A device and a control method for separating and filling seedling trays of codonopsis

Abstract

The application relates to a device and a control method for separating and filling seedling trays of radix codonopsis seedlings. The device comprises a rack provided with moving wheels at the bottom; a seedling feeding mechanism installed on the rack and used for feeding the radix codonopsis seedlings in a dispersed state and capable of self-adaptingly adjusting feeding parameters according to the seedling feeding state; a seedling separating mechanism installed at the discharging end of the seedling feeding mechanism, capable of realizing single-seedling separation and sequencing through differential transmission of double conveying belts, and capable of adjusting the spacing and conveying speed of the conveying belts; and a seedling filling mechanism in a multi-axis moving platform structure, installed at the discharging end of the seedling separating mechanism, capable of driving the seedling tray to position each hole according to a seedling falling signal and completing automatic filling. The application realizes full-process automation of feeding, separation and filling, completely replaces manual seedling separation and manual tray filling, greatly reduces labor intensity, solves the problems of easy winding, easy seedling blockage and easy breakage of the radix codonopsis seedlings, and improves the seedling separation accuracy and the seedling integrity.

Description

Technical Field

[0001] This application relates to the technical field of transplanting devices for Chinese medicinal materials, and in particular to a device and control method for separating and filling seedling trays of Codonopsis pilosula seedlings. Background Technology

[0002] In the Chinese medicinal herb cultivation industry, seedling transplanting is a crucial step that determines the survival rate, uniformity, and subsequent yield. Among them, the seedlings of rhizomes such as Codonopsis pilosula are slender, easy to entangle, and easy to break, which places high demands on the seedling separation and filling operations.

[0003] Currently, the transplanting of Codonopsis pilosula seedlings in China still mainly relies on manual seedling separation, manual tray filling, and manual feeding, which has the following prominent technical defects: 1. Manual seedling separation is extremely inefficient and labor-intensive. The speed of seedling separation and tray filling per person is slow, making it difficult to meet the seedling supply needs of large-scale planting and mechanized transplanting. 2. Seedlings are easily tangled and piled up, and manual separation of seedlings can easily cause them to break or be damaged, affecting the survival rate of transplanting; 3. Existing semi-automatic transplanters mostly rely on manual hand-held seedling placement, which cannot achieve continuous, stable, and quantitative automatic seedling separation and seedling tray filling, resulting in a low degree of automation; 4. Conventional delivery and seedling separation structures are not optimized for the morphology of Codonopsis pilosula seedlings, which can easily lead to problems such as seedling blockage, seedling leakage, and multiple seedlings in the same hole, resulting in poor seedling consistency.

[0004] The lack of an integrated device and control method for adaptive feeding, differential flexible separation, and automatic positioning and filling of seedling trays that are suitable for the characteristics of Codonopsis pilosula seedlings makes it difficult for medicinal herb transplanting equipment to achieve efficient, low-damage, and stable automated operation, thus restricting the mechanization and large-scale development of Codonopsis pilosula planting. Summary of the Invention

[0005] To solve or partially solve the problems existing in the related technologies, this application provides a device and control method for separating Codonopsis pilosula seedlings and filling seedling trays.

[0006] This application provides a device for separating and filling seedlings of Codonopsis pilosula into seed trays, comprising: The frame 1 is equipped with casters 11 at the bottom; The seedling feeding mechanism 2 is installed on the frame 1 and is used to transport Codonopsis pilosula seedlings in a dispersed state. It can adaptively adjust the feeding parameters according to the seedling transport status. The seedling separation mechanism 3 is installed at the discharge end of the seedling feeding mechanism 2. It adopts a dual conveyor belt differential speed transmission to realize the individual separation and sorting of seedlings, and the conveyor belt spacing and conveying speed are adjustable. The seedling filling mechanism 4 is a multi-axis moving platform structure, installed at the discharge end of the seedling separation mechanism 3. It can drive the seedling tray to position itself hole by hole according to the seedling drop signal and complete the automatic filling.

[0007] Optionally, in some embodiments, the seedling feeding mechanism 2 includes a seedling box 21. The seedling box 21 adopts a trapezoidal design and is mounted on the frame 1 via an adjustable bracket. The adjustable bracket is used to adjust the tilt angle of the seedling box 21. A vibration motor 22 is installed in the middle of the bottom side of the seedling box 21, and a brush roller 23 is installed at the seedling outlet of the seedling box 21 to prevent seedling blockage.

[0008] Optionally, in some embodiments, the bottom of the seedling box 21 has a stepped sloping structure with three stepped surfaces. The vertical height difference between each stepped surface is 5mm, which provides a guiding function for the movement of seedlings and reduces the resistance of the seedlings moving towards the seedling outlet. The adjustable bracket includes four telescopic adjustment rods 24 respectively hinged to the seedling feeding port of the seedling box 21 and the two sides of the middle part of the seedling box 21. The seedling drop height between the seedling outlet of the seedling box 21 and the feed end of the seedling separation mechanism 3 is adjustable from 0 to 250mm, and the horizontal angle between the seedling outlet of the seedling box 21 and the seedling separation mechanism 3 is adjustable from 0° to 45°.

