Automatic separation device and separation method for cluster scions or cutting seedlings

Abstract

The invention discloses an automatic separation device and separation method for cluster scions or cutting seedlings, and the automatic separation device comprises a rack which is provided with a conveyor belt; the seedling box is used for storing clustered seedlings, the seedling box is connected with the rack, an inclined material taking groove is formed in the bottom of the seedling box, and a material taking opening is formed in the material taking groove; the seedling taking mechanism comprises a fixing plate, a driving assembly, a seedling taking claw and a seedling guiding plate, the driving assembly can drive the seedling taking claw to take quantitative seedlings from the material taking opening, and the driving assembly can drive the seedling taking claw to carry the quantitative seedlings to the seedling guiding plate; the seedling separating mechanism comprises a fixing frame, a lifting assembly, a rotating assembly, a telescopic assembly and a seedling separating claw, the lifting assembly can drive the rotating assembly to ascend and descend, the rotating assembly can drive the telescopic assembly to rotate, the telescopic assembly can drive the seedling separating claw to do telescopic motion, the seedling guiding plate can guide quantitative seedlings to the seedling separating claw, and the seedling separating claw is located above the conveying belt. Large-spacing separation of cluster seedlings can be realized, and the seedling separation success rate is improved.

Description

Technical Field

[0001] The invention relates to the technical field of factory seedling production, and in particular to an automatic separation device and a separation method for clustered scions or cuttings. Background Art

[0002] In facility vegetable grafting or flower cutting operations, a pre-cutting device is usually used to cut the plug tray seedlings into clusters of scions or cuttings, and then individual seedlings are picked up manually from the clusters of scions or cuttings for grafting or cutting operations. The labor intensity is high and the operation efficiency is low.

[0003] The automatic seedling separation device is used to separate the clustered seedlings into individual seedlings, and then the robot arm with integrated vision system identifies and grabs the individual seedlings for grafting and cutting operations, which can improve the quality and efficiency of grafting or cutting operations. However, the branches and leaves of clustered scions or cuttings are soft and brittle, and the branches and leaves are stacked, crossed and adhered to each other. Using a robot gripper to directly grab them will pick up multiple seedlings at the same time, and it is easy to cause mechanical damage to the seedlings.

[0004] The existing vibration separation device achieves the separation of seedlings with small spacing in a single direction by combining a linear vibration mechanism with a seedling separation plate with wrinkles and bumps or a seedling box with a diversion structure. However, for cross-stacked groups of seedlings, the unidirectional vibration method is difficult to overcome the contact resistance between the stems and leaves of the seedlings in different directions, and the success rate of seedling separation is low. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an automatic separation device for clustered scions or cuttings, which solves the problem that the existing seedling separation method is small-pitch separation in a single direction and has a low success rate of seedling separation.

[0006] Another object of the present invention is to provide a separation method of the above-mentioned automatic separation device for clustered scions or cuttings.

[0007] The technical solution of the present invention is: an automatic separation device for clustered scions or cuttings, comprising:

[0008] A frame, wherein a conveyor belt is provided on the frame;

[0009] A seedling box, the seedling box is used to store clustered seedlings, the seedling box is connected to the frame, an inclined feeding trough is provided at the bottom of the seedling box, and the feeding trough is provided with a feeding port;

[0010] A seedling taking mechanism, the seedling taking mechanism comprising a fixed plate, a driving assembly, a seedling taking claw and a seedling guide plate, the fixed plate is connected to the frame, the seedling guide plate is connected to the fixed plate, the driving assembly is connected to the fixed plate, the seedling taking claw is connected to the driving assembly, the driving assembly can drive the seedling taking claw to take a certain amount of seedlings from the feeding port, and the driving assembly can drive the seedling taking claw to carry the certain amount of seedlings to the seedling guide plate;

[0011] The seedling separation mechanism comprises a fixed frame, a lifting assembly, a rotating assembly, a telescopic assembly and a seedling separation claw, the fixed frame is connected to the frame, the lifting assembly is connected to the fixed frame, the rotating assembly is connected to the lifting assembly, the lifting assembly can drive the rotating assembly to lift and lower, the telescopic assembly is connected to the rotating assembly, the rotating assembly can drive the telescopic assembly to rotate, the seedling separation claw is connected to the telescopic assembly, the telescopic assembly can drive the seedling separation claw to perform telescopic movement, the seedling guide plate is inclined toward the seedling separation claw, the seedling guide plate can guide the quantitative seedlings onto the seedling separation claw, and the seedling separation claw is located above the conveyor belt;

[0012] A control module is electrically connected to the driving assembly, the lifting assembly, the rotating assembly and the telescopic assembly.

