Spatial positioning device for grafting solanaceous vegetables

Abstract

The utility model relates to agricultural machinery, in particular to a spatial positioning device for grafting solanaceous vegetables. Comprising a plug tray conveying belt, a plug tray is arranged on the plug tray conveying belt, the plug tray conveying belt drives the plug tray to move to a seedling taking position, and a correlation photoelectric sensor is arranged on the outer side of the plug tray conveying belt at the seedling taking position; the mechanical arm is positioned above the plug tray conveying belt and is used for realizing transverse movement, longitudinal movement and vertical movement of the seedling gathering mechanism and the seedling taking clamping jaw; the seedling gathering mechanism is located above or below the seedling taking clamping jaw, the seedling gathering mechanism and the seedling taking clamping jaw are connected with the mechanical arm, and the center of the seedling gathering mechanism and the center of the seedling taking clamping jaw are located on the same vertical line. Accurate positioning and accurate clamping of seedlings are achieved, and the grafting efficiency and the grafting success rate can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery, in particular to a space positioning device for grafted solanaceous vegetables. BACKGROUND

[0002] The vegetable planting area in China has been more than 300 million mu all the year round, the annual output breaks through 800 million tons, and the planting scale ranks first in the world. The area of national facility agriculture in 2024 is about 40 million mu, accounting for more than 80% of the total area of facility agriculture in the world, of which more than 80% is planting vegetables. China is the first big country in the world in vegetable production and consumption, and vegetable planting has become the second largest crop after grain, of which the planting area of solanaceous vegetables accounts for one fourth of the total domestic vegetable planting area, and the planting scale is large.

[0003] As a key link in vegetable production, automatic grafting technology has a significant effect on improving the stress resistance of solanaceous vegetables, promoting early maturity, increasing yield and improving quality. At present, various types of grafting machine products have been successfully developed in foreign countries such as Japan, South Korea and Europe, but due to the complex overall structure of the machine, the high price and the high requirement for grafted seedling plants, it is mainly used in a few large-scale farms. Domestic solanaceous vegetable grafting is mainly manual grafting and semi-automatic grafting, and grafting machines are mainly in the research and development and experimental promotion stage. Foreign grafting machines are difficult to adapt to the current situation of domestic vegetable production, and it is urgent to develop a full-automatic solanaceous vegetable grafting machine suitable for domestic use.

[0004] In the field of automatic solanaceous vegetable grafting machine, the traditional positioning method has obvious shortcomings. On the one hand, the specifications of plug trays are various, the number of holes and the hole spacing are different, and the traditional positioning method is difficult to adapt, so it is urgent to design a space motion device with adjustable parameters to flexibly adjust the parameters and accurately connect various plug trays. On the other hand, due to the agronomic problems in the standardization process of seedling raising, the growth position of seedling in the seedling hole shows great randomness, often deviating from the center and showing various states, and the traditional positioning method cannot be self-adaptive. Therefore, it is difficult for seedling to be accurately in the center of clamping, which greatly affects the grafting effect. UTILITY MODEL CONTENTS

[0005] The utility model aims at overcoming the above-mentioned defects in the prior art, and provides a space positioning device for grafting solanaceous vegetables, which realizes accurate positioning and accurate clamping of seedlings, and is beneficial to improving grafting efficiency and grafting success rate.

[0006] The technical scheme of the utility model is as follows: a space positioning device for grafting solanaceous vegetables, comprising:

[0007] A plug tray conveying belt is provided, the plug tray is arranged on the plug tray conveying belt, the plug tray conveying belt drives the plug tray to move to a seedling taking position, and a pair of light barriers are arranged on the outer side of the plug tray conveying belt at the seedling taking position.

[0008] The mechanical arm is located above the plug tray conveying belt, and realizes transverse movement, longitudinal movement and vertical movement of the seedling gathering mechanism and the seedling taking clamp.

[0009] The seedling gathering mechanism is located above or below the seedling taking clamp, and the seedling gathering mechanism and the seedling taking clamp are connected with the mechanical arm, and the centers of the seedling gathering mechanism and the seedling taking clamp are on the same vertical line.

[0010] In the application, the plug tray conveying belt is arranged on the rack, and the plug tray conveying belt is driven to move by a disc feeding motor, and a pair of light emitting photoelectric sensors are arranged on the rack corresponding to the seedling taking position.

[0011] The mechanical arm comprises a transverse driving mechanism, a vertical driving mechanism and a longitudinal driving mechanism, the transverse driving mechanism is connected with the rack, one end of the vertical driving mechanism is connected with the transverse driving mechanism, and the other end of the vertical driving mechanism is connected with the longitudinal driving mechanism, and the seedling gathering mechanism and the seedling taking clamp are connected with the longitudinal driving mechanism.

