Automatic seedling supplementing device of plug seedling transplanter applying machine vision

Abstract

The invention provides an automatic seedling supplementing device of a plug seedling transplanter applying machine vision. The automatic seedling supplementing device comprises a seedling taking and throwing device, a seedling separating device, a visual detection device, a motor A, a motor B and a rack, the seedling taking and throwing device comprises a lifting device, a longitudinal telescopic device, a transverse telescopic device, a sliding table telescopic device and a seedling taking claw; the seedling separating device comprises two groups of coaxial seedling separating discs (each seedling separating disc is in a 120-degree fan shape), each seedling separating disc fixes eight seedling receiving cups and can rotate independently, seedling feeding operation of one group of seedlings is not affected, empty seedling cups can be replaced through fast rotation of the empty seedling cups, and the automatic seedling supplementing function is achieved. The device is novel in structure, the whole device is simple in structure, high in stability and high in overall intelligent degree, and manual intervention is not needed; the automatic seedling supplementing function can be achieved, the planting success rate of the transplanter can be effectively increased, the manual seedling supplementing cost is reduced, and the planting efficiency and economic benefits are improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural transplanting, in particular to an automatic seedling supplementing device for a transplanter. Background Art

[0002] Plug tray seedling transplanting has become a major means of vegetable cultivation today, and has been widely promoted and applied. Due to the reduction of agricultural labor and the low efficiency of manual operation, vegetable transplanters have been widely used today, among which fully automatic transplanters are favored due to their high work efficiency. However, the transplanting success rate of fully automatic transplanters is still insufficient. On the one hand, it is caused by the empty holes in the plug trays during plug tray seedling cultivation, and on the other hand, during mechanical transplanting, the vibration of the machine causes the seedlings in the seedling pot to fall off or be thrown off during the seedling retrieval process, resulting in serious missed planting, which seriously affects the yield of the planted crops. In response to the phenomenon of missed seedlings in fully automatic transplanters, manual seedling replenishment is mainly used today, which greatly increases labor costs.

[0003] The automatic seedling replenishment device for a tray seedling transplanter using machine vision is fully automatic and has a high overall degree of automation. The automatic seedling replenishment function can be realized without manual intervention. The overall device has a simple structure, a compact size, and high stability. In addition, the present invention adopts a whole-row seedling-taking method, and has a high transplanting efficiency. Therefore, in order to solve the problem of missed planting by a fully automatic transplanter, an automatic seedling replenishment device for a transplanter is proposed, which is of great significance. Summary of the invention

[0004] The object of the present invention is to provide an automatic seedling replenishing device for a transplanter to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: The invention discloses an automatic seedling supplement device for a tray seedling transplanter using machine vision, comprising a seedling taking and dropping device, a seedling separating device, a visual detection device and a frame.

[0006] The seedling taking and throwing device is provided with 8 clamping claws, and the clamping claws are provided with a slide cylinder telescopic device, which can make the clamping claws telescopic and arranged in a circular arc shape, and the slide cylinder telescopic device is provided with a lateral expansion device, and the lateral expansion device has two groups of longitudinal pushing devices, and the longitudinal pushing device is fixedly installed with two groups of lifting devices; The seedling separation device is equipped with two coaxial seedling separation trays, each of which is equipped with 8 seedling cups, and each of the seedling separation trays is equipped with an independently rotatable motor drive device to achieve independent rotation; The frame is provided with a large bottom plate with a seedling throwing opening, and when the seedling cup passes through the opening, the cup seedling falls off directly.

[0007] Preferably, there are 8 slide cylinder telescopic devices, the slide cylinder telescopic device is provided with a slide cylinder, the slide cylinder is provided with a clamp mounting seat, and the clamp mounting seat is provided with a seedling retaining plate and a clamp.

[0008] Preferably, the lateral expansion device is provided with a linear bearing and a polished rod, the linear bearing can slide on the polished rod, there are two polished rods, each of which has 8 linear bearings, and the linear bearings on the two rods form a group of two, and the linear bearings are installed with a slide cylinder fixing plate to make the two linear bearings move synchronously, and the slide cylinder fixing plate is installed with a hinge fixing column, and the hinge fixing column is installed with a lateral expansion limit hinge, and the lateral expansion limit hinge drives and limits the moving distance of the slide cylinder fixing plate.

[0009] Preferably, the longitudinal pushing device has two groups of slide rails, the slide rails are provided with two sliders, the sliders are fixed with a transverse cylinder fixing seat, the transverse cylinder connecting seat is fixed with two polished rod supports, and the polished rod supports are fixed with a polished rod.

[0010] Preferably, the lifting device has two groups of four vertical guide rails fixedly provided, the vertical guide rails are provided with vertical sliders, and every two of the vertical sliders are fixedly provided with a vertical slider connecting seat and a longitudinal guide rail mounting plate.

