Automatic separating device and separating method for cluster cuttings or cutting seedlings

Abstract

The application discloses an automatic separating device and method for cluster scion or cutting seedlings, and the automatic separating device comprises a rack, a conveying belt arranged on the rack, a seedling box used for storing cluster seedlings, a bottom of the seedling box being provided with an inclined material taking groove, the material taking groove being provided with a material taking opening, a seedling taking mechanism, the seedling taking mechanism comprising a fixed plate, a driving assembly, a seedling taking claw and a seedling guiding plate, the driving assembly being capable of driving the seedling taking claw to take a certain amount of seedlings from the material taking opening, and the driving assembly being capable of driving the seedling taking claw to carry the certain amount of seedlings to the seedling guiding plate, and a seedling separating mechanism, the seedling separating mechanism comprising a fixed frame, a lifting assembly, a rotating assembly, an extension assembly and a seedling separating claw, the lifting assembly being capable of driving the rotating assembly to lift, the rotating assembly being capable of driving the extension assembly to rotate, the extension assembly being capable of driving the seedling separating claw to perform extension and contraction movements, the seedling guiding plate being capable of guiding the certain amount of seedlings to the seedling separating claw, and the seedling separating claw being located above the conveying belt. The cluster seedlings can be separated at a large interval, and the success rate of seedling separation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of factory seedling production, in particular to an automatic separating device and method for cluster scion or cutting seedlings. BACKGROUND

[0002] In the grafting or cutting operation of facility vegetables, the cluster scion or cutting seedlings are first cut by a pre-cutting device to form a cluster, and then individual seedlings are picked from the cluster scion or cutting seedlings by manual operation for grafting or cutting operation, which is of high labor intensity and low efficiency.

[0003] The cluster seedlings are separated into individual seedlings by an automatic seedling separating device, and then the individual seedlings are recognized and grabbed by a mechanical hand integrated with a vision system for grafting and cutting operation, which can improve the operation quality and efficiency of grafting or cutting. However, the branches and leaves of the cluster scion or cutting seedlings are soft and easy to break, and the branches and leaves are stacked, crossed and adhered to each other, so that the mechanical hand directly grabbing will pick up multiple seedlings at the same time and easily cause mechanical damage to the seedlings.

[0004] The existing vibration separating device realizes small-interval separation of seedlings in a single direction by combining a linear vibration mechanism with a seedling separating plate with wrinkles and convex points or a seedling box with a flow separation structure, but for the cross-stacked cluster seedlings, the single-direction vibration method is difficult to overcome the contact resistance between the stems and leaves of the seedlings in different directions, and the seedling separating success rate is low. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide an automatic separating device for cluster scion or cutting seedlings, which solves the problem of low seedling separating success rate in the existing seedling separating method in a single direction with small interval.

[0006] Another object of the present application is to provide a separating method for the above-mentioned automatic separating device for cluster scion or cutting seedlings.

[0007] The technical solution of the present application is as follows: an automatic separating device for cluster scion or cutting seedlings, comprising:

[0008] a rack, a conveying belt being arranged on the rack;

[0009] a seedling box for storing cluster seedlings, the seedling box being connected with the rack, the bottom of the seedling box being provided with an inclined material taking groove, the material taking groove being provided with a material taking opening;

[0010] The seedling taking mechanism comprises a fixed plate, a driving assembly, a seedling taking claw and a seedling guiding plate, the fixed plate is connected with the frame, the seedling guiding plate is connected with the fixed plate, the driving assembly is connected with the fixed plate, the seedling taking claw is connected with the driving assembly, the driving assembly can drive the seedling taking claw to take a certain amount of seedlings from the taking opening, and the driving assembly can drive the seedling taking claw to carry the certain amount of seedlings to the seedling guiding plate;