[0009] Optionally, in some embodiments, the seedling separation mechanism 3 includes: The lower conveyor belt 31 is mounted on the frame 1 via the lower conveyor belt roller 32 and the lower conveyor belt tensioning wheel 33. The lower conveyor belt roller 32 is driven by the lower conveyor belt roller motor 34. The surface of the lower conveyor belt 31 is provided with a groove structure for positioning a single seedling. The anti-accumulation rubber roller 35 is mounted on the upper side of the lower conveyor belt 31 via the anti-accumulation rubber roller mounting bracket and is driven by the anti-accumulation rubber roller motor 36. Upper conveyor belt support 37, height adjustable; The upper conveyor belt 38 is mounted on the upper conveyor belt support 37 via the upper conveyor belt roller 39 and the upper conveyor belt tensioning wheel 310. The upper conveyor belt roller 39 is driven by the upper conveyor belt roller motor 311. The upper conveyor belt 38 is located above the lower conveyor belt 31 and behind the anti-accumulation rubber roller 35, and is lifted and lowered by the upper conveyor belt support 37. The stacking detection unit 312 is an infrared grating sensor, installed on both sides of the lower conveyor belt 31 in front of the anti-stacking rubber roller 35, and is used to detect the stacking height of seedlings; The incremental rotary encoder monitors the rotational speed of the upper conveyor belt 38 and the lower conveyor belt 31 in real time and feeds it back to the main control board. The fuzzy PID algorithm maintains the ratio K value of the motor speed of the upper conveyor belt 38 and the lower conveyor belt 31 in real time so that the linear speed difference is always stable and the seedling separation effect is always maintained. Infrared sensor 316 is installed on frame 1 at the feeding end of lower conveyor belt 31 to detect whether seedlings have fallen from seedling separation mechanism 3 to seedling filling mechanism 4.

[0010] Optionally, in some embodiments, baffles 313 are provided at the feed end and on both sides of the lower conveyor belt 31, the vertical spacing between the upper conveyor belt 38 and the lower conveyor belt 31 is adjustable from 0 to 50 mm, and the incremental rotary encoder includes a lower conveyor belt encoder 314 installed inside the lower conveyor belt 31 and an upper conveyor belt encoder 315 installed on the top of the upper conveyor belt 38.

[0011] Optionally, in some embodiments, the seedling filling mechanism 4 includes: The filling mechanism frame 41 has filling mechanism moving wheels 42 at the bottom and a moving mechanism on the filling mechanism frame 41; The seedling tray 43 is connected to the moving mechanism. Seedling holes are evenly arranged on the upper surface of the seedling tray 43 along the X-axis direction. Several rows of seedling holes are arranged on the upper surface of the seedling tray 43 along the Y-axis direction. The length of a single row of seedling holes matches the width of the lower conveyor belt 31.

[0012] Optionally, in some embodiments, the moving mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, with the X-axis moving mechanism disposed on the Y-axis moving mechanism; The Y-axis moving mechanism includes Y-axis slide rails 44 disposed on the front and rear sides of the upper part of the filling mechanism frame 41. One of the Y-axis slide rails 44 is provided with a synchronous belt 45, which is driven by a synchronous belt motor 46. A Y-axis sliding platform 47 is slidably mounted on the Y-axis slide rail 44 via a Y-axis slider 49. The Y-axis sliding platform 47 is connected to the synchronous belt 45 via a connecting clamp 48. The X-axis moving mechanism includes a lead screw drive mechanism fixedly mounted on the Y-axis sliding platform 47 and an X-axis slide rail 410 mounted on both sides of the lead screw drive mechanism. An X-axis slider 411 is slidably connected to the X-axis slide rail 410. The lead screw drive mechanism includes a lead screw slide rail 412 fixed on the Y-axis sliding platform 47, a lead screw 414 driven by a lead screw motor 413 and mounted on the lead screw slide rail 412, a lead screw slider 415 threaded on the lead screw 414, the lead screw slider 415 slidably connected to the lead screw slide rail 412, and a seedling tray 43 connected to the lead screw slider 415 and the X-axis slider 411, which is driven to move along the X-axis direction by the lead screw motor 413.

[0013] A method for controlling the separation and seedling tray filling of Codonopsis pilosula seedlings includes the following steps: S1: Seedling feeding adjustment: The seedlings are fed to the seedling separation mechanism 3 by vibration and brush assistance. The feeding intensity is adjusted in real time according to the seedling accumulation status to avoid seedling blockage and accumulation. S2: Differential speed separation of seedlings: Control the upper conveyor belt 38 and the lower conveyor belt 31 to operate at a set speed difference, and use the speed difference and groove positioning to achieve individual separation of seedlings. Closed-loop regulation is used to maintain the stability of the speed difference. S3: Automatic seedling tray filling: Based on the seedling drop detection signal, the seedling tray 43 is controlled to move one hole at a time. After filling a single hole, it automatically switches to the next seedling hole. After the entire tray is filled, it automatically stops and resets.

[0014] Optionally, in some schemes, S2 is divided into multiple working conditions according to the seedling stacking height, and the main control unit outputs different vibration frequencies, brush speeds and anti-stacking rubber roller speeds at 35 degrees. Specifically, when the infrared grating sensor detects that the seedling stack height is less than 1 / 3 of the rubber roller, it is considered normal; when the infrared grating sensor detects that the seedling stack height is more than 2 / 3 of the rubber roller, it is considered blocked; when the infrared grating sensor detects that the seedling stack height is more than 1 / 3 of the rubber roller, it is considered slightly blocked; when the infrared grating sensor detects that the seedling stack height is more than the rubber roller, it is considered severely blocked. Normal, slightly blocked, blocked, and severely blocked correspond to different vibration frequencies and speeds. The main control board continuously updates the signals sent to the motor driver through real-time feedback from the infrared grating sensor, thereby continuously updating the vibration frequency and speed of the vibrating components and the brush motor in real time, and matching different working conditions in real time.

[0015] Optionally, in some solutions, a fuzzy PID algorithm is used to adjust the speed of the upper and lower conveyor belts in real time based on the speed feedback, so as to maintain a fixed speed difference and achieve stable separation; In the seedling separation mechanism 3, the seedling separation principle is to achieve passive seedling filling through the differential speed rotation of the upper and lower conveyor belts. The speed of the upper conveyor belt is... The speed of the lower conveyor belt is Through experimental calculations, the relationship between the two is obtained as follows: ; The fuzzy PID algorithm is used to achieve autonomous real-time adjustment during the speed difference regulation process. Value and The proportional coefficient, since the value of k is fixed, therefore when or When the condition changes, the fuzzy PID algorithm updates in real time according to the relational formula. or To maintain the speed difference and achieve autonomous adjustment.