[0013] Furthermore, the seedling picking claw includes a main body and a fork-shaped portion which are connected to each other, the main body is connected to the driving assembly, and the shape of the feeding port matches the shape of the fork-shaped portion so that the fork-shaped portion can pass through the feeding port.

[0014] Furthermore, the seedling guide plate is provided with a seedling guide opening, and the shape of the seedling guide opening matches the shape of the fork-shaped portion so that the fork-shaped portion can pass through the seedling guide opening.

[0015] Furthermore, the driving assembly includes a translation assembly and a vertical movement assembly, the translation assembly includes a horizontal rail and a translation slider, the horizontal rail is connected to the fixed plate, the translation slider is slidably connected to the horizontal rail, the vertical movement assembly includes a vertical rail and a vertical slider, the vertical rail is connected to the translation slider, the vertical slider is slidably connected to the vertical rail, and the seedling claw is connected to the vertical slider.

[0016] Further, the automatic separation device also includes a limit mechanism, and the limit mechanism includes a seedling removal limit switch, a seedling guide limit switch, an upper limit switch and a lower limit switch;

[0017] The seedling removal limit switch is located at one end of the horizontal track close to the seedling box, and the seedling removal limit switch is used to output a seedling removal signal to the control module, and the control module controls the vertical sliding block to slide upward, so that the seedling removal claw moves upward to remove the seedling;

[0018] The seedling guiding limit switch is located at one end of the horizontal track close to the seedling guiding plate, and the seedling guiding limit switch is used to output a seedling guiding signal to the control module, and the control module controls the vertical sliding block to slide downward, so that the seedling taking claw guides the seedlings downward;

[0019] The upper limit switch is located at the top of the vertical track, and the upper limit switch is used to output a seedling removal completion signal to the control module, and the control module controls the translation slider to slide toward the seedling guide plate;

[0020] The lower limit switch is located at the bottom end of the vertical track. The lower limit switch is used to output a seedling guidance completion signal to the control module. The control module controls the start-up of the lifting assembly, the rotating assembly and the telescopic assembly.

[0021] Furthermore, the seedling separating claw includes a connecting portion and a flat plate portion which are connected to each other, the connecting portion is connected to the telescopic assembly, the flat plate portion is provided with a plurality of seedling separating grooves, and the width of the seedling separating grooves gradually increases in a direction away from the connecting portion.

[0022] Furthermore, the flat plate portion forms an angle of 10°-15° with the horizontal plane.

[0023] Further, the lifting assembly includes a lifting motor and a lifting plate, the lifting motor is connected to the fixing frame, and the output end of the lifting motor is connected to the lifting plate;

[0024] The rotating assembly comprises a rotating motor and a rotating plate, the rotating motor is connected to the lifting plate, and the output end of the rotating motor is connected to the rotating plate;

[0025] The telescopic assembly comprises a telescopic motor and a telescopic plate, the telescopic motor is connected to the rotating plate, the output end of the telescopic motor is connected to the telescopic plate, and the connecting part is connected to the telescopic plate.

[0026] Furthermore, transparent baffles are provided on both sides of the conveyor belt.

[0027] The present invention also provides a separation method of the automatic separation device, comprising:

