Automatic seedling selecting and sorting device

Abstract

The invention provides an automatic seedling selecting and sorting device which comprises a rack and a control module installed on the rack, and the rack is provided with a first conveying mechanism used for conveying seedling trays, a grabbing mechanism used for grabbing seedlings, a visual detection mechanism used for detecting the seedlings and a second conveying mechanism used for outputting the seedlings in a grading mode. The first conveying mechanism is installed at one end of the rack through the first transverse moving mechanism, the second conveying mechanism is installed at the other end of the rack through the second transverse moving mechanism, a plurality of output channels are arranged on the second conveying mechanism, and the grabbing mechanism is arranged between the tail end of the first conveying mechanism and the starting end of the second conveying mechanism. The visual detection mechanism is arranged on one side of the grabbing mechanism and right faces the grabbing mechanism, and the first conveying mechanism, the first transverse moving mechanism, the grabbing mechanism, the visual detection mechanism, the second transverse moving mechanism and the second conveying mechanism are all electrically connected with the control module. The device can quickly sort and output seedlings, and is high in efficiency and automation degree.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, and specifically relates to an automatic seedling selection and sorting device. Background Technology

[0002] In recent years, container tray seedling cultivation technology has been widely used in vegetable seed and seedling production in my country, greatly improving seedling quality. However, the level of technical equipment is lagging behind, and there is a lack of a series of studies and supporting equipment for tray seedling production technology, especially seedling grading and screening technology.

[0003] Currently in the domestic market, the screening and classification of various seedlings is mainly done manually, which is labor-intensive, inefficient, and relatively costly. With the increasing volume of grading and screening, manual grading and screening alone can no longer meet the requirements of large-scale production. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an automatic seedling sorting device that can further improve the sorting efficiency of seedlings and reduce labor costs.

[0005] The objective of this invention can be achieved through the following technical solution: An automatic seedling sorting device includes a frame and a control module mounted on the frame. The frame is equipped with a first conveying mechanism for conveying seedling trays, a gripping mechanism for gripping seedlings, a visual detection mechanism for detecting seedlings, and a second conveying mechanism for grading and outputting seedlings. The first conveying mechanism is mounted at one end of the frame via a first traversing mechanism, and the second conveying mechanism is mounted at the other end of the frame via a second traversing mechanism. The second conveying mechanism has several output channels. The gripping mechanism is located between the end of the first conveying mechanism and the beginning of the second conveying mechanism. The visual detection mechanism is located on one side of the gripping mechanism and directly opposite it. The first conveying mechanism, the first traversing mechanism, the gripping mechanism, the visual detection mechanism, the second traversing mechanism, and the second conveying mechanism are all electrically connected to the control module.

[0006] The principle of this invention is as follows: After the device is started, the first conveying mechanism transports the seedling tray to a predetermined position, namely the gripping working area of ​​the gripping mechanism. Then, the first conveying mechanism pauses its transport and moves laterally under the drive of the first lateral movement mechanism, enabling the gripping mechanism to grip seedlings row by row until a row is gripped. Then, it restarts transporting one row at a time and repeats this cycle. The gripping mechanism grips seedlings in the order of the seedlings on the seedling tray. At the same time, the visual detection mechanism takes pictures of the gripped seedlings and transmits the image data to the control module. The control module analyzes the seedling condition and classifies the image data. Then, it controls the second lateral movement mechanism to move the starting end of the corresponding output channel on the second conveying mechanism to below the gripping mechanism's release working area. The gripping mechanism places the seedlings at the starting end of the corresponding output channel. Under the control of the control module, the second conveying mechanism continuously or intermittently outputs seedlings.

[0007] In the above-mentioned automatic seedling sorting device, the first conveying mechanism consists of a first conveying frame and two sets of synchronous belt pulley assemblies arranged parallel to both sides of the first conveying frame. The two sets of synchronous belt pulley assemblies are synchronized through axles. Each set of synchronous belt pulley assemblies includes a driving pulley, a driven pulley and a synchronous belt. One of the driving pulleys is connected to a first drive motor through a first reducer. Seedling tray frames are spaced apart on the synchronous belt. The seedling tray frames are used to fix the seedling trays by clamping them at the bottom.