[0016] The technical solution provided in this application may include the following beneficial effects: This application consists of a frame, a seedling feeding mechanism, a seedling separation mechanism, a seedling filling mechanism, and a main control unit. The frame is equipped with casters at the bottom, allowing the entire machine to be moved and positioned. It achieves full automation of the feeding, separation, and filling process, completely replacing manual seedling separation and manual tray filling, significantly reducing labor intensity, solving the problems of easy tangling, easy blockage, and easy breakage of Codonopsis pilosula seedlings, improving the accuracy of seedling separation and seedling integrity, forming an integrated automatic equipment, and filling the technology gap of automatic seedling separation and automatic seedling tray filling for Codonopsis pilosula.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0019] Figure 1 This is a schematic diagram of the structure of the Codonopsis pilosula seedling separation and seedling tray filling device shown in the embodiments of this application; Figure 2 This is a schematic diagram of the seedling feeding mechanism shown in the embodiments of this application; Figure 3 This is a schematic diagram of the installation structure of the lower conveyor belt of the seedling separation mechanism shown in the embodiments of this application; Figure 4 This is a schematic diagram of the installation structure of the upper conveyor belt of the seedling separation mechanism shown in the embodiments of this application; Figure 5 This is a schematic diagram of the lower conveyor belt structure shown in an embodiment of this application; Figure 6 This is a schematic diagram of the installation structure of the moving mechanism shown in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the seedling tray shown in the embodiments of this application; Figure 8 This is a control flow diagram shown in an embodiment of this application.

[0020] Figure label: 1-Frame, 2-Seedling feeding mechanism, 3-Seedling separation mechanism, 4-Seedling filling mechanism; 11-Moving wheel; 21-Seedling box, 22-Vibration motor, 23-Brush roller, 24-Telescopic adjustment rod; 31-Lower conveyor belt, 32-Lower conveyor belt roller, 33-Lower conveyor belt tensioner, 34-Lower conveyor belt roller motor, 35-Anti-stacking rubber roller, 36-Anti-stacking rubber roller motor, 37-Upper conveyor belt bracket, 38-Upper conveyor belt, 39-Upper conveyor belt roller, 310-Upper conveyor belt tensioner, 311-Upper conveyor belt roller motor, 312-Stagnation detection unit, 313-Baffle, 314-Lower conveyor belt encoder, 315-Upper conveyor belt encoder, 316-Infrared sensor; 41-Filling mechanism frame, 42-Filling mechanism moving wheel, 43-Seedling tray, 44-Y-axis slide rail, 45-Synchronous belt, 46-Synchronous belt motor, 47-Y-axis sliding platform, 48-Connecting clamp, 49-Y-axis slider, 410-X-axis slide rail, 411-X-axis slider, 412-Screw slide table slide rail, 413-Screw motor, 414-Screw, 415-Screw slider. Detailed Implementation

[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0022] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0023] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0024] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] Example 1 See Figure 1 The Codonopsis pilosula seedling separation and seedling tray filling device includes: The frame 1 is equipped with casters 11 at the bottom; The seedling feeding mechanism 2 is installed on the frame 1 and is used to transport Codonopsis pilosula seedlings in a dispersed state. It can adaptively adjust the feeding parameters according to the seedling transport status. The seedling separation mechanism 3 is installed at the discharge end of the seedling feeding mechanism 2. It adopts a dual conveyor belt differential speed transmission to realize the individual separation and sorting of seedlings, and the conveyor belt spacing and conveying speed are adjustable. The seedling filling mechanism 4 is a multi-axis moving platform structure, installed at the discharge end of the seedling separation mechanism 3. It can drive the seedling tray to position itself hole by hole according to the seedling drop signal and complete the automatic filling.

[0026] The machine consists of a frame 1, a seedling feeding mechanism 2, a seedling separation mechanism 3, a seedling filling mechanism 4, and a main control unit. The frame 1 is equipped with casters 11 for easy movement and positioning. Codonopsis pilosula seedlings are fed into the seedling feeding mechanism 2 and conveyed in a dispersed manner with the assistance of vibration and brushes. The main control unit adaptively adjusts the feeding parameters based on the seedling accumulation. The dispersed seedlings enter the seedling separation mechanism 3, where the upper conveyor belt 38 and lower conveyor belt 31 operate at a set speed difference to achieve individual seedling separation and sorting. The conveyor belt spacing and speed can be adjusted according to the seedling thickness. As individual seedlings fall, a seedling detection sensor sends a signal, and the seedling filling mechanism 4 uses a multi-axis moving platform to drive the seedling tray 43 to fill each hole individually. The machine automatically stops and resets after the entire tray is filled. Compared with traditional manual seedling separation and tray filling and semi-automatic transplanting equipment, this device realizes fully automated operation of Codonopsis pilosula seedling feeding, separation and filling, completely replacing manual operation, greatly reducing labor intensity and operating costs, effectively solving the problems of Codonopsis pilosula seedlings being easy to entangle and break, low seedling separation efficiency and poor filling consistency, filling the technical gap of integrated equipment for automated seedling separation and seedling tray filling of Codonopsis pilosula, and significantly improving the mechanization and automation level of Chinese medicinal herb transplanting operations.

[0027] See Figure 2In this embodiment, the seedling feeding mechanism 2 includes a seedling box 21. The seedling box 21 adopts a trapezoidal design and is installed on the frame 1 by an adjustable bracket. The adjustable bracket is used to adjust the tilt angle of the seedling box 21. A vibration motor 22 is installed in the middle of the bottom side of the seedling box 21. A brush roller 23 is installed at the seedling outlet of the seedling box 21 to prevent seedling blockage.