[0028] The control module controls the movement of the driving component, and the driving component drives the seedling-taking claw to take a certain amount of seedlings from the material taking trough, and the driving component drives the seedling-taking claw to carry the certain amount of seedlings to the seedling guide plate, and the seedling-taking claw guides the certain amount of seedlings into the seedling-separating claw through the seedling guide plate; the control module controls the lifting component, the rotating component and the telescopic component to start at the same time, and drives the seedling-separating claw to make reciprocating rotation and linear motion through the rotating component and the telescopic component, so that the individual seedlings in the seedling-separating claw are subjected to the centrifugal force of changing direction, the rotation emergency stop and the telescopic emergency stop inertia force, so as to gradually overcome the contact resistance constraints in different directions between the leaves of the seedlings, and gradually throw the individual seedlings away from the seedling-separating claw and drop them onto the conveyor belt, and use the lifting component to make the individual seedlings produce a falling speed difference and the conveying speed difference generated by the conveyor belt, so as to further separate the dropped adjacent individual seedlings, and finally the individual seedlings are transported to the grafting or cutting equipment by the conveyor belt.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The automatic separation device of the present application drives the seedling separation claw to perform reciprocating rotation and linear motion through the rotating component and the telescopic component, so that the individual seedlings in the seedling separation claw are subjected to the centrifugal force of changing direction, the inertial force of rotation emergency stop and the telescopic emergency stop, so as to gradually overcome the contact resistance constraints in different directions between the leaves of the seedlings, and gradually throw the individual seedlings away from the seedling separation claw and drop them onto the conveyor belt. The lifting component is used to make the individual seedlings produce a falling speed difference and the conveying speed difference generated by the conveyor belt, so as to further separate the dropped adjacent individual seedlings, thereby realizing the separation of clustered seedlings with large spacing and improving the success rate of seedling separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the automatic separation device of the present invention.

[0032] Figure 2 It is a structural schematic diagram of the seedling box of the present invention.

[0033] Figure 3 It is a side view of seedling box of the present invention.

[0034] Figure 4 It is a structural schematic diagram of the seedling taking structure of the present invention.

[0035] Figure 5 It is a structural schematic diagram of the seedling separation mechanism of the present invention.

[0036] Figure 6 It is a side view of the seedling separation mechanism of the present invention.

[0037] Figure 7 The figure is a schematic diagram of seedling separation of the automatic separation device of the present invention.

[0038] Frame 1, conveyor belt 11, transparent baffle 12, seedling box 2, feeding trough 21, feeding port 22, seedling vibrator 23, seedling taking mechanism 3, fixed plate 31, horizontal track 32, translation slider 33, vertical track 34, vertical slider 35, seedling taking claw 36, main body 361, fork-shaped portion 362, seedling guide plate 37, seedling guide port 371, seedling guide vibrator 372, seedling separation mechanism 4, fixed frame 41, lifting component 42, lifting motor 421, lifting plate 422, rotating component 43, rotating motor 431, rotating plate 432, telescopic component 44, telescopic motor 441, telescopic plate 442, seedling separation claw 45, connecting part 451, flat plate part 452, seedling separation trough 453, clustered seedlings 5, individual seedlings 6. DETAILED DESCRIPTION

[0039] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "upper", "lower", "left", "right", "inside", "outside" and similar expressions used in this specification are for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification and in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0041] The existing vibration separation device realizes the separation of seedlings with small spacing in a single direction by combining a linear vibration mechanism with a seedling separation plate with wrinkles and convex points or a seedling box with a diversion structure. However, for cross-stacked group seedlings, the unidirectional vibration method is difficult to overcome the contact resistance between the stems and leaves of the seedlings in different directions, and the success rate of seedling separation is low. In order to solve the above problems, the present application provides an automatic separation device and separation method for clustered scions or cuttings, which solves the problem that the existing seedling separation method can separate seedlings with small spacing in a single direction and has a low success rate of seedling separation.

[0042] In some embodiments, Figure 1-Figure 7 As shown, a device for automatically separating clustered scions or cuttings is provided, and the device for automatically separating clustered scions or cuttings comprises:

[0043] A frame 1, wherein a conveyor belt 11 is provided on the frame 1;

[0044] A seedling box 2, the seedling box 2 is used to store clustered seedlings 5, the seedling box 2 is connected to the frame 1, and an inclined feeding trough 21 is provided at the bottom of the seedling box 2, and the feeding trough 21 is provided with a feeding port 22;

[0045] The seedling taking mechanism 3 includes a fixed plate 31, a driving assembly, a seedling taking claw 36 and a seedling guide plate 37. The fixed plate 31 is connected to the frame 1, the seedling guide plate 37 is connected to the fixed plate 31, the driving assembly is connected to the fixed plate 31, the seedling taking claw 36 is connected to the driving assembly, the driving assembly can drive the seedling taking claw 36 to take a certain amount of seedlings from the feeding port 22, and the driving assembly can drive the seedling taking claw 36 to carry the certain amount of seedlings to the seedling guide plate 37;