[0011] The seedling separating mechanism comprises a fixed frame, a lifting assembly, a rotating assembly, a telescopic assembly and a seedling separating claw, the fixed frame is connected with the frame, the lifting assembly is connected with the fixed frame, the rotating assembly is connected with the lifting assembly, the lifting assembly can drive the rotating assembly to lift, the telescopic assembly is connected with the rotating assembly, the rotating assembly can drive the telescopic assembly to rotate, the seedling separating claw is connected with the telescopic assembly, the telescopic assembly can drive the seedling separating claw to make telescopic movement, the seedling guiding plate is inclined towards the seedling separating claw, the seedling guiding plate can guide the certain amount of seedlings to the seedling separating claw, and the seedling separating claw is located above the conveying belt;

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

[0013] Further, the seedling taking claw comprises a main body part and a fork-shaped part connected with each other, the main body part is connected with the driving assembly, and the shape of the taking opening matches the shape of the fork-shaped part, so that the fork-shaped part can pass through the taking opening.

[0014] Further, the seedling guiding plate is provided with a seedling guiding opening, the shape of the seedling guiding opening matches the shape of the fork-shaped part, so that the fork-shaped part can pass through the seedling guiding opening.

[0015] Further, the driving assembly comprises a horizontal translation assembly and a vertical translation assembly, the horizontal translation assembly comprises a horizontal rail and a horizontal translation sliding block, the horizontal rail is connected with the fixed plate, the horizontal translation sliding block is slidingly connected with the horizontal rail, the vertical translation assembly comprises a vertical rail and a vertical translation sliding block, the vertical rail is connected with the horizontal translation sliding block, and the vertical translation sliding block is slidingly connected with the vertical rail, and the seedling taking claw is connected with the vertical translation sliding block.

[0016] Further, the automatic separating device further comprises a limiting mechanism, the limiting mechanism comprises a seedling taking limiting switch, a seedling guiding limiting switch, an upper limiting switch and a lower limiting switch.

[0017] The seedling taking limiting switch is located at one end of the horizontal rail close to the seedling box, the seedling taking limiting switch is used to output a seedling taking signal to the control module, the control module controls the vertical translation sliding block to slide upward, so that the seedling taking claw takes seedlings upward;

[0018] The seedling guiding limiting switch is located at one end of the horizontal rail close to the seedling guiding plate, and is used to output a seedling guiding signal to the control module, and the control module controls the vertical moving slider to slide downwards, so that the seedling taking claw guides the seedling downwards.

[0019] The upper limiting switch is located at the top end of the vertical rail, and is used to output a seedling taking completion signal to the control module, and the control module controls the translation slider to slide towards the seedling guiding plate.

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

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

[0022] Further, an included angle of 10°-15° is formed between the flat plate part and the horizontal plane.

[0023] Further, the lifting assembly comprises a lifting motor and a lifting plate, the lifting motor is connected with the fixed frame, and the output end of the lifting motor is connected with the lifting plate.

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

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

[0026] Further, transparent baffles are arranged on both sides of the conveying belt.

[0027] The application also provides a separating method of the automatic separating device.

[0028] The control module controls the movement of the driving assembly, the driving assembly drives the seedling gripper to take a certain amount of seedlings from the taking groove, and the driving assembly drives the seedling gripper to carry the certain amount of seedlings to the seedling guide plate, and the seedling gripper guides the certain amount of seedlings to the seedling separating gripper through the seedling guide plate; the control module controls the lifting assembly, the rotating assembly and the telescopic assembly to start at the same time, drives the seedling separating gripper to reciprocating rotate and linearly move through the rotating assembly and the telescopic assembly, so that the individual seedlings in the seedling separating gripper are subjected to the action of the centrifugal force of the variable direction, the inertia force of the rotation emergency stop and the telescopic emergency stop, to gradually overcome the contact resistance constraints in different directions between the seedling leaves, gradually throw the individual seedlings away from the seedling separating gripper, drop on the conveying belt, and use the lifting assembly to generate a drop speed difference of the individual seedlings and a conveying speed difference generated by the conveying belt to further separate the adjacent individual seedlings dropped, and finally the individual seedlings are transported to the grafting or cutting device by the conveying belt.