[0028] The seedling feeding mechanism 2 features a trapezoidal seed box 21 mounted on the frame 1 via an adjustable bracket. This bracket allows for adjustment of the overall tilt angle of the seed box 21 according to operational needs. A vibrating motor 22, located at the center of the bottom of the seed box 21, generates directional vibration, driving the Codonopsis pilosula seedlings within the seed box 21 towards the outlet and maintaining their dispersed state. A brush roller 23, positioned at the outlet of the seed box 21, continuously rotates under the influence of the drive motor, combing and guiding the seedlings at the outlet to prevent accumulation and blockage. This ensures the seedlings fall evenly and smoothly into the feed end of the seedling separation mechanism 3, guaranteeing a continuous and stable feeding process. Through the coordinated operation of the trapezoidal seed box 21, the vibrating motor 22, and the brush roller 23, the problems of long, thin, easily tangled Codonopsis pilosula seedlings and poor emergence are effectively solved. Compared to traditional gravity feeding methods, this method provides smoother feeding without seedling blockage, significantly improving the stability and uniformity of seedling feeding.

[0029] In this embodiment, the bottom of the seedling box 21 is a stepped sloping structure with three stepped surfaces. The vertical height difference between each stepped surface is 5mm, which provides a guiding function for the movement of seedlings and reduces the resistance of the seedlings moving towards the seedling outlet. The adjustable bracket includes four telescopic adjustment rods 24 respectively hinged to the seedling feeding port of the seedling box 21 and the two sides of the middle part of the seedling box 21. The seedling drop height adjustment range between the seedling outlet of the seedling box 21 and the feed end of the seedling separation mechanism 3 is 0-250mm, and the horizontal angle adjustment range between the seedling outlet of the seedling box 21 and the seedling separation mechanism 3 is 0°-45°.

[0030] The seedling feeding mechanism 2 has a sloping stepped structure at the bottom of the seedling box 21 with three stepped surfaces. The vertical height difference between adjacent stepped surfaces is 5mm. This structure can guide the movement of seedlings and effectively reduce the resistance of the seedlings moving towards the seedling outlet. The four telescopic adjustment rods 24, which are hinged to the seedling outlet of the seedling box 21 and the middle two sides, can be adjusted in coordination to achieve a seedling drop height adjustment of 0-250mm between the seedling outlet of the seedling box 21 and the feed end of the seedling separation mechanism 3. At the same time, the horizontal angle adjustment between the seedling outlet and the seedling separation mechanism 3 can be achieved from 0° to 45°. By precisely adjusting the drop height and angle, the seedlings can be accurately dropped into the designated position of the seedling separation mechanism 3, which can meet the feeding needs of different sizes of Codonopsis pilosula seedlings. The stepped inclined structure optimizes the seedling delivery path, reduces seedling stacking and tangling, and, combined with the dual-dimensional adjustable design of seedling drop height and horizontal angle, greatly improves the versatility and adaptability of the device. It can meet the feeding requirements of seedlings of different working conditions and different specifications, breaking through the application limitations of traditional fixed structure feeding devices.

[0031] See Figure 3-5 In this embodiment, the seedling separation mechanism 3 includes: The lower conveyor belt 31 is mounted on the frame 1 via the lower conveyor belt roller 32 and the lower conveyor belt tensioning wheel 33. The lower conveyor belt roller 32 is driven by the lower conveyor belt roller motor 34. The surface of the lower conveyor belt 31 is provided with a groove structure for positioning a single seedling. The anti-accumulation rubber roller 35 is mounted on the upper side of the lower conveyor belt 31 via the anti-accumulation rubber roller mounting bracket and is driven by the anti-accumulation rubber roller motor 36. Upper conveyor belt support 37, height adjustable; The upper conveyor belt 38 is mounted on the upper conveyor belt support 37 via the upper conveyor belt roller 39 and the upper conveyor belt tensioning wheel 310. The upper conveyor belt roller 39 is driven by the upper conveyor belt roller motor 311. The upper conveyor belt 38 is located above the lower conveyor belt 31 and behind the anti-accumulation rubber roller 35, and is lifted and lowered by the upper conveyor belt support 37. The stacking detection unit 312 is an infrared grating sensor, installed on both sides of the lower conveyor belt 31 in front of the anti-stacking rubber roller 35, and is used to detect the stacking height of seedlings; The incremental rotary encoder monitors the rotational speed of the upper conveyor belt 38 and the lower conveyor belt 31 in real time and feeds it back to the main control board. The fuzzy PID algorithm maintains the ratio K value of the motor speed of the upper conveyor belt 38 and the lower conveyor belt 31 in real time so that the linear speed difference is always stable and the seedling separation effect is always maintained. Infrared sensor 316 is installed on frame 1 at the feeding end of lower conveyor belt 31 to detect whether seedlings have fallen from seedling separation mechanism 3 to seedling filling mechanism 4.

[0032] The lower conveyor belt 31 of the seedling separation mechanism 3 is supported and mounted on the frame 1 by the lower conveyor belt roller 32 and the lower conveyor belt tensioning wheel 33, and is continuously driven by the lower conveyor belt roller motor 34. The groove structure on the surface of the lower conveyor belt 31 can realize the positioning and bearing of individual Codonopsis pilosula seedlings. The anti-stacking rubber roller 35 installed on the upper side of the lower conveyor belt 31 rotates under the drive of the anti-stacking rubber roller motor 36 to disperse the seedlings stacked on the lower conveyor belt 31 and avoid excessive local accumulation of seedlings. The height-adjustable upper conveyor belt bracket 37 drives the upper conveyor belt 38 to realize vertical height adjustment. The upper conveyor belt 38 is supported by the upper conveyor belt roller 39 and the upper conveyor belt tensioning wheel 310, and is continuously driven by the upper conveyor belt roller motor. Driven by 311, the seedlings are separated into individual seedlings through differential transmission with the lower conveyor belt 31. The accumulation detection unit 312, which is an infrared grating sensor, is installed on both sides of the lower conveyor belt 31 in front of the anti-accumulation rubber roller 35. It detects the seedling accumulation height in real time and feeds the signal back to the main control unit. The lower conveyor belt encoder 314, which is installed inside the lower conveyor belt 31, and the upper conveyor belt encoder 315, which is installed on the top of the upper conveyor belt 38, collect the speed signals of the upper and lower conveyor belts in real time. The main control unit adjusts the speed through a fuzzy PID algorithm to maintain a stable speed difference. The infrared sensor 316, which is installed on the frame 1 at the feeding end of the lower conveyor belt 31, detects the seedling falling signal in real time and triggers the seedling filling mechanism 4 to perform a displacement action.