[0046] The seedling separation mechanism 4 includes a fixed frame 41, a lifting component 42, a rotating component 43, a telescopic component 44 and a seedling separation claw 45. The fixed frame 41 is connected to the frame 1, the lifting component 42 is connected to the fixed frame 41, the rotating component 43 is connected to the lifting component 42, the lifting component 42 can drive the rotating component 43 to rise and fall, the telescopic component 44 is connected to the rotating component 43, the rotating component 43 can drive the telescopic component 44 to rotate, the seedling separation claw 45 is connected to the telescopic component 44, the telescopic component 44 can drive the seedling separation claw 45 to do telescopic movement, the seedling guide plate 37 is inclined toward the seedling separation claw 45, the seedling guide plate 37 can guide the quantitative seedlings to the seedling separation claw 45, and the seedling separation claw 45 is located above the conveyor belt 11;

[0047] A control module is electrically connected to the driving assembly, the lifting assembly 42 , the rotating assembly 43 and the telescopic assembly 44 .

[0048] The automatic separation device of the present application drives the seedling separation claw 45 to perform reciprocating rotation and linear motion through the rotating component 43 and the telescopic component 44, so that the individual seedlings 6 in the seedling separation claw 45 are subjected to the centrifugal force of changing direction, the inertial force of rotation emergency stop and the telescopic emergency stop, so as to gradually overcome the contact resistance constraints in different directions between the leaves of the seedlings, and gradually throw the individual seedlings 6 away from the seedling separation claw 45 and drop them onto the conveyor belt 11. The lifting component 42 is used to make the individual seedlings 6 produce a falling speed difference and the conveying speed difference generated by the conveyor belt 11, so as to further separate the dropped adjacent individual seedlings 6, so as to realize the separation of clustered seedlings 5 ​​with large spacing, and improve the success rate of seedling separation.

[0049] In some embodiments, Figure 2 and Figure 4As shown, the seedling claw 36 includes a main body 361 and a fork 362 connected to each other, the main body 361 is connected to the driving assembly, and the shape of the feeding port 22 matches the shape of the fork 362, so that the fork 362 can pass through the feeding port 22. By setting the seedling claw 36 to be forked and the feeding port 22 to be a shape matching the fork 362, when the driving assembly drives the seedling claw 36 to pass through the feeding port 22 from bottom to top, the fork 362 can bring up the clustered seedlings 5 ​​in the feeding trough 21. Compared with the method of using a manipulator to grab the seedlings, this seedling picking method can avoid mechanical damage to the seedlings.

[0050] In some embodiments, Figure 4 As shown, the seedling guide plate 37 is provided with a seedling guide port 371, and the shape of the seedling guide port 371 matches the shape of the fork-shaped portion 362, so that the fork-shaped portion 362 can pass through the seedling guide port 371. By setting the shape of the seedling guide port 371 to match the fork-shaped portion 362, when the driving assembly drives the seedling retrieval claw 36 to pass through the seedling guide port 371 from top to bottom, the seedling guide plate 37 can intercept the seedlings on the fork-shaped portion 362 on the seedling guide plate 37. Compared with the method of using a manipulator to grab the seedlings, this seedling retrieval method can avoid mechanical damage to the seedlings.

[0051] In some embodiments, Figure 4 As shown, the fork-shaped portion 362 includes a first rod and multiple second rods. The first rod is connected to the main body 361 , one end of the multiple second rods are respectively vertically connected to the first rod, and the multiple second rods are spaced apart to form the fork-shaped portion 362 .

[0052] In some embodiments, Figure 2 and Figure 4 As shown, the shape of the feed port 22 matches the shape of the fork-shaped portion 362, and the shape of the seedling guide port 371 matches the shape of the fork-shaped portion 362. The matching here means that the shape of the feed port 22 and the shape of the seedling guide port 371 are complementary to the fork-shaped portion 362 respectively.

[0053] In some embodiments, Figure 1 and Figure 4As shown, the driving assembly includes a translation assembly and a vertical movement assembly, the translation assembly includes a horizontal track 32 and a translation slider 33, the horizontal track 32 is connected to the fixed plate 31, the translation slider 33 is slidably connected to the horizontal track 32, the vertical movement assembly includes a vertical track 34 and a vertical slider 35, the vertical track 34 is connected to the translation slider 33, the vertical slider 35 is slidably connected to the vertical track 34, and the seedling claw 36 is connected to the vertical slider 35. By setting the translation assembly and the vertical movement assembly to limit the activity path of the seedling claw 36, the continuous transportation of quantitative seedlings can be completed.

