the intersection of the grafting tray conveyor belt 5 and the seedling tray conveyor belt 1. It consists of a truss II longitudinal moving unit 2, a truss II transverse moving unit 3 and a truss II vertical moving unit 6. It can achieve adjustment of three degrees of freedom in the longitudinal, transverse and vertical directions. A seedling adjustment robot 4 is installed at the end of the truss II vertical moving unit 6.

[0043] Among them, the truss I longitudinal movement unit 9, the truss I vertical movement unit 10, the truss II longitudinal movement unit 2, the truss II lateral movement unit 3 and the truss II vertical movement unit 6 all adopt synchronous belt modules.

[0044] In detail, the image acquisition assembly 11 includes an image acquisition box installed on the corresponding conveyor belt, in which an acquisition device (such as a camera) and a light source (not shown in the figure) are installed.

[0045] Preferably, a hole tray recovery conveyor belt (not shown in the figure) should be provided below the gap between the seedling tray conveyor belt 7 and the seedling supplement tray conveyor belt 1 described in the present invention, and the empty hole tray after the seedlings are taken falls onto the recovery conveyor belt.

[0046] The working principle of the present invention is as follows: the seedlings to be transplanted are placed on the seedling tray conveyor belt 7 and the seedling supplement tray conveyor belt 1 respectively, the two conveyor belts are fed in opposite directions, and the grafting machine plug tray is placed on the grafting tray conveyor belt 5. When the plug tray seedlings pass through the image acquisition area, the inferior seedlings and crooked seedlings are visually identified, such as Figure 7 As shown in (1), the seedling tray continues to feed. When the seedling tray and the grafting tray reach the predetermined position, the whole row of seedlings are taken out by the whole row adjustment robot 4 on the truss I motion component. According to the recognition result, the inferior seedlings are thrown into the collection device under the gap between the two conveyor belts, and the skewed seedlings are adjusted to the correct direction and put into the grafting tray. When the whole tray of seedlings is taken out, the seedling tray conveyor belt 7 and the grafting tray conveyor belt 5 continue to feed the hole tray. After the hole tray on the seedling tray conveyor belt 7 reaches the edge of the conveyor belt, under the action of gravity, the empty hole tray falls into the hole tray recovery conveyor belt between the seedling tray conveyor belt 7 and the seedling tray conveyor belt 1. At this time, the distribution state of the pot seedlings in the grafting tray is as follows Figure 7 As shown in (2), the grafting tray continues to feed. When it reaches the next predetermined position, the seedling-adding manipulator 4 on the truss II motion component adjusts the direction of the seedlings in the seedling tray according to the result of visual recognition and adds them to the grafting tray. The inferior seedlings in the seedling tray will remain in the hole tray and fall onto the hole tray recovery conveyor belt as the conveyor belt feeds. At this time, the distribution state of the seedlings in the grafting tray is as follows: Figure 7 (3) shown.

[0047] It should be noted that the device of the present invention also includes a control system, and each of the seedling-adjusting manipulators 4 is electrically connected to the control system, and the collection equipment is also electrically connected to the control system. The control system can control the operation of each of the seedling-adjusting manipulators 4 and the collection equipment. The specific structure of the control system belongs to the prior art and will not be described in detail here.

[0048] The specific structure of the seedling-taking manipulator 4 including four seedling-taking needles 418 is described in detail below. Figure 3-Figure 6As shown, the direction-adjusting seedling-picking robot includes a robot base 402, a partition is provided in the robot base 402, and a hanging cage is provided under the partition. The hanging cage includes an upper circular plate 417 and a lower circular plate 412 of the same size, and the upper circular plate 417 and the lower circular plate 412 are connected together by a connecting plate 411. The two finger cylinders 403 are installed diagonally on the manipulator base 402. The piston rods of the finger cylinders 403 pass through the partition on the manipulator base 402 and are threadedly connected to the push plate 408 under the partition. The motor 401 is installed in front of the manipulator base 402. The motor 401 shaft and the bevel gear are spline-linked. The horizontally installed bevel gear is spline-connected to the main shaft 405. A bearing seat 407 and a bearing 406 are installed on the partition. The main shaft 405 passes through the bearing 406 and is threadedly connected to the upper circular plate 417 below. A roller 409 is installed on the top of the seedling needle 418, and a spring 410 is sleeved on the seedling needle 418 and is located between the bottom of the roller 409 and the upper circular plate 417.