[0033] The system adopts a dual-conveyor belt flexible differential speed separation method to avoid damage to seedlings caused by rigid seedling separation. Combined with real-time stacking detection and closed-loop speed control, the seedling separation accuracy is high and the operation is continuous and stable. The 38-degree height adjustable design of the upper conveyor belt can accommodate seedlings of different diameters. Compared with traditional seedling separation structures, it has stronger applicability and better seedling separation effect.

[0034] In this embodiment, baffles 313 are provided at the feed end and on both sides of the lower conveyor belt 31. The vertical spacing between the upper conveyor belt 38 and the lower conveyor belt 31 is adjustable from 0 to 50 mm. The incremental rotary encoder includes a lower conveyor belt encoder 314 installed inside the lower conveyor belt 31 and an upper conveyor belt encoder 315 installed on the top of the upper conveyor belt 38.

[0035] The seedling separation mechanism 3 has baffles 313 installed at the feed end and on both sides of the lower conveyor belt 31 to effectively prevent seedlings from tipping over, running off course, or overflowing during the separation process. The upper conveyor belt 38 has a vertical distance of 0-50mm between itself and the lower conveyor belt 31 through a height-adjustable upper conveyor belt bracket 37 to accommodate seedlings of different thicknesses. The lower conveyor belt encoder 314 and the upper conveyor belt encoder 315 respectively collect the rotation speed of the lower conveyor belt 31 and the upper conveyor belt 38 in real time and convert them into pulse signals to be transmitted to the main control unit. The main control unit corrects the speed of the drive motors of the upper and lower conveyor belts in real time according to the pulse signals to always maintain a stable speed difference between the upper and lower conveyor belts and ensure that the seedling individual separation effect is continuously stable.

[0036] The 313 baffle limiter, combined with the adjustable vertical spacing, completely eliminates problems such as seedling clamping, pressing, and missing seedlings. The dual encoders provide high-precision speed measurement to achieve precise speed difference control. Compared with the traditional open-loop speed regulation method, the consistency and stability of seedling separation are greatly improved, effectively ensuring the effect of continuous operation.

[0037] See Figure 6-7 In this embodiment, the seedling filling mechanism 4 includes: The filling mechanism frame 41 has filling mechanism moving wheels 42 at the bottom and a moving mechanism on the filling mechanism frame 41; The seedling tray 43 is connected to the moving mechanism. Seedling holes are evenly arranged on the upper surface of the seedling tray 43 along the X-axis direction. Several rows of seedling holes are arranged on the upper surface of the seedling tray 43 along the Y-axis direction. The length of a single row of seedling holes matches the width of the lower conveyor belt 31.

[0038] The seedling filling mechanism 4 is supported by the filling mechanism frame 41. The filling mechanism moving wheels 42 at the bottom of the filling mechanism frame 41 can realize the flexible movement and precise docking of the filling mechanism. The moving mechanism installed on the filling mechanism frame 41 drives the seedling tray 43 to achieve multi-dimensional movement. Multiple seedling holes are evenly arranged along the X-axis direction on the upper surface of the seedling tray 43, and multiple rows of seedling holes are arranged along the Y-axis direction. The length of a single row of seedling holes matches the bandwidth of the lower conveyor belt 31, ensuring that the seedlings falling from the seedling separation mechanism 3 can accurately fall into the seedling holes of the seedling tray 43. The moving mechanism drives the seedling tray 43 to move hole by hole and row by row according to the seedling falling signal, completing the fully automatic filling operation of the seedling tray 43.

[0039] The 43-cell seedling tray and the 31-cell lower conveyor belt are precisely matched to avoid seedling deviation and cross-cell problems. The multi-axis moving mechanism realizes fully automatic positioning and filling, completely replacing manual seedling placement. The filling efficiency and accuracy are far higher than traditional manual and semi-automatic filling methods.

[0040] In this embodiment, the moving mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, with the X-axis moving mechanism disposed on the Y-axis moving mechanism; The Y-axis moving mechanism includes Y-axis slide rails 44 disposed on the front and rear sides of the upper part of the filling mechanism frame 41. One of the Y-axis slide rails 44 is provided with a synchronous belt 45, which is driven by a synchronous belt motor 46. A Y-axis sliding platform 47 is slidably mounted on the Y-axis slide rail 44 via a Y-axis slider 49. The Y-axis sliding platform 47 is connected to the synchronous belt 45 via a connecting clamp 48. The X-axis moving mechanism includes a lead screw drive mechanism fixedly mounted on the Y-axis sliding platform 47 and an X-axis slide rail 410 mounted on both sides of the lead screw drive mechanism. An X-axis slider 411 is slidably connected to the X-axis slide rail 410. The lead screw drive mechanism includes a lead screw slide rail 412 fixed on the Y-axis sliding platform 47, a lead screw 414 driven by a lead screw motor 413 and mounted on the lead screw slide rail 412, a lead screw slider 415 threaded on the lead screw 414, the lead screw slider 415 slidably connected to the lead screw slide rail 412, and a seedling tray 43 connected to the lead screw slider 415 and the X-axis slider 411, which is driven to move along the X-axis direction by the lead screw motor 413.