[0011] Preferably, the upper seedling separation tray is provided with 8 seedling cups, the upper seedling separation tray is fixedly installed with an upper seedling separation tray shaft sleeve, the upper seedling separation tray shaft sleeve is installed with a motor A connecting shaft, and the motor A connecting shaft end is provided with a motor.

[0012] Preferably, the lower seedling separation tray is equipped with 8 seedling cups, the lower seedling separation tray is fixedly equipped with a central axis of the seedling separation tray, and the central axis of the seedling separation tray is equipped with a motor.

[0013] Preferably, there are two seedling separation trays, and the rotation centers are coaxial, the sector-shaped radius is consistent, and the seedling separation tray is equipped with 8 seedling cups, and the rotational motion trajectories of the two groups of seedling cups are consistent.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses single-chip visual detection to judge the empty cup situation, with good detection effect, strong anti-interference ability, low delay, and overcomes the problem that photoelectric detection is easily affected by the environment. The detection effect is still good during high-speed operation, and the empty cup situation can be automatically identified and judged through visual recognition. The present invention designs a motor-driven seedling separation device. According to the recognition result, the motor responds quickly, and through rapid rotation, the effect of fast forwarding one position is achieved, thereby realizing automatic seedling replenishment.

[0015] Second, the present invention adopts double one-third coaxial seedling trays, each seedling tray is fixed with eight seedling cups, and each seedling tray is driven by its own motor. It adopts a circular seedling method, with simple control logic, and each seedling cup occupies an angle of 15 degrees, and the overall control is simple. When the empty cup is detected, the seedling filling can be completed by controlling the motor to rotate 15 degrees more. At the same time, in order to avoid interference between the two steps of seedling grafting and seedling throwing, and to achieve continuous operation, the design of two independent seedling trays is adopted. The seedling grafting operation does not affect the seedling throwing operation. After the seedling grafting is completed, the continuous seedling throwing can be achieved by controlling the movement speed angle of the motor. At the same time, the continuous seedling grafting operation can also be achieved by controlling the speed angle of the motor after the seedling throwing is completed.

[0016] 3. In view of the fact that most of the seedlings in the plug trays nowadays are in 8 rows, this design can take out the seedlings in a whole row, and take out eight seedlings at a time. At the same time, according to the arc shape of the seedling separation mechanism, the seedling taking and throwing mechanism can be expanded to the corresponding shape. At the same time, the seedling taking and throwing mechanism mostly adopts linear motion, with high repetition accuracy and fast response speed, which greatly improves the speed of taking and throwing seedlings.

[0017] Fourth, the automatic seedling replenishment device for the plug tray seedling transplanter using machine vision designed by the present invention can be well applied to the current fully automatic transplanter. At the same time, the present invention has a compact structure, is small and flexible, has good lightweight modular function, is easy to install, has a high degree of automation, and has a stable structure, and has a good prospect of use. And the automatic seedling replenishment greatly releases manpower, making it have a good use value. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the seedling taking and throwing device in the present invention; Figure 3 It is a structural schematic diagram of the transverse moving component in the seedling taking and throwing device of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the local structure at A in FIG. Figure 5 For the present invention Figure 4 The enlarged cross-sectional view at B in FIG. Figure 6 It is a structural schematic diagram of the frame in the present invention; Figure 7 The present invention is a flowchart of an overall method of an automatic seedling replenishing device for a transplanter according to an embodiment of the present invention.