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

[0030] The automatic separating device of the present application drives the seedling separating gripper to reciprocating rotate and linearly move through the rotating assembly and the telescopic assembly, so that the individual seedlings in the seedling separating gripper are subjected to the action of the centrifugal force of the variable direction, the inertia force of the rotation emergency stop and the telescopic emergency stop, to gradually overcome the contact resistance constraints in different directions between the seedling leaves, gradually throw the individual seedlings away from the seedling separating gripper, drop on the conveying belt, and use the lifting assembly to generate a drop speed difference of the individual seedlings and a conveying speed difference generated by the conveying belt to further separate the adjacent individual seedlings dropped, which can realize the separation of cluster seedlings with large spacing and improve the success rate of seedling separation. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a structural schematic view of the automatic separating device of the present application.

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

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

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

[0035] Figure 5 It is a structural schematic view of the seedling separating mechanism of the present application.

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

[0037] Figure 7 It is a seedling separating schematic view of the automatic separating device of the present application.

[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 separating mechanism 4, fixed frame 41, lifting assembly 42, lifting motor 421, lifting plate 422, rotating assembly 43, rotating motor 431, rotating plate 432, telescopic assembly 44, telescopic motor 441, telescopic plate 442, seedling separating claw 45, connecting part 451, flat plate part 452, seedling separating trough 453, clustered seedlings 5, individual seedlings 6. DETAILED DESCRIPTION

[0039] For ease of understanding of the present invention, the present invention will be 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 being "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 being "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 meanings as those commonly understood by those skilled in the art to which this invention belongs. The terms used in this specification and in the description 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" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0041] Existing vibration separation devices use a linear vibration mechanism combined with a seedling separation plate with wrinkles or bumps or a seedling box with a diversion structure to separate seedlings with small spacing in a single direction. However, for cross-stacked seedlings, the unidirectional vibration method is difficult to overcome the contact resistance between the stems and leaves of the seedlings in different directions, resulting in a low seedling separation success rate. 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 of existing seedling separation methods that only separate seedlings with small spacing in a single direction and have a low seedling separation success rate.

[0042] In some embodiments, as Figures 1-7 As shown, an automatic separation device for clustered scions or cuttings is provided, and the automatic separation device for 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 for storing the clustered seedlings 5, the seedling box 2 being connected with the rack 1, the seedling box 2 being provided with an inclined material taking groove 21 at the bottom, the material taking groove 21 being provided with a material taking opening 22;

[0045] a seedling taking mechanism 3, the seedling taking mechanism 3 comprising a fixed plate 31, a driving assembly, a seedling taking claw 36 and a seedling guiding plate 37, the fixed plate 31 being connected with the rack 1, the seedling guiding plate 37 being connected with the fixed plate 31, the driving assembly being connected with the fixed plate 31, the seedling taking claw 36 being connected with the driving assembly, the driving assembly being capable of taking a certain amount of seedlings from the material taking opening 22 by the seedling taking claw 36, and the driving assembly being capable of carrying the certain amount of seedlings to the seedling guiding plate 37 by the seedling taking claw 36;

[0046] a seedling separating mechanism 4, the seedling separating mechanism 4 comprising a fixed frame 41, a lifting assembly 42, a rotating assembly 43, a telescopic assembly 44 and a seedling separating claw 45, the fixed frame 41 being connected with the rack 1, the lifting assembly 42 being connected with the fixed frame 41, the rotating assembly 43 being connected with the lifting assembly 42, the lifting assembly 42 being capable of lifting the rotating assembly 43, the telescopic assembly 44 being connected with the rotating assembly 43, the rotating assembly 43 being capable of rotating the telescopic assembly 44, the seedling separating claw 45 being connected with the telescopic assembly 44, the telescopic assembly 44 being capable of making the seedling separating claw 45 do telescopic motion, the seedling guiding plate 37 being inclined towards the seedling separating claw 45, the seedling guiding plate 37 being capable of guiding the certain amount of seedlings to the seedling separating claw 45, the seedling separating claw 45 being located above the conveying belt 11;

[0047] a control module, the control module being electrically connected with the driving assembly, the lifting assembly 42, the rotating assembly 43 and the telescopic assembly 44.