[0041] The moving mechanism of the seedling filling mechanism 4 consists of an X-axis moving mechanism and a Y-axis moving mechanism. The Y-axis moving mechanism is located on the upper part of the filling mechanism frame 41. The synchronous belt motor 46 drives the synchronous belt 45 to rotate. Through the connecting clamp 48, it drives the Y-axis sliding platform 47 to move along the Y-axis slider 49 on the Y-axis slide rail 44 to achieve Y-axis direction movement, completing the row spacing switching of the seedling tray 43. The X-axis moving mechanism is located on the Y-axis sliding platform 47. The lead screw motor 413 drives the lead screw 414 to rotate, driving the lead screw slider 415 to move along the lead screw slide rail 412. The seedling tray 43 is simultaneously connected to the lead screw slider 415 and the X-axis slider 411 on the X-axis slide rail 410. It moves along the X-axis direction with the lead screw slider 415 to achieve hole spacing step movement. The dual-axis mechanism works in tandem to achieve precise positioning and filling of the seedling tray 43 hole by hole.

[0042] Adopting a dual-axis moving structure combining synchronous belt and lead screw, it has high positioning accuracy and stable operation without slippage. It can realize automatic shifting of seedling trays 43 hole by hole without manual intervention, meeting the needs of large-scale continuous tray filling operations. Compared with the traditional manual shifting method, the efficiency and accuracy are significantly improved.

[0043] Example 2 See Figure 8 A method for controlling the separation and seedling tray filling of Codonopsis pilosula seedlings includes the following steps: S1: Seedling feeding adjustment: The seedlings are fed to the seedling separation mechanism 3 by vibration and brush assistance. The feeding intensity is adjusted in real time according to the seedling accumulation status to avoid seedling blockage and accumulation. S2: Differential speed separation of seedlings: Control the upper conveyor belt 38 and the lower conveyor belt 31 to operate at a set speed difference, and use the speed difference and groove positioning to achieve individual separation of seedlings. Closed-loop regulation is used to maintain the stability of the speed difference. S3: Automatic seedling tray filling: Based on the seedling drop detection signal, the seedling tray 43 is controlled to move one hole at a time. After filling a single hole, it automatically switches to the next seedling hole. After the entire tray is filled, it automatically stops and resets.

[0044] The control method first executes the seedling feeding adjustment step. Through the vibration of the seedling feeding mechanism 2 and the assistance of the brush, the Codonopsis pilosula seedlings are evenly fed to the seedling separation mechanism 3. At the same time, based on the seedling accumulation status detected by the seedling separation mechanism 3, the vibration frequency, brush speed and other feeding parameters of the seedling feeding mechanism 2 are adjusted in real time to avoid seedling blockage and accumulation. Then, the seedling differential speed separation step is executed. The main control unit controls the upper conveyor belt 38 and the lower conveyor belt 31 of the seedling separation mechanism 3 to operate at a set speed difference. The groove positioning of the lower conveyor belt 31 and the sorting effect of the speed difference between the two conveyor belts are used to achieve individual seedling separation. At the same time, the encoder speed feedback is used for closed-loop adjustment to maintain the stability of the speed difference between the upper and lower conveyor belts. Finally, the seedling tray automatic filling step is executed. The seedling filling mechanism 4 drives the seedling tray 43 to move one seedling hole at a time according to the seedling drop detection signal. After each seedling hole is filled, it automatically switches to the next seedling hole. After all seedling holes in the tray are filled, it automatically stops and resets, completing the fully automated control process.

[0045] This method achieves coordinated closed-loop control of the entire process of feeding, separation, and filling, with precise matching of the rhythm of each link. It completely solves the problems of seedling blockage, seedling pile-up, seedling leakage, and uneven filling in traditional operations. Compared with manual control and fixed parameter semi-automatic control, the operation is more stable and reliable, and can operate continuously and efficiently, adapting to the needs of large-scale automated production of Codonopsis pilosula seedlings.

[0046] In this embodiment, in S2, the working conditions are divided into multiple modes according to the height of the seedling stack, and the main control unit outputs different vibration frequencies, brush speeds and anti-stacking roller speeds accordingly. Specifically, when the infrared grating sensor detects that the seedling stack height is less than 1 / 3 of the rubber roller, it is considered normal; when the infrared grating sensor detects that the seedling stack height is more than 2 / 3 of the rubber roller, it is considered blocked; when the infrared grating sensor detects that the seedling stack height is more than 1 / 3 of the rubber roller, it is considered slightly blocked; when the infrared grating sensor detects that the seedling stack height is more than the rubber roller, it is considered severely blocked. Normal, slightly blocked, blocked, and severely blocked correspond to different vibration frequencies and speeds. The main control board continuously updates the signals sent to the motor driver through real-time feedback from the infrared grating sensor, thereby continuously updating the vibration frequency and speed of the vibrating components and the brush motor in real time, and matching different working conditions in real time.

[0047] During the seedling separation process, the stacking detection unit 312 monitors the seedling stacking height in front of the anti-stacking rubber roller 35 in real time. The main control unit divides the stacking status into four working conditions: when the seedling stacking height is less than 1 / 3 of the height of the anti-stacking rubber roller 35, it is considered a normal working condition; when it exceeds 1 / 3, it is considered a slight seedling blockage; when it exceeds 2 / 3, it is considered a seedling blockage; and when it exceeds the overall height of the anti-stacking rubber roller 35, it is considered a severe seedling blockage. The main control unit outputs different control signals according to different working conditions, and adjusts the vibration frequency of the seedling feeding mechanism 2, the rotation speed of the brush roller 23, and the rotation speed of the anti-stacking rubber roller 35 of the seedling separation mechanism 3 in real time. Through the real-time signal feedback from the infrared grating sensor, the main control unit continuously updates the control commands sent to the motor driver, so that the feeding and separation components always match the current working conditions, quickly eliminate seedling congestion, and restore a stable working state.