[0054] In some embodiments, the translation assembly further includes a translation drive motor, which is electrically connected to the control module, and the translation drive motor can drive the translation slider 33 to slide along the horizontal track 32. The vertical movement assembly further includes a vertical movement drive motor, which is electrically connected to the control module, and the vertical movement drive motor can drive the vertical movement slider 35 to slide along the vertical track 34. By controlling the translation drive motor and the vertical movement drive motor to open and close through the control module, the reciprocating action of the seedling claw 36 can be realized, and the continuous delivery of quantitative seedlings can be completed.

[0055] In some embodiments, the automatic separation device further includes a limit mechanism, wherein the limit mechanism includes a seedling removal limit switch, a seedling guide limit switch, an upper limit switch, and a lower limit switch;

[0056] The seedling removal limit switch is located at one end of the horizontal track 32 close to the seedling box 2, and the seedling removal limit switch is used to output a seedling removal signal to the control module, and the control module controls the vertical sliding block 35 to slide upward, so that the seedling removal claw 36 removes the seedling upward;

[0057] The seedling guiding limit switch is located at one end of the horizontal track 32 close to the seedling guiding plate 37, and the seedling guiding limit switch is used to output a seedling guiding signal to the control module, and the control module controls the vertical sliding block 35 to slide downward, so that the seedling taking claw 36 guides the seedling downward;

[0058] The upper limit switch is located at the top of the vertical track 34, and the upper limit switch is used to output a seedling removal completion signal to the control module, and the control module controls the translation slider 33 to slide toward the seedling guide plate 37;

[0059] The lower limit switch is located at the bottom end of the vertical track 34, and the lower limit switch is used to output a seedling guidance completion signal to the control module, and the control module controls the lifting component 42, the rotating component 43 and the telescopic component 44 to start.

[0060] By outputting signals from each limit switch to the control module, seedling removal, seedling guidance and seedling separation can be achieved, thus realizing fully automatic seedling separation.

[0061] In some embodiments, the seedling removal limit switch, seedling guiding limit switch, upper limit switch and lower limit switch can be selected from common travel limit switches on the market, and there is no limitation here.

[0062] In some embodiments, Figure 5 and Figure 6 As shown, the seedling separation claw 45 includes a connecting portion 451 and a flat plate portion 452 connected to each other, the connecting portion 451 is connected to the telescopic assembly 44, and the flat plate portion 452 is provided with a plurality of seedling separation grooves 453, and the width of the seedling separation grooves 453 gradually increases in a direction away from the connecting portion 451. The seedling separation grooves 453 play a role in assisting the seedling separation in the process of the clustered seedlings 5 ​​gradually separating from the seedling separation claw 45.

[0063] In some embodiments, Figure 6 As shown, the flat plate portion 452 forms an angle of 10°-15° with the horizontal plane, so that the seedling separation claws 45 can hold the quantitative seedlings and prevent the quantitative seedlings from collectively sliding off during the seedling separation process.

[0064] In some embodiments, Figure 1 , Figure 5 and Figure 6 As shown, the lifting assembly 42 includes a lifting motor 421 and a lifting plate 422, the lifting motor 421 is connected to the fixing frame 41, and the output end of the lifting motor 421 is connected to the lifting plate 422;

[0065] The rotating assembly 43 includes a rotating motor 431 and a rotating plate 432. The rotating motor 431 is connected to the lifting plate 422, and the output end of the rotating motor 431 is connected to the rotating plate 432.

[0066] The telescopic assembly 44 includes a telescopic motor 441 and a telescopic plate 442 . The telescopic motor 441 is connected to the rotating plate 432 . The output end of the telescopic motor 441 is connected to the telescopic plate 442 . The connecting portion 451 is connected to the telescopic plate 442 .