[0019] In the figure: 1 seedling taking and throwing device, 2 seedling separation device, 3 visual inspection device, 4 motor A, 5 motor B, 6 frame, 101 vertical guide rail, 102 vertical slider, 103 vertical slider connecting seat, 104 longitudinal guide rail limit block, 105 longitudinal cylinder fixing seat, 106 longitudinal cylinder, 107 longitudinal guide rail mounting plate, 108 longitudinal guide rail, 109 lifting cylinder fixing plate, 110 lifting cylinder, 111 lifting cylinder connecting plate, 112 bare rod support, 113 longitudinal slider, 114 bare rod, 115 transverse cylinder fixing seat, 116 linear bearing, 117 longitudinal cylinder connecting push rod, 118 transverse cylinder push rod connecting rod, 119 transverse cylinder, 120 slide cylinder fixing seat, 121 Slide cylinder, 122 seedling baffle, 123 clamping claw fixing seat, 124 clamping claw, 125 longitudinal cylinder Y-type joint, 126 transverse expansion limit hinge, 127 hinge fixing column, 201 motor A fixing seat, 202 motor A coupling, 203 motor A connecting shaft, 204 upper seedling tray sleeve, 205 large bottom plate sleeve, 206 upper seedling tray, 207 seedling cup fixing frame, 208 seedling cup, 209 motor B fixing seat, 210 motor B coupling, 211 lower seedling tray, 212 bearing, 213 seedling tray center axis, 214 upper sleeve, 215 lower sleeve, 601 longitudinal square tube, 602 transverse square tube, 603 column, 604 motor fixing frame, 605 large bottom plate. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figures 1 to 7 , the present invention provides a technical solution: like Figure 1 As shown, the automatic seedling replenishment device of the tray seedling transplanter using machine vision described in this embodiment includes a seedling taking and throwing device 1, a seedling separation device 2, a visual detection device 3, a motor A4, a motor B5 and a frame 6; The seedling taking and throwing device 1 is fixed above the column 603 of the frame 6; the seedling separation device 2 is fixed above the large bottom plate 605 of the frame 6; the visual inspection device 3 is fixed below the middle horizontal square tube 602 of the frame 6, and is oriented toward the mouth of the seedling cup 208; the motor A4 is installed on the motor A fixing seat 201, and the motor A fixing seat 201 is fixed on the motor fixing frame 604 of the frame 6, and is fixedly connected to the motor A connecting shaft 203 through the motor A coupling 202; the motor B5 is installed on the motor B fixing seat 209, and the motor B fixing seat 209 is fixed below the large bottom plate 605 of the frame 6, and is fixedly connected to the central axis 213 of the seedling separation plate through the motor B coupling 210; The seedling taking and throwing device 1 is equipped with 8 clamping claws 124, and the clamping claws 124 are fixedly connected to the slide cylinder 121 through the clamping claw fixing seat 123. The slide cylinder 123 is fixedly connected to two linear bearings 116 through the slide cylinder fixing seat 120. Each set of 8 linear bearings 116 is worn on the light rod 114 and slides on it. Each slide cylinder fixing seat 120 is equipped with a lateral expansion limit hinge 126 and a hinge fixing column 127. The two lateral cylinders 119 are fixedly connected to the two outermost slide cylinder fixing seats 120 through the lateral cylinder push rod connecting rod 118. The lateral cylinder 119 is retracted and extended. 6, the eight clamping claws are unfolded along a straight line on the light rod 114 according to a specific moving distance; the seedling taking and throwing device 1 is equipped with two longitudinal guide rails 108 and four longitudinal sliders 113, and the longitudinal cylinder 106 is fixedly connected to the light rod 114 through the longitudinal cylinder Y-type joint 125 and the longitudinal cylinder connecting push rod 117; the seedling taking and throwing device 1 is equipped with four vertical guide rails 101 and four vertical sliders 102, the vertical slider 102 is fixedly connected to the longitudinal guide rail 108 through the vertical slider connecting seat 103 and the longitudinal guide rail mounting plate 107, and the two longitudinal cylinders 106 are fixedly connected to the longitudinal guide rail mounting plate 107 through the lifting cylinder connecting plate 111; The seedling separation device 2 is equipped with two coaxial upper seedling separation trays 206 and a lower seedling separation tray 211. Each seedling separation tray has a fan-shaped angle of 120° and is evenly installed with 8 seedling cups 208. The angle occupied by each seedling cup 208 is 15°. The upper seedling separation tray 206 is fixedly connected to the motor A4, and the lower seedling separation tray 211 is fixedly connected to the motor B5. When the seedling throwing device 1 is unfolded to form an arc seedling throwing state, it corresponds to the seedling receiving position of the seedling separation device 2. The opening of the large bottom plate 605 is the seedling throwing position of the seedling cup 208, and the remaining 120° space position is the waiting position. The two seedling separation trays are independently driven by two motors, one for stationary seedling receiving and the other for rotating seedling separation. Both seedling separation trays rotate clockwise.