[0048] Through four-level intelligent identification and adaptive adjustment of working conditions, compared with the traditional fixed parameter operation mode, it is more in line with the actual delivery status of Codonopsis pilosula seedlings. It can quickly respond to and eliminate seedling blockage problems, ensure continuous and uninterrupted operation, and effectively solve the defects of traditional seedling separation equipment that is prone to blockage and poor adaptability.

[0049] In this embodiment, a fuzzy PID algorithm is used to adjust the speed of the upper and lower conveyor belts in real time based on the speed feedback, so as to maintain a fixed speed difference and achieve stable separation. In the seedling separation mechanism 3, the seedling separation principle is to achieve passive seedling filling through the differential speed rotation of the upper and lower conveyor belts. The speed of the upper conveyor belt is... The speed of the lower conveyor belt is Through experimental calculations, the relationship between the two is obtained as follows: ; The fuzzy PID algorithm is used to achieve autonomous real-time adjustment during the speed difference regulation process. Value and The proportional coefficient, since the value of k is fixed, therefore when or When the condition changes, the fuzzy PID algorithm updates in real time according to the relational formula. or To maintain the speed difference and achieve autonomous adjustment.

[0050] The seedling separation mechanism 3 uses differential rotation of upper and lower conveyor belts to achieve passive seedling separation. The speeds of the upper conveyor belt 38 and the lower conveyor belt 31 satisfy a fixed proportional relationship. The main control unit uses a fuzzy PID algorithm as the core of speed difference adjustment. The lower conveyor belt encoder 314 and the upper conveyor belt encoder 315 collect the speed of the upper and lower conveyor belts in real time and convert them into pulse signals, which are then transmitted to the main control unit. The fuzzy PID algorithm adjusts the output of the drive motor in real time according to the speed pulse deviation, automatically corrects the speed of the upper conveyor belt 38 and the lower conveyor belt 31, and always maintains a fixed speed ratio coefficient k, maintaining a stable speed difference. This allows the stacked seedlings to roll and fill in the groove of the lower conveyor belt 31 under the action of the speed difference, achieving stable and uniform single-seed separation.

[0051] The fuzzy PID algorithm combined with dual encoder speed feedback achieves constant speed difference adaptive control, which can maintain stable separation effect even if the load changes. Compared with the traditional open-loop speed regulation method, the success rate of seedling separation is higher, and the flexible differential separation method greatly reduces the seedling damage rate and improves the seedling integrity and transplant survival rate.

[0052] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0053] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A device for separating and filling seedling trays of Codonopsis pilosula seedlings, characterized in that, include: The frame (1) is equipped with casters (11) at the bottom. The seedling feeding mechanism (2) is installed on the frame (1) and is used to transport Codonopsis pilosula seedlings in a dispersed state. It can adaptively adjust the feeding parameters according to the seedling transport state. The seedling separation mechanism (3) is installed at the discharge end of the seedling feeding mechanism (2). It adopts a double conveyor belt differential speed transmission to realize the individual separation and sorting of seedlings, and the conveyor belt spacing and conveying speed are adjustable. The seedling filling mechanism (4) is a multi-axis moving platform structure, installed at the discharge end of the seedling separation mechanism (3), and can drive the seedling tray to position itself hole by hole according to the seedling drop signal and complete the automatic filling.

2. The Codonopsis pilosula seedling separation and seedling tray filling device according to claim 1, characterized in that, The seedling feeding mechanism (2) includes a seedling box (21). The seedling box (21) adopts a trapezoidal design and is installed on the frame (1) by an adjustable bracket. The adjustable bracket is used to adjust the tilt angle of the seedling box (21). A vibration motor (22) is installed in the middle of the bottom side of the seedling box (21). A brush roller (23) is installed at the seedling outlet of the seedling box (21) to prevent seedling blockage.

3. The Codonopsis pilosula seedling separation and seedling tray filling device according to claim 2, characterized in that, The bottom of the seedling box (21) is a stepped inclined structure with three stepped surfaces. The vertical height difference between each stepped surface is 5mm, which provides a guiding function for the movement of seedlings and reduces the resistance of the seedlings moving towards the seedling outlet. The adjustable bracket includes four telescopic adjustment rods (24) respectively hinged to the seedling feeding port of the seedling box (21) and the two sides of the middle part of the seedling box (21). The seedling drop height adjustment range between the seedling outlet of the seedling box (21) and the feed end of the seedling separation mechanism (3) is 0-250mm. The horizontal angle adjustment range between the seedling outlet of the seedling box (21) and the seedling separation mechanism (3) is 0°-45°.

4. The Codonopsis pilosula seedling separation and seedling tray filling device according to claim 3, characterized in that, The seedling separation mechanism (3) includes: The lower conveyor belt (31) is mounted on the frame (1) via the lower conveyor belt roller (32) and the lower conveyor belt tensioning wheel (33). The lower conveyor belt roller (32) is driven by the lower conveyor belt roller motor (34). The surface of the lower conveyor belt (31) is provided with a groove structure for positioning a single seedling. The anti-accumulation rubber roller (35) is installed on the upper side of the lower conveyor belt (31) by the anti-accumulation rubber roller mounting bracket and is driven by the anti-accumulation rubber roller motor (36); Upper conveyor belt support (37), height adjustable; The upper conveyor belt (38) is mounted on the upper conveyor belt bracket (37) via the upper conveyor belt roller (39) and the upper conveyor belt tensioning wheel (310). The upper conveyor belt roller (39) is driven by the upper conveyor belt roller motor (311). The upper conveyor belt (38) is located above the lower conveyor belt (31) and behind the anti-accumulation rubber roller (35). It is lifted and lowered by the upper conveyor belt bracket (37). The stacking detection unit (312) is an infrared grating sensor, which is installed on both sides of the lower conveyor belt (31) in front of the anti-stacking rubber roller (35) to detect the height of seedling stacking; The incremental rotary encoder monitors the rotational speed of the upper conveyor belt (38) and the lower conveyor belt (31) in real time and feeds it back to the main control board. The fuzzy PID algorithm maintains the ratio K value of the motor speed of the upper conveyor belt (38) and the lower conveyor belt (31) in real time so that the linear speed difference is always stable and the seedling separation effect is always maintained. An infrared sensor (316) is installed on the frame (1) at the feeding end of the lower conveyor belt (31) to detect whether the seedlings have fallen from the seedling separation mechanism (3) to the seedling filling mechanism (4).