[0049] The roller 409 can be a universal roller or a roller with two rotating shafts perpendicular to each other, such as Figure 4 As shown, the rotating shaft of one roller 409 is along the radial direction of the cage disc surface, and the other roller 409 is along the tangential direction of the cage disc surface. When the seedling needle 418 opens and closes, the rotating shaft rotates along the tangentially arranged roller 409; when the seedling claw adjusts its direction, the rotating shaft rotates along the radially arranged roller 409.

[0050] like Figure 6 As shown, the upper circular plate 417 is evenly distributed along its circumference with four slots arranged in the radial direction and with the opening direction away from the center of the upper circular plate. Corresponding long holes are opened at corresponding positions of the lower circular plate 412. Arc plates 413 are installed on both sides of the long holes. The shafts extending on both sides of the swing sleeve 414 and the semicircle of the arc plate 413 form a rotating pair; a moving pair is formed between the seedling needle 418 and the swing sleeve 414. There is an annular groove above the swing sleeve 414, and a latex ring is embedded in the annular groove. A motor 419 is installed on the lower bottom surface of the upper circular plate 417, on which a cam 4 is installed. 15. The cam 415 is a smoothly transitioned arc surface with four grooves. When the swing sleeve 414 is located at the groove of the cam 415, the seedling needle 418 remains vertical and the latex ring 416 is at its original length. When the cam 415 rotates, the swing sleeve 414 is pushed outward. Under the action of the lever, the seedling needle 418 can clamp the seedling in the pot and the latex ring 416 is stretched. When the cam 415 returns to its original position, the latex ring 416 retracts and pulls the swing sleeve 414 back to the groove. At this time, the groove restricts the swing sleeve 414 from continuing to move, so that the seedling needle 418 remains vertical.

[0051] In detail, the manipulator base 402 includes a U-shaped section with an opening facing downward and two parallel side walls of different lengths. A seedling withdrawal plate is horizontally provided on the longer of the two parallel side walls of the U-shaped section, and the seedling removal needle 418 can pass through the circular groove on the seedling withdrawal plate.

[0052] The working principle of the seedling-taking manipulator 4 in the present invention is as follows: When the seedling-taking manipulator 4 is in the initial state, Figure 8 As shown in (1), the seedling-picking robot 4 is moved downward as a whole (through the truss motion assembly) until the lower end of the robot base 402 contacts the upper surface of the hole tray, as shown in FIG. Figure 8 (2) As shown; then the finger cylinder 403 extends, driving the push plate 408 to push the seedling needle 418 into the hole tray, as shown Figure 8 (3) As shown; the motor 419 drives the cam 415 to rotate, and the seedling needle 418 is clamped in the pot under the action of the lever, as shown Figure 8 (4), then the seedling taking manipulator 4 is adjusted to move upward as a whole to take the seedlings out of the hole tray, as shown in FIG. Figure 8 (5) As shown; if the seedlings need to be adjusted, the upper motor 401 drives the bevel gear to rotate, thereby changing the direction of the seedlings. When placing the seedlings, the process is opposite to the above. The seedling-taking manipulator 4 with the seedlings is lowered into the hole tray, and the motor 419 drives the cam 415 to return to its original position. The swing sleeve 414 is clamped into the groove of the cam 415 under the action of the latex ring 416 to keep the seedling needle 418 vertical. Then the finger cylinder 403 is retracted, and the seedling needle 418 returns to the position as shown in the figure under the action of the spring 410 on it. Figure 8 At the position shown in (2), the seedlings in the pot are separated from the seedling needle 418 by the blockage of the seedling withdrawal plate at the lower end of the manipulator base 402 and fall into the hole tray; then the seedling manipulator 4 is adjusted to move upward as a whole to end a seedling taking and placing cycle.

[0053] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made based on the essence of the present invention should be included in the scope of protection of the present invention.