[0022] like Figure 2 , 3As shown, four vertical guide rails 101 are fixed above the column 603 of the frame 6, and each guide rail is equipped with a vertical slider 102 that can slide up and down along the vertical guide rail 101, and every two vertical sliders 102 are fixedly connected to the longitudinal guide rail mounting plate 107 through the vertical slider connecting seat 103, and each of the two longitudinal guide rail mounting plates 107 is equipped with a longitudinal guide rail 108, and each longitudinal guide rail 108 is equipped with two longitudinal sliders 113, and the two longitudinal sliders 113 are provided with a transverse cylinder fixing seat 115, and the transverse cylinder fixing seat 115 is provided with two polished rod supports 112, and the two transverse cylinder fixing seats 115 are fixedly connected to two polished rods 114 through the polished rod supports 112, so that the four longitudinal sliders 113 can move synchronously along the two longitudinal guide rails 108, and the four vertical sliders 102 can also move synchronously along the four vertical guide rails 101; Two longitudinal guide rail limit blocks 104 are symmetrically installed at one end of the two longitudinal guide rails 108, the longitudinal cylinder fixing seat 105 is installed above the two longitudinal guide rail limit blocks 104, the tail end of the longitudinal cylinder 106 cylinder body is fixed above the longitudinal cylinder fixing seat 105, the longitudinal cylinder 106 is fixedly connected to the longitudinal cylinder connecting push rod 117 through the longitudinal cylinder Y-type joint 125, and the other end of the longitudinal cylinder connecting push rod 117 is fixedly connected to the light rod 114. Through the extension and contraction of the longitudinal cylinder 106, the light rod 114 and the components installed above it are driven to move longitudinally on the longitudinal guide rail 108 through the longitudinal slider 113; Two lifting cylinder fixing plates 109 are fixed on two longitudinal square tubes 601 above the frame 6, two lifting cylinders 110 are fixed on the two lifting cylinder fixing plates 109, the ends of the push rods of the two lifting cylinders 110 are fixedly connected to the lifting cylinder connecting plate 111, and the lifting cylinder connecting plate 111 is fixedly connected to the longitudinal guide rail mounting plate 107. Through the extension and retraction of the lifting cylinders 110, the longitudinal guide rail mounting plate 107 and the components installed above it are driven to move vertically along the vertical guide rail 101 through the vertical slider 102; Eight linear bearings 116 are installed on each of the two polished rods 114 and slide horizontally thereon. The linear bearings 116 on each polished rod 114 are respectively provided with a slide cylinder fixing seat 120. The slide cylinder fixing seat 120 is fixedly connected to the bottom of the two linear bearings 116. The cylinder body of the slide cylinder 121 is fixedly connected to the slide cylinder fixing seat 120. The push rod of the slide cylinder 121 is fixedly connected to the clamping claw fixing seat 123. The seedling clamping baffle 122 is fixed to the upper side of the end of the clamping claw fixing seat 123. The clamping claw 124 is fixed to the lower side of the end of the clamping claw fixing seat 123. The slide cylinder 121 is extended and retracted, driving the clamping claw fixing seat 123 connected to the push rod of the slide cylinder 121 and the components installed thereon to move longitudinally. The tail ends of the two transverse cylinders 119 are fixed on the transverse cylinder fixing seat 115, and the push rods of the two transverse cylinders 119 are fixedly connected to the transverse cylinder push rod connecting rod 118. The other end of the transverse cylinder push rod connecting rod 118 is fixed on the outermost slide cylinder fixing seat 120. The two transverse cylinders 119 are installed opposite to each other. On each slide cylinder fixing seat 120, a transverse expansion limit hinge 126 is installed through a hinge fixing column 127 fixed above it. The two outermost slide cylinder fixing seats 120 are driven to move on the light rod 114 through the extension and contraction of the two transverse cylinders 119, and under the action of the transverse expansion limit hinge 126, the eight groups of slide cylinder fixing seats 120 are expanded at a specific distance; The seedling taking and throwing device 1 moves longitudinally under the push of the longitudinal cylinder 106, and the longitudinal cylinder 106 is pushed out to take the seedlings in a whole row with the clamping claw 124, and the clamping claw 124 is the existing technology. The clamping jaws 124 clamp the seedlings in the tray, and the rear lifting cylinder 110 retracts, driving the clamping jaws 124 to move upward to separate the seedlings from the tray, and the rear longitudinal cylinder 106 retracts, driving the clamping jaws 124 to move above the seedling cup 208, and the rear transverse cylinder 119 is pushed out, driving the clamping jaws 124 to unfold, and at the same time the slide cylinder 121 is pushed out, driving the clamping jaws 124 to disperse into an arc arrangement, and at the same time the lifting cylinder 110 extends, driving the clamping jaws 124 to move downward, so that the clamping jaws 124 correspond to the vertical spatial position of each seedling cup 208, and the rear clamping jaws 124 open to complete the seedling removal operation; the rear slide cylinder 121 retracts, and at the same time the transverse cylinder 119 retracts, and the rear longitudinal cylinder 10 is pushed out, driving the clamping jaws 124 to continue the seedling removal operation, completing the entire seedling removal and seedling removal operation process.