[0008] In the aforementioned automatic seedling sorting device, guide grooves are provided on both sides above the synchronous belt, and the two ends of the seedling tray are respectively engaged in the corresponding guide grooves. The guide grooves serve two purposes: firstly, to guide the movement of the seedling tray, and secondly, to limit the vertical movement of the seedling tray and prevent it from detaching from the synchronous belt.

[0009] In the above-mentioned automatic seedling sorting device, the front end of the first conveying mechanism is also provided with a seedling tray guide rod. The upper end of the seedling tray guide rail is an arc-shaped rod part, which is coaxial with the front end of the first conveying mechanism. The lower end of the seedling tray guide rail is a straight rod part, which extends to the bottom of the frame.

[0010] In the above-mentioned automatic seedling sorting device, the second conveying mechanism includes a second conveying frame, a second drive motor, a transmission belt, a conveyor belt, a drive wheel axle, and a driven wheel axle. The drive wheel axle and the driven wheel axle are rotatably connected to both ends of the second conveying frame. The second drive motor is mounted on the second conveying frame. The second drive motor is connected to one end of the drive wheel axle through the transmission belt. The conveyor belt is divided into multiple output channels by a partition.

[0011] In the above-mentioned automatic seedling sorting device, the first transverse mechanism includes an electric guide rail and guide rails arranged on both sides of the electric guide rail and parallel to the electric guide rail.

[0012] In the aforementioned automatic seedling sorting device, the second transverse mechanism is an electric guide rail.

[0013] In the aforementioned automatic seedling sorting device, the gripping mechanism includes a column, a first vertical arm, a second vertical arm, a first horizontal arm, a second horizontal arm, a third drive motor, and an electric gripper. The column is fixed on the frame. The bottom of the first vertical arm is fixedly connected to the top of the column. The first end of the first horizontal arm is rotatably connected to the top of the first vertical arm. The second end of the first horizontal arm is rotatably connected to the top of the second vertical arm. The first end of the second horizontal arm is rotatably connected to the bottom of the first vertical arm. The second end of the second horizontal arm is rotatably connected to the bottom of the second vertical arm. The connection between the first end of the second horizontal arm and the bottom of the first vertical arm is connected to the output shaft of the third drive motor via a second reducer. The electric gripper is located at the bottom of the second vertical arm.

[0014] In the aforementioned automatic seedling sorting device, the visual inspection mechanism includes a camera and a camera mount, with the camera facing the grasping mechanism.

[0015] In the aforementioned automatic seedling sorting device, the control module is a PLC system or a microcontroller system.

[0016] Compared with existing technologies, this automatic seedling sorting device has the following advantages: The invention uses a control module to control the first conveying mechanism to transport seedling trays to the picking area of ​​the gripping mechanism. A third drive motor activates the electric gripper to pick up the seedlings and move them to the camera for image acquisition. After analyzing and processing the acquired images, the control module outputs control commands to drive the second lateral movement mechanism below the second conveying mechanism. This moves the corresponding output channel of the second conveying mechanism to the unloading area. Simultaneously, the third drive motor activates the gripping mechanism to move synchronously to the unloading area. The electric gripper releases, placing the seedlings into the corresponding output channel. This effectively achieves seedling grading and screening, eliminating inferior seedlings and ensuring seedling quality and survival rate. The invention achieves rapid and automatic seedling screening, improving the efficiency of superior seedling sorting and reducing labor costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the automatic seedling selection and sorting device in an embodiment of the present invention.

[0018] Figure 2 This is a structural schematic diagram of the automatic seedling selection and sorting device from another perspective in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of the first conveying mechanism in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the second conveying mechanism in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the gripping mechanism in an embodiment of the present invention.