[0048] The automatic separating device of the present application drives the seedling separating claw 45 to do reciprocating rotation and linear motion by the rotating assembly 43 and the telescopic assembly 44, so that the individual seedlings 6 in the seedling separating claw 45 are subjected to the centrifugal force of variable direction, the inertial force of rotation sudden stop and telescopic sudden stop, so as to gradually overcome the contact resistance constraint in different directions between the seedling leaves, throw the individual seedlings 6 away from the seedling separating claw 45, and drop them onto the conveying belt 11, and the lifting assembly 42 makes the individual seedlings 6 produce a drop speed difference and the conveying belt 11 produces a conveying speed difference, so as to further separate the dropped adjacent individual seedlings 6, which can realize the separation of the clustered seedlings 5 with large spacing and improve the seedling separating success rate.

[0049] In some embodiments, as Figure 2 and Figure 4As shown, the seedling taking claw 36 comprises a main body part 361 and a forked part 362 connected with each other, the main body part 361 is connected with the driving assembly, the shape of the taking opening 22 matches the shape of the forked part 362, so that the forked part 362 can pass through the taking opening 22. By setting the seedling taking claw 36 as a fork, and setting the shape of the taking opening 22 to match the forked part 362, when the driving assembly drives the seedling taking claw 36 to pass through the taking opening 22 from bottom to top, the forked part 362 can take the cluster seedlings 5 in the taking groove 21, compared with the way of using a mechanical hand to grab the seedlings, this seedling taking way can avoid mechanical damage to the seedlings.

[0050] In some embodiments, as shown in Figure 4 As shown, the seedling taking claw 36 comprises a main body part 361 and a forked part 362 connected with each other, the main body part 361 is connected with the driving assembly, the shape of the taking opening 22 matches the shape of the forked part 362, so that the forked part 362 can pass through the taking opening 22. By setting the seedling taking claw 36 as a fork, and setting the shape of the taking opening 22 to match the forked part 362, when the driving assembly drives the seedling taking claw 36 to pass through the taking opening 22 from bottom to top, the forked part 362 can take the cluster seedlings 5 in the taking groove 21, compared with the way of using a mechanical hand to grab the seedlings, this seedling taking way can avoid mechanical damage to the seedlings.

[0051] In some embodiments, as shown in Figure 4 As shown, the seedling taking claw 36 comprises a main body part 361 and a forked part 362 connected with each other, the main body part 361 is connected with the driving assembly, the shape of the taking opening 22 matches the shape of the forked part 362, so that the forked part 362 can pass through the taking opening 22. By setting the seedling taking claw 36 as a fork, and setting the shape of the taking opening 22 to match the forked part 362, when the driving assembly drives the seedling taking claw 36 to pass through the taking opening 22 from bottom to top, the forked part 362 can take the cluster seedlings 5 in the taking groove 21, compared with the way of using a mechanical hand to grab the seedlings, this seedling taking way can avoid mechanical damage to the seedlings.

[0052] In some embodiments, as shown in Figure 2 and Figure 4 As shown, the shape of the taking opening 22 matches the shape of the forked part 362, and the shape of the seedling guiding opening 371 matches the shape of the forked part 362, here, the shape of the taking opening 22 and the shape of the seedling guiding opening 371 respectively match the forked part 362.