[0023] like Figure 4 , 5 Described, motor A4 is fixedly connected with motor A fixing seat 201, motor A fixing seat 201 is fixed on the motor fixing frame 604 of frame 6, the output shaft of motor A4 is fixedly connected with motor A coupling 202, the other end of motor A coupling 202 is fixedly connected with motor A connecting shaft 203, motor A connecting shaft 203 is fixedly connected with upper seedling separation plate shaft sleeve 204, upper seedling separation plate shaft sleeve 204 is fixed on upper seedling separation plate 206 and is installed concentrically, 8 seedling cups 208 are installed on upper seedling separation plate 206 through seedling cup fixing frame 207, and the upper seedling separation plate 206 and the 8 seedling cups 208 installed thereon are driven to rotate synchronously by the rotation of motor A4; The motor B5 is fixedly connected to the motor B fixing seat 209, and the motor B fixing seat 209 is fixed below the large bottom plate 605 of the frame 6. The output shaft of the motor B5 is fixedly connected to the central axis 213 of the seedling tray through the motor B coupling 210 fixedly connected thereto. The lower seedling tray 211 is fixed on the central axis 213 of the seedling tray. Eight seedling cups 208 are installed on the lower seedling tray 211 through the seedling cup fixing frame 207. The rotation of the motor B5 drives the lower seedling tray 211 and the eight seedling cups 208 installed thereon to rotate synchronously; the large bottom plate shaft sleeve 205 is fixed Fixed on the large bottom plate 605, two bearings 212 are fixed in the large bottom plate sleeve 205 through its shoulder and the lower sleeve 215, the lower end of the central axis 213 of the seedling separation plate passes through the two bearings 212, and the axial limit is achieved by the shoulder, the upper seedling separation plate sleeve 204 is fixed with two bearings 212 through its shoulder and the upper sleeve 214, the upper end of the central axis 213 of the seedling separation plate passes through the two bearings 212 in the upper seedling separation plate sleeve 204, and the axial limit is achieved by the shoulder, so that the upper seedling separation plate 206 and the lower seedling separation plate 211 are coaxially arranged and rotate independently; The seedling separation device 2 is composed of two coaxial upper seedling separation trays 206 and a lower seedling separation tray 211. The fan-shaped angle of each seedling separation tray is 120°. Eight seedling cups 208 are evenly distributed and fixed on each seedling separation tray. The angle occupied by each seedling cup 208 is 15°. The seedling cups 208 are prior art. The upper seedling separation tray 206 is connected to the motor A4, and the lower seedling separation tray 211 is connected to the motor B5. The seedling separation device 1 is unfolded to the seedling separation position as the seedling separation device 2 seedling receiving position. The opening of the large bottom plate 605 is the seedling separation position of the seedling cup 208. The remaining 120° space position is the waiting position. The two seedling separation trays are independently driven by two motors. One is stationary while receiving seedlings without affecting the other rotating seedling separation, and the seedling supplement is quickly rotated. The seedling separation tray rotates clockwise. At the beginning, the upper seedling tray 206 drives the seedling cup 208 fixed thereon to be placed in the seedling receiving position, and at the same time, the lower seedling tray 211 drives the seedling cup 208 fixed thereon to be placed in the waiting position. Under the seedling throwing operation of the seedling taking and throwing device 2, the seedling cup 208 on the upper seedling tray 206 is full of seedlings in the hole; then, driven by the motor A4, it rotates to the seedling throwing position, and at the same time, the lower seedling tray 211 and the seedling cup 208 fixed thereon are driven by the motor B5 to rotate to the seedling receiving position, waiting for the seedling throwing of the seedling taking and throwing device 2; then, the seedling cup 208 on the upper seedling tray 206 Driven by motor A4, it intermittently rotates at an angle of 15°, passes through the opening of the large bottom plate 605, and the seedlings in the seedling cup 208 fall off to the planter and other mechanisms for planting operations. At the same time, under the real-time monitoring of the visual detection device 3, if the seedling cup 208 is in an empty cup state, it is rotated 15° more to replace the empty cup to achieve seedling replenishment; after the upper seedling tray 206 is planted, the lower seedling tray 211 continues to plant seedlings under the drive of motor B5, and at the same time, the upper seedling receiving tray 206 rotates to the seedling receiving position for the next round of seedling receiving, and the motor responds quickly to achieve the continuity of the entire link.

[0024] like Figure 6 As shown, the frame 6 is composed of 4 columns 603 and 4 longitudinal square tubes 601 and 4 transverse square tubes 602 of the upper and lower layers. The transverse square tube 602 is fixed between the 2 columns, and one end of the motor fixing frame 604 is fixed on the middle transverse square tube 602. The large bottom plate 605 is fixedly connected to the longitudinal square tube 601 and the transverse square tube 602 of the bottom layer. The visual detection device 3 is installed on the same side as the seedling opening of the large bottom plate 605. The camera is vertically facing the upper cup of the seedling cup at the seedling position, and the seedling situation in the seedling cup at the seedling position is detected in real time. The camera is vertically facing the cup mouth to shoot the image without obstruction.