[0067] The lifting motor 421, the rotating motor 431 and the telescopic motor 441 are electrically connected to the control module respectively, and the clustered seedlings 5 ​​on the seedling separation claw 45 can simultaneously realize linear reciprocating motion and reciprocating circular motion at a certain angle, as well as reciprocating up and down motion in the vertical direction. The seedling separation claw 45 is driven to perform reciprocating rotation and linear motion by the rotating component 43 and the telescopic component 44, so that the individual seedlings 6 in the seedling separation claw 45 are subjected to the centrifugal force of changing direction, the inertial force of the rotation emergency stop and the telescopic emergency stop, so as to gradually overcome the contact resistance constraints in different directions between the seedling leaves, and gradually throw the individual seedlings 6 away from the seedling separation claw 45 and drop them onto the conveyor belt 11, and the lifting component 42 is used to make the individual seedlings 6 produce a drop speed difference and a conveying speed difference generated by the conveyor belt 11, so as to further separate the dropped adjacent individual seedlings 6. By adjusting the rotation speed and rotation angle of the rotating component 43, the linear motion speed and stroke of the telescopic component 44, and the moving speed and stroke of the lifting component 42, it is possible to adapt to the complex contact constraints between branches and leaves of different types of seedlings and achieve high-speed and high-success rate seedling separation.

[0068] In some embodiments, Figure 1 As shown, the frame 1 is provided with transparent baffles 12 on both sides of the conveyor belt 11 to prevent the seedlings from escaping from the conveying range of the conveyor belt 11 during the separation process, ensure that the seedlings can fall on the conveyor belt 11, and the separation of the clustered seedlings 5 ​​can be observed in real time.

[0069] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, the seedling box 2 is funnel-shaped and is provided with a seedling outlet. The clustered seedlings 5 ​​in the seedling box 2 fall into the feeding trough 21 through the outlet. The size of the seedling outlet can be adjusted to adjust the seedling supply amount.

[0070] In some embodiments, the seedling box 2 is provided with a movable gate, and the seedling outlet can be blocked by adjusting the position of the movable gate to adjust the seedling supply.

[0071] In some embodiments, Figure 3 As shown, a seedling vibrator 23 is provided at the bottom of the seedling box 2, and the fluidity of the seedlings in the seedling box 2 is enhanced by the vibrator to avoid seedling jamming and ensure the continuity of seedling supply.

[0072] In some embodiments, Figure 4 As shown, a seedling guide vibrator 372 is provided on the seedling guide plate 37, which prevents the seedlings from getting stuck on the seedling guide plate 37 and also speeds up the seedling falling speed of the seedling guide plate 37.

[0073] In some embodiments, Figure 1-Figure 7 As shown, a separation method of the above automatic separation device is provided, comprising:

[0074] The control module controls the movement of the driving component, and the driving component drives the seedling claw 36 to take a certain amount of seedlings from the material trough 21, and the driving component drives the seedling claw 36 to carry the certain amount of seedlings to the seedling guide plate 37, and the seedling claw 36 guides the certain amount of seedlings through the seedling guide plate 37 to the seedling separation claw 45; the control module controls the lifting component 42, the rotating component 43 and the telescopic component 44 to start at the same time, and drives the seedling separation claw 45 to make reciprocating rotation through the rotating component 43 and the telescopic component 44 The individual seedlings 6 in the seedling separation claw 45 are subjected to the centrifugal force of changing direction, the inertial force of the rotation emergency stop and the telescopic emergency stop, so as to gradually overcome the contact resistance constraints in different directions between the leaves of the seedlings, and gradually throw the individual seedlings 6 away from the seedling separation claw 45 and drop them onto the conveyor belt 11. The lifting assembly 42 is used to make the individual seedlings 6 produce a drop speed difference and a conveying speed difference generated by the conveyor belt 11, and the dropped adjacent individual seedlings 6 are further separated, and finally the individual seedlings 6 are transported to the grafting or cutting equipment by the conveyor belt 11. The large spacing separation of the clustered seedlings 5 ​​is achieved, and the success rate of seedling separation is improved.