[0053] In some embodiments, as shown in Figure 1 and Figure 4As shown, the driving assembly includes a translation assembly and a vertical movement assembly, the translation assembly includes a horizontal rail 32 and a translation slider 33, the horizontal rail 32 is connected with the fixed plate 31, the translation slider 33 is slidingly connected with the horizontal rail 32, the vertical movement assembly includes a vertical rail 34 and a vertical movement slider 35, the vertical rail 34 is connected with the translation slider 33, the vertical movement slider 35 is slidingly connected with the vertical rail 34, the seedling taking claw 36 is connected with the vertical movement slider 35. By setting the translation assembly and the vertical movement assembly, the activity path of the seedling taking claw 36 is limited, so that the continuous conveying of the quantitative seedlings can be completed.

[0054] In some embodiments, the translation assembly further includes a translation driving motor, the translation driving motor is electrically connected with the control module, and the translation driving motor can drive the translation slider 33 to slide along the horizontal rail 32. The vertical movement assembly further includes a vertical movement driving motor, the vertical movement driving motor is electrically connected with the control module, and the vertical movement driving motor can drive the vertical movement slider 35 to slide along the vertical rail 34. By controlling the opening and closing of the translation driving motor and the vertical movement driving motor through the control module, the cyclic reciprocating action of the seedling taking claw 36 can be realized, and the continuous conveying of the quantitative seedlings can be completed.

[0055] In some embodiments, the automatic separating device further includes a limiting mechanism, the limiting mechanism includes a seedling taking limiting switch, a seedling guiding limiting switch, an upper limiting switch and a lower limiting switch.

[0056] The seedling taking limiting switch is located at one end of the horizontal rail 32 close to the seedling box 2, the seedling taking limiting switch is used to output a seedling taking signal to the control module, and the control module controls the vertical movement slider 35 to slide upward, so that the seedling taking claw 36 takes seedlings upward.

[0057] The seedling guiding limiting switch is located at one end of the horizontal rail 32 close to the seedling guiding plate 37, the seedling guiding limiting switch is used to output a seedling guiding signal to the control module, and the control module controls the vertical movement slider 35 to slide downward, so that the seedling taking claw 36 guides seedlings downward.

[0058] The upper limiting switch is located at the top end of the vertical rail 34, the upper limiting switch is used to output a seedling taking completion signal to the control module, and the control module controls the translation slider 33 to slide toward the seedling guiding plate 37.

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

[0060] By outputting signals of each limiting switch to the control module, seedling taking, seedling guiding and seedling separating can be realized, and full-automatic seedling separating can be realized.

[0061] In some embodiments, the seedling taking limiting switch, the seedling guiding limiting switch, the upper limiting switch and the lower limiting switch can be common stroke limiting switches on the market, which are not limited herein.

[0062] In some embodiments, as shown in Figure 5 and Figure 6 , the seedling separating claw 45 comprises a connecting part 451 and a flat plate part 452 connected with each other, the connecting part 451 is connected with the telescopic assembly 44, and the flat plate part 452 is provided with a plurality of seedling separating grooves 453, the width of the seedling separating groove 453 gradually increases in the direction away from the connecting part 451. The seedling separating groove 453 plays an auxiliary role in the process of gradually separating the seedling 5 from the seedling separating claw 45.

[0063] In some embodiments, as shown in Figure 6 , an angle of 10°-15° is formed between the flat plate part 452 and the horizontal plane, so that the seedling separating claw 45 can hold a certain amount of seedlings, preventing the collective falling of the certain amount of seedlings in the process of separating seedlings.

[0064] In some embodiments, as shown in Figure 1 , Figure 5 and Figure 6 , the lifting assembly 42 comprises a lifting motor 421 and a lifting plate 422, the lifting motor 421 is connected with the fixed frame 41, and the output end of the lifting motor 421 is connected with the lifting plate 422.

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

[0066] The telescopic assembly 44 comprises a telescopic motor 441 and a telescopic plate 442, the telescopic motor 441 is connected with the rotating plate 432, and the output end of the telescopic motor 441 is connected with the telescopic plate 442, and the connecting part 451 is connected with the telescopic plate 442.