[0025] like Figure 7 As shown, the automatic seedling replenishment method of the seedling tray transplanter using machine vision described in this embodiment includes the following steps: at the beginning, the two motors are powered on and reset, the upper seedling tray 206 is placed in the seedling receiving position, the lower seedling tray 211 is placed in the waiting position, and then the seedling delivery mechanism 1 is used to take and deliver the seedlings; after the seedling cup 208 of the upper seedling tray 206 is full of seedlings, the upper seedling tray 206 is driven by the motor A4 to rotate to the seedling delivery position to deliver the seedlings, and the lower seedling tray 211 is driven by the motor B5 to rotate to the seedling delivery position to wait for the seedlings to be delivered; During the time interval of receiving the seedlings on the lower seedling tray 211, since each seedling cup 208 occupies an angle of 15 degrees of the entire circular seedling separation mechanism 2, the upper seedling separation tray 206 intermittently rotates 15 degrees to carry out continuous seedling throwing operation. When the seedling cup 208 of the upper seedling separation tray 206 passes the seedling throwing position, due to the seedling throwing opening at the large bottom plate 605, the seedling cup 208 cover is opened by the spring, and the seedlings in the cup fall off due to their own gravity, completing the seedling throwing operation of the planting mechanism. At the same time, during the seedling throwing process, the visual detection device 3 fixed on the horizontal square tube 602 of the frame 6 above the seedling throwing opening works. When it is detected that the seedling cup 208 is empty, the control motor A4 quickly fills in 15 degrees. If the next seedling cup 208 is still empty, it continues to fill in 15 degrees without interval until the empty seedling cup 208 is skipped. When all the seedlings of the eight seedling cups 208 of the upper seedling tray 206 are planted, that is, the motor A4 rotates 120 degrees, the lower seedling tray 211 is driven by the motor B5 to quickly rotate to the seedling placement position to continue planting seedlings, and at the same time, the upper seedling tray 206 is driven by the motor A4 to quickly rotate to the seedling receiving position to receive seedlings; At this time, the lower seedling tray 211 and the motor B5 driving it repeat the seedling throwing logic of the upper seedling tray 206, and when the cup is empty, it quickly fills in 15 degrees to achieve empty cup replacement; Then, by controlling the motion logic of motor A4 and motor B5, the upper seedling tray 206 and the lower seedling tray 211 connected thereto are driven to rotate, and the continuous operation of repeating the above operation steps is realized. Through the control of logic and the rapid response of the motor, the entire process of taking and placing seedlings and seedlings is automated and continuous. At the same time, the addition of the visual detection device 3 and the motor drive method realize the automatic seedling supplement function. The whole row seedling taking method is adopted, the operation efficiency is high, and it is suitable for installation in a variety of existing mature transplanting machines.

[0026] The above is a detailed introduction to the automatic seedling replenishment device for a transplanter provided by the present invention. This article uses specific embodiments to briefly explain the basic principles and implementation methods of the present invention, but the protection scope of the present invention is not limited to this. For ordinary technicians in this field, it can be understood that without departing from the principles and spirit of the present invention, various changes, modifications, substitutions and variations can be made to the embodiments in this article. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic seedling replenishment device for a tray seedling transplanter using machine vision, comprising a seedling picking and throwing device (1), a seedling separation device (2), a visual detection device (3), a motor A (4), a motor B (5) and a frame (6), characterized in that: The seedling taking and throwing device (1) is fixed above the column (603) of the frame (6); the seedling separating device (2) is fixed above the large bottom plate (605) of the frame (6); the visual inspection device (3) is fixed below the middle horizontal square tube (602) of the frame (6), and is oriented toward the mouth of the seedling cup (208); the motor A (4) is mounted on the motor A fixing seat (201), the motor A fixing seat (201) is fixed on the motor fixing frame (604) of the frame (6), and is fixedly connected to the motor A connecting shaft (203) through the motor A coupling (202); the motor B (5) is mounted on the motor B fixing seat (209), the motor B fixing seat (209) is fixed below the large bottom plate (605) of the frame (6), and is fixedly connected to the central axis (213) of the seedling separating plate through the motor B coupling (210); The seedling taking and throwing device (1) is equipped with 8 clamping claws (124), the clamping claws (124) are fixedly connected to the slide cylinder (121) through the clamping claw fixing seat (123), the slide cylinder (123) is fixedly connected to two linear bearings (116) through the slide cylinder fixing seat (120), each group of 8 linear bearings (116) is inserted into the light rod (114) and slides on the top thereof, each slide cylinder fixing seat (120) is equipped with a lateral expansion limit hinge (126) and a hinge fixing column (127), two lateral cylinders (119) are fixedly connected to the two outermost slide cylinder fixing seats (120) through the lateral cylinder push rod connecting rod (118), the lateral cylinder (119) is extended and retracted, and the lateral expansion limit hinge (126) is extended and retracted. ) under the action of the eight clamping claws, which are deployed along a straight line on the light rod (114) according to a specific moving distance; the seedling taking and throwing device (1) is equipped with two longitudinal guide rails (108) and four longitudinal sliders (113); the longitudinal cylinder (106) is fixedly connected to the light rod (114) through a longitudinal cylinder Y-shaped joint (125) and a longitudinal cylinder connecting push rod (117); the seedling taking and throwing device (1) is equipped with four vertical guide rails (101) and four vertical sliders (102); the vertical sliders (102) are fixedly connected to the longitudinal guide rails (108) through a vertical slider connecting seat (103) and a longitudinal guide rail mounting plate (107); the two longitudinal cylinders (106) are fixedly connected to the longitudinal guide rail mounting plate (107) through a lifting cylinder connecting plate (111); The seedling separation device (2) is provided with two coaxial upper seedling separation trays (206) and a lower seedling separation tray (211), each seedling separation tray having a fan-shaped angle of 120° and 8 seedling cups (208) being evenly distributed and each seedling cup (208) having an angle of 15°. The upper seedling separation tray (206) is fixedly connected to a motor A (4), and the lower seedling separation tray (211) is fixedly connected to a motor B (5). When the seedling throwing device (1) is unfolded to form an arc seedling throwing state, the corresponding seedling receiving position of the seedling separation device (2) is the seedling receiving position, the opening of the large bottom plate (605) is the seedling throwing position of the seedling cup (208), and the remaining 120° space position is a waiting position. The two seedling separation trays are independently driven by two motors, one of which is stationary for receiving seedlings and the other is rotating for seedling throwing, and both seedling separation trays rotate clockwise.