[0075] In some embodiments, clustered scions or cuttings are first input into the seedling box 2 manually or by conveying equipment, and the clustered seedlings 5 ​​enter the inclined feeding trough 21 through the discharge port;

[0076] In the initial state, the seedling picking claw 36 is located at the seedling picking limit switch, and the control module controls the vertical sliding block 35 to slide upward, so that the seedling picking claw 36 takes a certain amount of seedlings upward through the feeding port 22 of the feeding trough 21, and the vertical sliding block 35 drives the seedling picking claw 36 to move vertically along the vertical track 34 until the upper limit switch is triggered, and the control module controls the translational sliding block 33 to slide toward the seedling guide plate 37, and the translational sliding drives the seedling picking claw 36 to move along the horizontal track 32 until the seedling guide limit switch is triggered, and the control module controls the vertical sliding block 35 to slide downward, so that the seedling picking claw 36 passes downward through the seedling guide port 371 on the seedling guide plate 37, leaving the certain amount of seedlings on the seedling picking claw 36 on the seedling guide plate 37, and the vertical sliding block 35 slides downward until the lower limit switch is triggered;

[0077] After the lower limit switch is triggered, the control module controls the lifting motor 421, the driving motor and the telescopic motor 441 to start at the same time, and drives the seedling separation claw 45 to perform reciprocating rotation and linear motion through the rotating component 43 and the telescopic component 44, so that the individual seedlings 6 in the seedling separation claw 45 are subjected to the centrifugal force of changing direction, the inertial force of the rotation emergency stop and the telescopic emergency stop, so as to gradually overcome the contact resistance constraints in different directions between the leaves of the seedlings, and gradually throw the individual seedlings 6 away from the seedling separation claw 45 and drop them onto the conveyor belt 11, and use the lifting component 42 to make the individual seedlings 6 produce a drop speed difference and a conveying speed difference generated by the conveyor belt 11, so as to further separate the dropped adjacent individual seedlings 6, and finally the individual seedlings 6 are transported to the grafting or cutting equipment by the conveyor belt 11;

[0078] When the lower limit switch is triggered, the control module controls the vertical slider 35 to stop moving, and starts the translation slider 33 to drive the seedling claw 36 to move until the seedling limit switch is triggered. At this time, the control module controls the translation slider 33 to stop moving. At this point, the separation operation of a batch of quantitative seedlings is completed, and the seedling taking action can be performed again to achieve continuous high-speed and high-success rate separation operation of batch clustered seedlings 5.

[0079] It should be noted that the preferred embodiments of the present invention are given in the specification and drawings of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not used as additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the present invention; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the protection scope of the claims attached to the present invention.

Claims

1. An automatic separation device for clustered scions or cuttings, characterized in that: include: A frame, wherein a conveyor belt is provided on the frame; A seedling box, the seedling box is used to store clustered seedlings, the seedling box is connected to the frame, an inclined feeding trough is provided at the bottom of the seedling box, and the feeding trough is provided with a feeding port; A seedling taking mechanism, the seedling taking mechanism comprising a fixed plate, a driving assembly, a seedling taking claw and a seedling guide plate, the fixed plate is connected to the frame, the seedling guide plate is connected to the fixed plate, the driving assembly is connected to the fixed plate, the seedling taking claw is connected to the driving assembly, the driving assembly can drive the seedling taking claw to take a certain amount of seedlings from the feeding port, and the driving assembly can drive the seedling taking claw to carry the certain amount of seedlings to the seedling guide plate; The seedling separation mechanism comprises a fixed frame, a lifting assembly, a rotating assembly, a telescopic assembly and a seedling separation claw, the fixed frame is connected to the frame, the lifting assembly is connected to the fixed frame, the rotating assembly is connected to the lifting assembly, the lifting assembly can drive the rotating assembly to lift and lower, the telescopic assembly is connected to the rotating assembly, the rotating assembly can drive the telescopic assembly to rotate, the seedling separation claw is connected to the telescopic assembly, the telescopic assembly can drive the seedling separation claw to perform telescopic movement, the seedling guide plate is inclined toward the seedling separation claw, the seedling guide plate can guide the quantitative seedlings onto the seedling separation claw, and the seedling separation claw is located above the conveyor belt; A control module is electrically connected to the driving assembly, the lifting assembly, the rotating assembly and the telescopic assembly.

2. The automatic separation device for clustered scions or cuttings according to claim 1, characterized in that: The seedling-taking claw comprises a main body and a fork-shaped portion which are connected to each other, the main body being connected to the driving assembly, and the shape of the feeding opening being matched with the shape of the fork-shaped portion so that the fork-shaped portion can pass through the feeding opening.