[0022] In the diagram, 1. Frame; 2. Control module; 3. First conveying mechanism; 3a. First conveying frame; 3b. Synchronous belt pulley assembly; 3b1. Driving pulley; 3b2. Driven pulley; 3b3. Synchronous belt; 3c. Wheel axle; 3d. First reducer; 3e. First drive motor; 3f. Seedling tray frame; 3g. Guide groove; 3h. Seedling tray guide rod; 3h1. Arc-shaped rod part; 3h2. Straight rod part; 3i. Support; 4. Gripping mechanism; 4a. Column; 4b. First vertical arm; 4c. Second vertical arm; 4d. First horizontal arm 4e, Second horizontal arm; 4f, Third drive motor; 4g, Electric gripper; 4h, Second reducer; 5, Vision inspection mechanism; 5a, Camera; 5b, Camera mount; 6, Second conveying mechanism; 6a, Second conveyor frame; 6b, Second drive motor; 6c, Transmission belt; 6d, Conveyor belt; 6e, Drive wheel axle; 6f, Driven wheel axle; 6g, Partition plate; 7, First transverse movement mechanism; 7a, First electric guide rail; 7b, Guide rail; 8, Second transverse movement mechanism; 8a, Second electric guide rail; 9, Seedling tray. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In the description of the present invention, it should be understood that the algorithms involved are known algorithms unless otherwise explicitly specified, and therefore will not be specifically described.

[0024] like Figure 1 , Figure 2As shown, the automatic seedling sorting device provided in this embodiment includes a frame 1 and a control module 2 mounted on the frame 1. The frame 1 is equipped with a first conveying mechanism 3 for conveying seedling trays 9, a gripping mechanism 4 for gripping seedlings, a visual detection mechanism 5 for detecting seedlings, and a second conveying mechanism 6 for grading and outputting seedlings. The first conveying mechanism 3 is mounted at one end of the frame 1 via a first traversing mechanism 7, and the second conveying mechanism 6 is mounted at the other end of the frame 1 via a second traversing mechanism 8. The second conveying mechanism 6 has several output channels. The gripping mechanism 4 is located between the end of the first conveying mechanism 3 and the beginning of the second conveying mechanism 6. The visual detection mechanism 5 includes a camera 5a and a camera mount 5b. The camera 5a faces the gripping mechanism 4 and is positioned on one side of the gripping mechanism 4, directly opposite it. The first conveying mechanism 3, the first traversing mechanism 7, the gripping mechanism 4, the visual detection mechanism 5, the second traversing mechanism 8, and the second conveying mechanism 6 are all electrically connected to the control module 2. The control module 2 is a PLC system or a microcontroller system, preferably a microcontroller system. It should be noted that the electrical connection referred to here means that all the electronic components that need to be controlled in the above-mentioned mechanisms are connected to the microcontroller system through signal lines to send signals or receive control commands.

[0025] like Figure 3 As shown, the first conveying mechanism 3 consists of a first conveying frame 3a and two sets of synchronous pulley assemblies 3b arranged parallel to both sides of the first conveying frame 3a. The two sets of synchronous pulley assemblies 3b are synchronized through axle 3c. Each set of synchronous pulley assemblies 3b includes a driving pulley 3b1, a driven pulley 3b2, and a synchronous belt 3b3. One of the driving pulleys 3b1 is connected to a first drive motor 3e through a first reducer 3d. Seedling tray frames 3f are spaced apart on the synchronous belt 3b3. The seedling tray frames 3f are used to fix the seedling trays 9 at the bottom. Guide grooves 3g are also provided on both sides above the synchronous belt 3b3. The two ends of the seedling trays 9 are respectively locked in the corresponding guide grooves 3g. The guide grooves 3g are used to guide the seedling trays 9 when they move and to limit the vertical movement of the seedling trays 9 to prevent them from detaching from the synchronous belt 3b3. The first conveying mechanism 3 also has a seedling tray guide rod 3h. The guide rail of the seedling tray 9 is fixed to the front end of the first conveying frame 3a by a bracket 3i. The upper end of the guide rail for the seedling tray 9 is an arc-shaped rod 3h1, which is coaxial with the front end of the first conveying mechanism 3. The lower end of the guide rail for the seedling tray 9 is a straight rod 3h2, extending below the frame 1. This facilitates the smooth sliding of the empty seedling tray 9 below the frame 1. The first transverse mechanism 7 is located below the first conveying frame 3a, and includes a first electric guide rail 7a and guide rails 7b located on both sides of the first electric guide rail 7a and parallel to the first electric guide rail 7a.