2. The automatic seedling replenishment device for a plug tray seedling transplanter using machine vision according to claim 1, characterized in that: The seedling taking and throwing device (1) comprises a vertical guide rail (101), a vertical slide block (102), a vertical slide block connecting seat (103), a longitudinal guide rail limit block (104), a longitudinal cylinder fixing seat (105), a longitudinal cylinder (106), a longitudinal guide rail mounting plate (107), a longitudinal guide rail (108), a lifting cylinder fixing plate (109), a lifting cylinder (110), a lifting cylinder connecting plate (111), a bare rod support (112), a longitudinal slide block (113), a bare rod support (114), a bare rod support (115), a bare rod support (116), a bare rod support (117), a bare rod support (118), a bare rod support (119), a bare rod support (119), a bare rod support (111), a bare rod support (112), a bare rod support (113), a bare rod support (114), a bare rod support (115), a bare rod support (116), a bare rod support (117), a bare rod support (118), a bare rod support (119), a bare rod support (119), a bare rod support (119), a bare rod support (111), a bare rod support (111), a bare rod support (112), a bare rod support (113), a bare rod support (114), a bare rod support (114), a bare rod support (115), a bare rod support (115), a bare rod support (116), a bare rod support (117), a bare rod support (117), a bare rod support (117), a bare rod support (117), a bare rod support (118), a bare rod support (119 ... The invention relates to a rod (114), a transverse cylinder fixing seat (115), a linear bearing (116), a longitudinal cylinder connecting push rod (117), a transverse cylinder push rod connecting rod (118), a transverse cylinder (119), a slide cylinder fixing seat (120), a slide cylinder (121), a seedling clamping baffle (122), a clamping claw fixing seat (123), a clamping claw (124), a longitudinal cylinder Y-type joint (125), a transverse expansion limit hinge (126) and a hinge fixing column (127). The four vertical guide rails (101) are fixed above the columns (603) of the frame (6), each guide rail is equipped with a vertical slider (102) that can slide up and down along the vertical guide rail (101), and every two vertical sliders (102) are fixedly connected to the longitudinal guide rail mounting plate (107) through the vertical slider connecting seat (103), and each of the two longitudinal guide rail mounting plates (107) is equipped with a longitudinal guide rail (108), and each longitudinal guide rail (108) is equipped with two longitudinal sliders ( 113), two longitudinal sliders (113) are provided with transverse cylinder fixing seats (115), two polished rod supports (112) are provided on the transverse cylinder fixing seats (115), and the two transverse cylinder fixing seats (115) are fixedly connected to two polished rods (114) through the polished rod supports (112), so that the four longitudinal sliders (113) can move synchronously along the two longitudinal guide rails (108), and also the four vertical sliders (102) can move synchronously along the four vertical guide rails (101); Two longitudinal guide rail limit blocks (104) are symmetrically mounted on one end of the two longitudinal guide rails (108); a longitudinal cylinder fixing seat (105) is mounted above the two longitudinal guide rail limit blocks (104); a rear end of a longitudinal cylinder (106) is fixed above the longitudinal cylinder fixing seat (105); the longitudinal cylinder (106) is fixedly connected to a longitudinal cylinder connecting push rod (117) via a longitudinal cylinder Y-shaped joint (125); the other end of the longitudinal cylinder connecting push rod (117) is fixedly connected to a light rod (114); and the longitudinal cylinder (106) is extended and retracted to drive the light rod (114) and the components mounted thereon to move longitudinally on the longitudinal guide rail (108) via a longitudinal slider (113); Two lifting cylinder fixing plates (109) are fixed on two longitudinal square tubes (601) above the frame (6), two lifting cylinders (110) are fixed on the two lifting cylinder fixing plates (109), the ends of the push rods of the two lifting cylinders (110) are fixedly connected to the lifting cylinder connecting plate (111), and the lifting cylinder connecting plate (111) is fixedly connected to the longitudinal guide rail mounting plate (107), and the longitudinal guide rail mounting plate (107) and the components installed thereon are driven to move vertically along the vertical guide rail (101) through the vertical slider (102) through the extension and retraction of the lifting cylinder (110); Eight linear bearings (116) are respectively installed on the two polished rods (114) and slide horizontally on the top thereof. The linear bearings (116) on each polished rod (114) are respectively provided with a slide cylinder fixing seat (120). The slide cylinder fixing seat (120) is fixedly connected to the bottom of the two linear bearings (116). The cylinder body of the slide cylinder (121) is fixedly connected to the slide cylinder fixing seat (120). The push rod of the slide cylinder (121) is fixedly connected to the clamping claw fixing seat (123). The seedling clamping baffle (122) is fixed to the upper side of the end of the clamping claw fixing seat (123). The clamping claw (124) is fixed to the lower side of the end of the clamping claw fixing seat (123). The slide cylinder (121) is extended and retracted, driving the clamping claw fixing seat (123) connected to the push rod of the slide cylinder (121) and the components installed above it to move longitudinally. The tail ends of the two transverse cylinders (119) are fixed on the transverse cylinder fixing seat (115), the push rods of the two transverse cylinders (119) are fixedly connected to the transverse cylinder push rod connecting rod (118), and the other end of the transverse cylinder push rod connecting rod (118) is fixed on the outermost slide cylinder fixing seat (120). The two transverse cylinders (119) are installed opposite to each other, and a transverse expansion limit hinge (126) is installed on each slide cylinder fixing seat (120) through a hinge fixing column (127) fixed on the upper side thereof. The two outermost slide cylinder fixing seats (120) are driven to move on the light rod (114) by the extension and retraction of the two transverse cylinders (119), and under the action of the transverse expansion limit hinge (126), the eight groups of slide cylinder fixing seats (120) are expanded at a specific distance.