5. The Codonopsis pilosula seedling separation and seedling tray filling device according to claim 4, characterized in that, The feed end and both sides of the lower conveyor belt (31) are equipped with baffles (313). The vertical spacing between the upper conveyor belt (38) and the lower conveyor belt (31) is adjustable from 0 to 50 mm. The incremental rotary encoder includes a lower conveyor belt encoder (314) installed inside the lower conveyor belt (31) and an upper conveyor belt encoder (315) installed on the top of the upper conveyor belt (38).

6. The Codonopsis pilosula seedling separation and seedling tray filling device according to claim 5, characterized in that, The seedling filling mechanism (4) includes: The filling mechanism frame (41) is provided with filling mechanism moving wheels (42) at the bottom, and a moving mechanism is provided on the filling mechanism frame (41); The seedling tray (43) is connected to the moving mechanism. Seedling holes are evenly arranged on the upper surface of the seedling tray (43) along the X-axis direction. Several rows of seedling holes are arranged on the upper surface of the seedling tray (43) along the Y-axis direction. The length of a single row of seedling holes matches the bandwidth of the lower conveyor belt (31).

7. The Codonopsis pilosula seedling separation and seedling tray filling device according to claim 6, characterized in that, The moving mechanism includes an X-axis moving mechanism and a Y-axis moving mechanism, with the X-axis moving mechanism mounted on the Y-axis moving mechanism; The Y-axis moving mechanism includes Y-axis slide rails (44) set on the front and rear sides of the upper part of the filling mechanism frame (41), and a synchronous belt (45) is set on the upper part of one of the Y-axis slide rails (44). The synchronous belt (45) is driven by a synchronous belt motor (46). A Y-axis sliding platform (47) is slidably installed on the Y-axis slide rail (44) through a Y-axis slider (49). The Y-axis sliding platform (47) is connected to the synchronous belt (45) through a connecting clamp (48). The X-axis moving mechanism includes a screw drive mechanism fixedly mounted on the Y-axis sliding platform (47) and an X-axis slide rail (410) mounted on both sides of the screw drive mechanism. An X-axis slider (411) is slidably connected on the X-axis slide rail (410). The lead screw drive mechanism includes a lead screw slide rail (412) fixed on the Y-axis sliding platform (47), a lead screw (414) set on the lead screw slide rail (412) and driven by a lead screw motor (413), a lead screw slider (415) threaded on the lead screw (414), the lead screw slider (415) slidably connected to the lead screw slide rail (412), and the seedling tray (43) connected to the lead screw slider (415) and the X-axis slider (411), and driven by the lead screw motor (413) to move along the X-axis direction.

8. A control method for the Codonopsis pilosula seedling separation and seedling tray filling device according to claims 1-7, characterized in that, Includes the following steps: S1: Seedling feeding adjustment: The seedlings are fed to the seedling separation mechanism (3) by vibration and brush assistance. The feeding intensity is adjusted in real time according to the seedling accumulation status to avoid seedling blockage and accumulation. S2: Seedling differential speed separation: Control the upper conveyor belt (38) and the lower conveyor belt (31) to operate at a set speed difference, and use the speed difference and groove positioning to achieve seedling individual separation. Closed-loop regulation is used to maintain the speed difference stability. S3: Automatic seedling tray filling: The seedling tray (43) is controlled to move from one hole to another according to the seedling drop detection signal. After the single hole is filled, it automatically switches to the next seedling hole. After the whole tray is filled, it automatically stops and resets.

9. The method for controlling the separation of Codonopsis pilosula seedlings and the filling of seedling trays according to claim 8, characterized in that, In S2, various working conditions are divided according to the height of seedling stacking, and the main control unit outputs different vibration frequencies, brush speed and anti-stacking rubber roller (35) speed accordingly. Specifically, when the infrared grating sensor detects that the seedling stack height is less than 1 / 3 of the rubber roller, it is considered normal; when the infrared grating sensor detects that the seedling stack height is more than 2 / 3 of the rubber roller, it is considered blocked; when the infrared grating sensor detects that the seedling stack height is more than 1 / 3 of the rubber roller, it is considered slightly blocked; when the infrared grating sensor detects that the seedling stack height is more than the rubber roller, it is considered severely blocked. Normal, slightly blocked, blocked, and severely blocked correspond to different vibration frequencies and speeds. The main control board continuously updates the signals sent to the motor driver through real-time feedback from the infrared grating sensor, thereby continuously updating the vibration frequency and speed of the vibrating components and the brush motor in real time, and matching different working conditions in real time.

10. The method for controlling the separation of Codonopsis pilosula seedlings and the filling of seedling trays according to claim 9, characterized in that, A fuzzy PID algorithm is used to adjust the speed of the upper and lower conveyor belts in real time based on the speed feedback, maintaining a fixed speed difference to achieve stable separation. In the seedling separation mechanism (3), the seedling separation principle is to achieve passive seedling filling by the differential rotation of the upper and lower conveyor belts. The speed of the upper conveyor belt is The speed of the lower conveyor belt is Through experimental calculations, the relationship between the two is obtained as follows: ； The fuzzy PID algorithm is used to achieve autonomous real-time adjustment during the speed difference regulation process. Value and The proportional coefficient, since the value of k is fixed, therefore when or When the condition changes, the fuzzy PID algorithm updates in real time according to the relational formula. or To maintain the speed difference and achieve autonomous adjustment.

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