[0067] The lifting motor 421, the rotating motor 431 and the telescopic motor 441 are electrically connected with the control module respectively, and the cluster seedlings 5 on the seedling separating claw 45 can realize linear reciprocating motion and reciprocating circumferential motion at a certain angle and reciprocating up-down motion in the vertical direction simultaneously. The rotating assembly 43 and the telescopic assembly 44 drive the seedling separating claw 45 to reciprocate and move linearly, so that the individual seedlings 6 in the seedling separating claw 45 are subjected to the centrifugal force in the variable direction, the inertial force of the rotation and the telescopic motor, so as to gradually overcome the contact resistance constraint between the leaves of the seedlings in different directions, throw the individual seedlings 6 away from the seedling separating claw 45, and drop onto the conveying belt 11, and the lifting assembly 42 makes the individual seedlings 6 generate a drop speed difference and the conveying speed difference generated by the conveying belt 11, so as to further separate the adjacent individual seedlings 6 dropped. By adjusting the rotating speed and rotating angle of the rotating assembly 43, the linear motion speed and stroke of the telescopic assembly 44 and the moving speed and stroke of the lifting assembly 42, the complex contact constraint effect between the leaves of different types of seedlings can be adapted, and high-speed and high-success-rate seedling separation can be realized.

[0068] In some embodiments, as shown in Figure 1 The rack 1 is provided with transparent baffles 12 on both sides of the conveying belt 11. The seedlings are prevented from leaving the conveying range of the conveying belt 11 during the separation process, so that the seedlings can all fall on the conveying belt 11 and the separation of the cluster seedlings 5 can be observed in real time.

[0069] In some embodiments, as shown in Figure 1 , Figure 2 and Figure 3 The seedling box 2 is funnel-shaped, the seedling box 2 is provided with a seedling outlet, the cluster seedlings 5 in the seedling box 2 fall into the material taking groove 21 through the discharge port, and 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 shutter, and the position of the movable shutter can be adjusted to shield the seedling outlet, so as to adjust the seedling supply amount.

[0071] In some embodiments, as shown in Figure 3 The bottom of the seedling box 2 is provided with a seedling outlet vibrator 23, the flowability of the seedlings in the seedling box 2 is enhanced through the vibrator, seedling sticking is avoided, and the continuity of seedling supply is ensured.

[0072] In some embodiments, as shown in Figure 4 The seedling guide plate 37 is provided with a seedling guide vibrator 372, the seedling guide vibrator 372 prevents the seedlings from being stuck on the seedling guide plate 37, and also accelerates the seedling dropping speed of the seedling guide plate 37.

[0073] In some embodiments, as shown in Figures 1-7 A separation method of the automatic separation device is provided, which comprises the following steps:

[0074] The control module controls the driving assembly to move, the driving assembly drives the seedling gripper 36 to take a certain amount of seedlings from the material taking groove 21, and the driving assembly drives the seedling gripper 36 to carry the certain amount of seedlings to the seedling guide plate 37, and the seedling gripper 36 guides the certain amount of seedlings to the seedling separating gripper 45 through the seedling guide plate 37; the control module controls the lifting assembly 42, the rotating assembly 43 and the telescopic assembly 44 to start at the same time, drives the seedling separating gripper 45 to reciprocating rotate and linearly move through the rotating assembly 43 and the telescopic assembly 44, so that the individual seedlings 6 in the seedling separating gripper 45 are subjected to the centrifugal force of variable direction, the inertial force of rotation sudden stop and telescopic sudden stop, 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 separating gripper 45, and drop onto the conveying belt 11, and use the lifting assembly 42 to generate a drop speed difference of the individual seedlings 6 and a conveying speed difference generated by the conveying belt 11 to further separate the adjacent individual seedlings 6 dropped, and finally transport the individual seedlings 6 to the grafting or cutting device by the conveying belt 11. The cluster seedlings 5 are separated at a large interval, and the seedling separating success rate is improved.