3. The automatic seedling replenishment device for a plug tray seedling transplanter using machine vision according to claim 1, characterized in that: The seedling separation device (2) is composed of a motor A fixing seat (201), a motor A coupling (202), a motor A connecting shaft (203), an upper seedling separation plate shaft sleeve (204), a large bottom plate shaft sleeve (205), an upper seedling separation plate (206), a seedling cup fixing frame (207), a seedling cup (208), a motor B fixing seat (209), a motor B coupling (210), a lower seedling separation plate (211), a bearing (212), a seedling separation plate central shaft (213), an upper shaft sleeve (214), and a lower shaft sleeve (215). The motor A (4) is fixedly connected to the motor A fixing seat (201), and the motor A fixing seat (201) is fixed to the frame. On the motor fixing frame (604) of (6), the output shaft of the motor A (4) is fixedly connected to the motor A coupling (202), the other end of the motor A coupling (202) is fixedly connected to the motor A connecting shaft (203), the motor A connecting shaft (203) is fixedly connected to the upper seedling separation plate shaft sleeve (204), the upper seedling separation plate shaft sleeve (204) is fixed on the upper seedling separation plate (206) and installed concentrically, and 8 seedling cups (208) are installed on the upper seedling separation plate (206) through the seedling cup fixing frame (207), and the upper seedling separation plate (206) and the 8 seedling cups (208) installed thereon are driven to rotate synchronously by the rotation of the motor A (4); The motor B (5) is fixedly connected to the motor B fixing seat (209), and the motor B fixing seat (209) is fixed below the large bottom plate (605) of the frame (6). The output shaft of the motor B (5) is fixedly connected to the central axis (213) of the seedling separation plate through the motor B coupling (210) fixedly connected thereto. The lower seedling separation plate (211) is fixed on the central axis (213) of the seedling separation plate. Eight seedling cups (208) are installed on the lower seedling separation plate (211) through the seedling cup fixing frame (207). The rotation of the motor B (5) drives the lower seedling separation plate (211) and the eight seedling cups (208) installed thereon to rotate synchronously. The large bottom plate shaft sleeve (205) is fixed on the large bottom plate (605), and two bearings (212) are fixed in the large bottom plate shaft sleeve (205) through its shaft shoulder and the lower shaft sleeve (215); the lower end of the central axis (213) of the seedling separation plate passes through the two bearings (212), and axial limitation is achieved by means of the shaft shoulder; the upper seedling separation plate shaft sleeve (204) is fixed with two bearings (212) through its shaft shoulder and the upper shaft sleeve (214); the upper end of the central axis (213) of the seedling separation plate passes through the two bearings (212) in the shaft sleeve (204) of the upper seedling separation plate, and axial limitation is achieved by means of the shaft shoulder, thereby achieving the coaxial arrangement and independent rotation of the upper seedling separation plate (206) and the lower seedling separation plate (211).

4. The automatic seedling replenishment device of the plug tray seedling transplanter using machine vision according to claim 1, characterized in that: The frame (6) is composed of four columns (603) fixed to four longitudinal square tubes (601) and four transverse square tubes (602) of the upper and lower layers, the transverse square tube (602) being fixed between the two columns, one end of the motor fixing frame (604) being fixed to the middle transverse square tube (602), and the large bottom plate (605) being fixedly connected to the longitudinal square tube (601) and the transverse square tube (602) of the bottom layer.

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