3. The automatic separation device for clustered scions or cuttings according to claim 2, characterized in that: The seedling guide plate is provided with a seedling guide port, the shape of which matches the shape of the fork-shaped portion so that the fork-shaped portion can pass through the seedling guide port.

4. The automatic separation device for clustered scions or cuttings according to claim 1, characterized in that: The driving assembly includes a translation assembly and a vertical movement assembly, the translation assembly includes a horizontal track and a translation slider, the horizontal track is connected to the fixed plate, the translation slider is slidably connected to the horizontal track, the vertical movement assembly includes a vertical track and a vertical slider, the vertical track is connected to the translation slider, the vertical slider is slidably connected to the vertical track, and the seedling claw is connected to the vertical slider.

5. The automatic separation device for clustered scions or cuttings according to claim 4, characterized in that: It also includes a limit mechanism, which includes a seedling removal limit switch, a seedling guide limit switch, an upper limit switch and a lower limit switch; The seedling removal limit switch is located at one end of the horizontal track close to the seedling box, and the seedling removal limit switch is used to output a seedling removal signal to the control module, and the control module controls the vertical sliding block to slide upward, so that the seedling removal claw moves upward to remove the seedlings; The seedling guiding limit switch is located at one end of the horizontal track close to the seedling guiding plate, and the seedling guiding limit switch is used to output a seedling guiding signal to the control module, and the control module controls the vertical sliding block to slide downward, so that the seedling taking claw guides the seedlings downward; The upper limit switch is located at the top of the vertical track, and the upper limit switch is used to output a seedling removal completion signal to the control module, and the control module controls the translation slider to slide toward the seedling guide plate; The lower limit switch is located at the bottom end of the vertical track. The lower limit switch is used to output a seedling guidance completion signal to the control module. The control module controls the start-up of the lifting assembly, the rotating assembly and the telescopic assembly.

6. The automatic separation device for clustered scions or cuttings according to claim 1, characterized in that: The seedling separating claw comprises a connecting portion and a flat plate portion which are connected to each other, wherein the connecting portion is connected to the telescopic assembly, and the flat plate portion is provided with a plurality of seedling separating grooves, wherein the width of the seedling separating grooves gradually increases in a direction away from the connecting portion.

7. The automatic separation device for clustered scions or cuttings according to claim 5, characterized in that: The flat plate portion forms an angle of 10°-15° with the horizontal plane.

8. The automatic separation device for clustered scions or cuttings according to claim 5, characterized in that: The lifting assembly includes a lifting motor and a lifting plate, the lifting motor is connected to the fixing frame, and the output end of the lifting motor is connected to the lifting plate; The rotating assembly comprises a rotating motor and a rotating plate, the rotating motor is connected to the lifting plate, and the output end of the rotating motor is connected to the rotating plate; The telescopic assembly comprises a telescopic motor and a telescopic plate, the telescopic motor is connected to the rotating plate, the output end of the telescopic motor is connected to the telescopic plate, and the connecting part is connected to the telescopic plate.

9. The automatic separation device for clustered scions or cuttings according to claim 1, characterized in that: Transparent baffles are arranged on both sides of the conveyor belt.

10. The separation method of the automatic separation device for clustered scions or cuttings according to any one of claims 1 to 9, characterized in that: include: The control module controls the movement of the driving component, and the driving component drives the seedling-taking claw to take a certain amount of seedlings from the material taking trough, and the driving component drives the seedling-taking claw to carry the certain amount of seedlings to the seedling guide plate, and the seedling-taking claw guides the certain amount of seedlings into the seedling-separating claw through the seedling guide plate; the control module controls the lifting component, the rotating component and the telescopic component to start at the same time, and drives the seedling-separating claw to make reciprocating rotation and linear motion through the rotating component and the telescopic component, so that the individual seedlings in the seedling-separating claw are subjected to the inertial force of changing direction, the rotation emergency stop and the telescopic emergency stop, so as to gradually overcome the contact resistance constraints in different directions between the leaves of the seedlings, and gradually throw the individual seedlings away from the seedling-separating claw and drop them onto the conveyor belt, and use the lifting component to make the individual seedlings produce a falling speed difference and a conveying speed difference generated by the conveyor belt, so as to further separate the dropped adjacent individual seedlings, and finally the individual seedlings are transported to the grafting or cutting equipment by the conveyor belt.

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