Claims

1. A grafted seedling adjustment, picking and conveying device, characterized in that: include: A seedling tray conveyor belt is extended along a first direction and is used to convey seedlings to be transplanted; A seedling-filling tray conveyor belt is extended along a first direction and is used to convey seedlings to be filled in pots. The seedling-filling tray conveyor belt and the seedling-raising tray conveyor belt are arranged opposite to and spaced apart from each other along a second direction, and the second direction is perpendicular to the first direction; The grafting tray conveyor belt is arranged on one side of the interval between the seedling tray conveyor belt and the seedling supplementing tray conveyor belt, and is used to convey the seedlings to be grafted. There is a first overlapping area between the grafting tray conveyor belt and the seedling supplementing tray conveyor belt, and a second overlapping area between the grafting tray conveyor belt and the seedling supplementing tray conveyor belt; A truss motion assembly, comprising a truss I motion assembly spanning the first overlapping region and a truss II motion assembly spanning the second overlapping region; Image acquisition components: There are two image acquisition components, one across the seedling tray conveyor belt and the other across the seedling tray conveyor belt, used to identify the quality and orientation of the seedlings in the pot; There are N direction-adjusting and seedling-picking robots, among which (N-1) direction-adjusting and seedling-picking robots are arranged on the truss I motion component at intervals along the first direction, and the spacing between two adjacent direction-adjusting and seedling-picking robots is consistent with the spacing between adjacent hole trays on the grafting tray conveyor belt. Under the action of the truss I motion component, the inferior seedlings to be transplanted can be removed and discarded, the crooked seedlings can be adjusted, and then the seedlings that meet the requirements can be placed in the hole trays on the grafting tray conveyor belt; the remaining one direction-adjusting and seedling-picking robot is arranged on the truss II motion component. Under the action of the truss II motion component, the seedlings to be supplemented that meet the requirements can be added to the hole trays that are short of seedlings on the grafting tray conveyor belt.

2. A grafted seedling adjustment, picking and conveying device according to claim 1, characterized in that: The motion units in the truss motion assembly all use synchronous belt modules.

3. A grafted seedling adjustment, picking and conveying device according to claim 2, characterized in that: The truss I motion assembly is a two-degree-of-freedom truss consisting of a truss I longitudinal motion unit and a truss I vertical motion unit; a fixed plate extending along a first direction is installed at the end of the truss I vertical motion unit, and a plurality of direction-adjusting seedling-picking robots are arranged on the fixed plate at intervals along the first direction, and the distance between two adjacent direction-adjusting seedling-picking robots is adjustable.

4. A grafted seedling adjustment, picking and conveying device according to claim 3, characterized in that: The truss II motion assembly is a three-degree-of-freedom truss consisting of a truss II longitudinal moving unit, a truss II transverse moving unit and a truss II vertical moving unit. The seedling-taking manipulator is arranged on the truss II vertical moving unit.

5. The grafted seedling adjustment, picking and conveying device according to claim 1, characterized in that: The lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of A motor is installed on the bottom surface of the upper circular plate, and a cam is installed on the shaft of the motor. The outer peripheral surface of the cam is an arc surface with a plurality of grooves evenly distributed. The openings of the grooves face away from the center of the cam. The number of grooves is consistent with the number of seedling needles. When the swing sleeve is located in the groove, the seedling needle remains vertical. When the cam rotates, the rotating outer peripheral contour surface of the cam pushes the swing sleeve from vertical to inclined, and the tip distance of the seedling needle becomes smaller, so that the seedlings in the pot can be clamped. A motor is installed in the center of the upper part of the manipulator base, and a pair of bevel gears are installed on the motor shaft. The horizontal bevel gears are fixedly connected to the upper circular plate through the main shaft. The motor can drive the hanging cage to rotate, and then drive the seedling needle to rotate to adjust the direction of the clamped pot seedlings.

6. A grafted seedling adjustment, picking and conveying device according to claim 5, characterized in that: The upper ends of the plurality of swing sleeves are each provided with an annular groove, and a latex ring is arranged in each of the annular grooves.

7. The grafted seedling adjustment, picking and conveying device according to claim 5, characterized in that: The top end of the seedling taking needle is provided with a universal roller which can rotate relative to the bottom surface of the pushing plate.

8. The grafted seedling adjustment, picking and conveying device according to claim 5, characterized in that: The top end of the seedling taking needle is hinged with two rollers whose rotating shafts are perpendicular to each other, the rotating shaft of one roller extends along the radial direction of the upper circular plate, and the rotating shaft of the other roller extends along the tangential direction of the upper circular plate.

9. The grafted seedling adjustment, picking and conveying device according to claim 1, characterized in that: The image acquisition assembly includes an image acquisition box spanning the corresponding conveying mechanism, and an acquisition device and a light source arranged in the image acquisition box.

10. The grafted seedling adjustment, picking and conveying device according to claim 1, characterized in that: A hole tray recovery and conveying mechanism is provided below the gap between the seedling tray conveyor belt and the seedling supplement tray conveyor belt, which is used to collect the empty hole trays after the seedlings are taken out.

Images