[0026] like Figure 4As shown, the second conveying mechanism 6 includes a second conveying frame 6a, a second drive motor 6b, a transmission belt 6c, a conveyor belt 6d, a drive wheel axle 6e, and a driven wheel axle 6f. The drive wheel axle 6e and the driven wheel axle 6f are rotatably connected to both ends of the second conveying frame 6a, respectively. The second drive motor 6b is mounted on the second conveying frame 6a and is connected to one end of the drive wheel axle 6e via the transmission belt 6c. The conveyor belt 6d is divided into multiple output channels by a partition 6g. The second transverse mechanism 8 is located below the second conveying frame 6a and includes a second electric guide rail 8a.

[0027] like Figure 5 As shown, the gripping mechanism 4 includes a column 4a, a first vertical arm 4b, a second vertical arm 4c, a first horizontal arm 4d, a second horizontal arm 4e, a third drive motor 4f, and an electric gripper 4g. The column 4a is fixed on the frame 1. The bottom of the first vertical arm 4b is fixedly connected to the upper end of the column 4a. The first end of the first horizontal arm 4d is rotatably connected to the upper end of the first vertical arm 4b. The second end of the first horizontal arm 4d is rotatably connected to the upper end of the second vertical arm 4c. The first end of the second horizontal arm 4e is rotatably connected to the lower end of the first vertical arm 4b. The second end of the second horizontal arm 4e is rotatably connected to the lower end of the second vertical arm 4c. The connection between the first end of the second horizontal arm 4e and the lower end of the first vertical arm 4b is connected to the output shaft of the third drive motor 4f through a second reducer 4h. The electric gripper 4g is located at the lower end of the second vertical arm 4c.

[0028] The control system of the automatic seedling selection and sorting device in this embodiment is specifically configured as follows: the camera 5a is connected to the data input terminal of the microcontroller system as an image acquisition device; the first drive motor 3e, the second drive motor 6b, the third drive motor 4f, the electric gripper 4g, the first electric guide rail 7a, and the second electric guide rail 8a are all connected to the instruction output terminal of the microcontroller system as actuators. Each of the above actuators performs corresponding actions according to the control instructions issued by the microcontroller system, thereby completing the cooperation between the various mechanisms and realizing the rapid screening, classification and output of seedlings.

[0029] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. An automatic seedling selection and sorting device, characterized in that, The system includes a frame (1) and a control module (2) mounted on the frame (1). The frame (1) is equipped with a first conveying mechanism (3) for conveying seedling trays (9), a gripping mechanism (4) for gripping seedlings, a visual detection mechanism (5) for detecting seedlings, and a second conveying mechanism (6) for grading and outputting seedlings. The first conveying mechanism (3) is mounted at one end of the frame (1) via a first lateral movement mechanism (7), and the second conveying mechanism (6) is mounted at the other end of the frame (1) via a second lateral movement mechanism (8). The second conveying mechanism (6) is provided with several output channels. The gripping mechanism (4) is located between the end of the first conveying mechanism (3) and the beginning of the second conveying mechanism (6). The visual detection mechanism (5) is located on one side of the gripping mechanism (4) and directly opposite the gripping mechanism (4). The first conveying mechanism (3), the first lateral movement mechanism (7), the gripping mechanism (4), the visual detection mechanism (5), the second lateral movement mechanism (8), and the second conveying mechanism (6) are all electrically connected to the control module (2).