[0075] In some embodiments, the cluster scion or cutting seedlings are first input into the seedling box 2 by artificial or conveying equipment, and the cluster seedlings 5 enter the inclined material taking groove 21 through the discharge port;

[0076] In the initial state, the seedling gripper 36 is located at the seedling taking limit switch, the control module controls the vertical sliding block 35 to slide upward, so that the seedling gripper 36 takes a certain amount of seedlings upward through the material taking port 22 of the material taking groove 21, the vertical sliding block 35 drives the seedling gripper 36 to vertically move along the vertical rail 34 to trigger the upper limit switch, the control module controls the horizontal sliding block 33 to slide toward the seedling guide plate 37, the horizontal sliding drives the seedling gripper 36 to move along the horizontal rail 32 to trigger the seedling guide limit switch, the control module controls the vertical sliding block 35 to slide downward, so that the seedling gripper 36 passes downward through the seedling guide port 371 on the seedling guide plate 37, and the certain amount of seedlings on the seedling gripper 36 are left 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 simultaneously, drives the seedling separating claw 45 to reciprocating rotate and linearly move through the rotating assembly 43 and the telescopic assembly 44, so that the individual seedling 6 in the seedling separating claw 45 is subjected to the centrifugal force of variable direction, the inertial force of rotation and telescopic sudden stop, to gradually overcome the contact resistance constraint in different directions between the seedling leaves, and gradually throw the individual seedling 6 away from the seedling separating claw 45, and drop on the conveying belt 11, and use the lifting assembly 42 to generate the dropping speed difference of the individual seedling 6 and the conveying speed difference of the conveying belt 11, to further separate the adjacent individual seedlings 6 dropped, and finally transport the individual seedling 6 to the grafting or cutting device by the conveying belt 11;

[0078] At the same time when the lower limit switch is triggered, the control module controls the vertical moving block 35 to stop moving, and controls the translation moving block 33 to drive the seedling taking claw 36 to move until the seedling taking limit switch is triggered, at this time, the control module controls the translation moving block 33 to stop moving, and thus, the separation operation of a batch of quantitative seedlings is completed, and then the seedling taking operation can be performed again, that is, the continuous high-speed and high-success-rate separation operation of the batch of clustered seedlings 5 can be realized.

[0079] It should be noted that the specification and drawings of the present application give the preferred embodiments of the present application, but the present application can be realized in many different forms, and is not limited to the embodiments described in the specification, and the embodiments are not as additional limitations on the content of the present application, and the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Furthermore, the above technical features continue to be combined with each other, forming various embodiments not listed above, which are all considered to be within the scope of the present application specification; further, for those skilled in the art, the above description can be improved or changed, and all these improvements and changes should be within the protection scope of the appended claims of the present application.

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, the bottom of the seedling box is provided with an inclined feeding trough, and the feeding trough is provided with a feeding port; The seedling taking mechanism includes 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 rise and fall, 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, and 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 a certain amount of seedlings to 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 includes a main body and a fork-shaped portion that are connected to each other, the main body is connected to the drive 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.

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 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.

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 includes a connecting portion and a flat plate portion that are connected to each other, the connecting portion is connected to the telescopic assembly, and 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.

7. The automatic separation device for clustered scions or cuttings according to claim 5, characterized in that: An angle of 10°-15° is formed between the flat plate portion and 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 includes 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 includes 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 provided 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 assembly, the driving assembly drives the seedling-picking claw to pick up a certain amount of seedlings from the material trough, and the driving assembly drives the seedling-picking claw to carry the certain amount of seedlings to the seedling guide plate, and the seedling-picking claw guides the certain amount of seedlings through the seedling guide plate into the seedling-picking claw; the control module controls the lifting assembly, the rotating assembly and the telescopic assembly to start at the same time, and drives the seedling-picking claw to perform reciprocating rotation and linear motion through the rotating assembly and the telescopic assembly, so that the individual seedlings in the seedling-picking 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 seedling leaves, and gradually throw the individual seedlings away from the seedling-picking claw and drop them onto the conveyor belt, and utilize the lifting assembly to make the individual seedlings produce a dropping 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.

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