2. The automatic seedling sorting device according to claim 1, characterized in that, The first conveying mechanism (3) consists of a first conveying frame (3a) and two sets of synchronous pulley assemblies (3b) arranged in parallel on both sides of the first conveying frame (3a). The two sets of synchronous pulley assemblies (3b) are synchronized through axle (3c). Each set of synchronous pulley assemblies (3b) includes a driving pulley (3b1), a driven pulley (3b2) and a synchronous belt (3b3). One of the driving pulleys (3b1) is connected to a first drive motor (3e) through a first reducer (3d). Seedling tray frames (3f) are spaced on the synchronous belt (3b3). The seedling tray frames (3f) are used to fix the seedling tray (9) at the bottom.

3. The automatic seedling sorting device according to claim 2, characterized in that, The synchronous belt (3b3) is provided with guide grooves (3g) on ​​both sides above it, and the two ends of the seedling tray (9) are respectively locked in the corresponding guide grooves (3g).

4. The automatic seedling sorting device according to claim 2, characterized in that, The first conveying mechanism (3) is also provided with a seedling tray guide rod (3h) at the front end. The upper end of the guide rail of the seedling tray (9) is an arc-shaped rod (3h1). The arc-shaped rod (3h1) is coaxial with the front end of the first conveying mechanism (3). The lower end of the guide rail of the seedling tray (9) is a straight rod (3h2) that extends to the bottom of the frame (1).

5. The automatic seedling sorting device according to any one of claims 1-4, characterized in that, The second conveying mechanism (6) includes a second conveying frame (6a), a second drive motor (6b), a transmission belt (6c), a conveyor belt (6d), a drive wheel axle (6e), and a driven wheel axle (6f). The drive wheel axle (6e) and the driven wheel axle (6f) are rotatably connected to both ends of the second conveying frame (6a). The second drive motor (6b) is mounted on the second conveying frame (6a). The second drive motor (6b) is connected to one end of the drive wheel axle (6e) through the transmission belt (6c). The conveyor belt (6d) is divided into multiple output channels by a partition (6g).

6. The automatic seedling sorting device according to claims 1-4, characterized in that, The first transverse mechanism (7) includes an electric guide rail (7b) and guide rails (7b) arranged on both sides of the first electric guide rail (7a) and parallel to the first electric guide rail (7a).

7. The automatic seedling sorting device according to claim 5, characterized in that, The second transverse mechanism (8) is the second electric guide rail (8a).

8. The automatic seedling sorting device according to any one of claims 1-4, characterized in that, The gripping mechanism (4) includes a column (4a), a first vertical arm (4b), a second vertical arm (4c), a first horizontal arm (4d), a second horizontal arm (4e), a third drive motor (4f), and an electric gripper (4g). The column (4a) is fixed on the frame (1). The bottom of the first vertical arm (4b) is fixedly connected to the upper end of the column (4a). The first end of the first horizontal arm (4d) is rotatably connected to the upper end of the first vertical arm (4b). The second end of the first horizontal arm (4d) is rotatably connected to the upper end of the second vertical arm (4c). The first end of the second horizontal arm (4e) is rotatably connected to the lower end of the first vertical arm (4b). The second end of the second horizontal arm (4e) is rotatably connected to the lower end of the second vertical arm (4c). The connection between the first end of the second horizontal arm (4e) and the lower end of the first vertical arm (4b) and the output shaft of the third drive motor (4f) are connected by a second reducer (4h). The electric gripper (4g) is located at the lower end of the second vertical arm (4c).

9. The automatic seedling sorting device according to any one of claims 1-4, characterized in that, The visual inspection mechanism (5) includes a camera (5a) and a camera mount (5b), with the camera (5a) facing the gripping mechanism (4).

10. The automatic seedling sorting device according to any one of claims 1-4, characterized in that, The control module (2) is a PLC system or a microcontroller system.

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