[0012] The transverse driving mechanism comprises:

[0013] A transverse fixed plate is located above the rack and is fixedly connected with the rack, and is arranged along a direction perpendicular to the conveying direction of the plug tray conveying belt;

[0014] A transverse screw sliding table is fixed on the transverse fixed plate;

[0015] A transverse driving motor, whose output shaft is in transmission connection with a transverse ball screw, is in rotational connection with the transverse screw sliding table;

[0016] The inner thread of the inner thread hole of the transverse sliding block is in thread engagement with the transverse ball screw.

[0017] The vertical driving mechanism comprises:

[0018] A vertical fixed plate is fixedly connected with the transverse sliding block, and is arranged along a vertical direction;

[0019] A vertical screw sliding table is fixed on the vertical fixed plate;

[0020] A vertical driving motor, whose output shaft is in transmission connection with a vertical ball screw, is in rotational connection with the vertical screw sliding table;

[0021] The inner thread of the inner thread hole of the vertical sliding block is in thread engagement with the vertical ball screw.

[0022] The longitudinal driving mechanism comprises:

[0023] A longitudinal fixed plate is fixedly connected with the vertical sliding block, and is arranged along a direction parallel to the conveying direction of the plug tray conveying belt;

[0024] A longitudinal screw sliding table is fixed on the longitudinal fixed plate;

[0025] A longitudinal driving motor, whose output shaft is connected with the longitudinal ball screw, and the longitudinal ball screw is connected with the longitudinal screw sliding table;

[0026] A longitudinal sliding block, whose internal screw thread is in thread engagement with the longitudinal ball screw, and the seedling taking clamp jaw and the seedling gathering mechanism are connected with the longitudinal sliding block.

[0027] The seedling gathering mechanism comprises:

[0028] A servo motor, which is arranged on the seedling gathering mechanism connecting frame, and whose output shaft is connected with the rotary driving part;

[0029] Two seedling gathering jaws, one end of which is hinged with the connecting frame, and the free ends of the two seedling gathering jaws form a seedling gathering space, and the middle part of the seedling gathering jaw is connected with the rotary driving part through the connecting rod mechanism.

[0030] The connecting rod mechanism comprises:

[0031] A rotary connecting rod, one end of which is hinged with the rotary driving part, and the other end of which is hinged with the direct-acting connecting rod;

[0032] A direct-acting connecting rod, which is arranged in the sliding groove of the seedling gathering mechanism connecting frame, converts the swing of the rotary connecting rod into reciprocating linear motion, and the ends thereof are connected with the middle part of the seedling gathering jaw through the seedling gathering jaw connecting part.

[0033] The opposite surfaces of the two seedling gathering jaws are respectively provided with grooves, and the grooves of the two seedling gathering jaws are completely fitted between the side walls of the connecting frame, so that the seedling gathering space is formed between the two seedling gathering jaws;

[0034] The end of the free end of the seedling gathering jaw is provided with an inclined guide slope, and the guide slopes of the two seedling gathering jaws are symmetrically arranged, and the end-to-end distance of the guide slopes of the two seedling gathering jaws towards the connecting frame is greater than the end-to-end distance of the guide slopes of the two seedling gathering jaws away from the connecting frame.

[0035] The seedling taking clamp jaw comprises:

[0036] A fixed groove block, the inside of which is provided with a sliding groove;

[0037] Two symmetrically arranged clamp jaws, which are slidably arranged in the sliding groove.

[0038] The beneficial effects of the utility model are:

[0039] (1) The application realizes accurate row positioning of the plug tray through the light emitting photoelectric sensor and the tray conveying motor; through the three-dimensional direction space movement of the mechanical arm, the seedling taking clamp jaw and the seedling gathering mechanism can be driven to the specified seedling hole position, different plug tray sizes can be adapted, and accurate hole positioning can be completed; the seedling gathering mechanism can gather the seedling plants in the seedling hole center after completing the hole positioning, realizes center positioning, and ensures accurate clamping of the seedling taking clamp jaw;

[0040] (2) Precise positioning of seedlings is the key starting link of full-automatic grafting, which is directly related to the improvement of subsequent grafting success rate, and can greatly promote the automatic grafting process of solanaceous vegetables. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is the structure diagram of the device of the utility model;

[0042] Figure 2 is the structure diagram of the mechanical arm;

[0043] Figure 3 is the first structure diagram of the seedling gathering mechanism;

[0044] Figure 4 is the second structure diagram of the seedling gathering mechanism;

[0045] Figure 5 is the structure diagram of the seedling taking clamp jaw and seedling gathering structure.

[0046] In the figure: 1 plug tray; 2 seedling gathering mechanism; 3 seedling taking clamp jaw; 4 mechanical arm; 5 tray conveying motor; 6 plug tray conveying belt; 7 rack; 8 pair of light-sensing photoelectric sensors; 9 vertical drive motor; 10 horizontal sliding block; 11 vertical sliding block; 12 horizontal screw sliding table; 13 vertical screw sliding table; 14 horizontal drive motor; 15 longitudinal drive motor; 16 longitudinal screw sliding table; 17 longitudinal sliding block; 18 automatic connecting rod; 19 seedling gathering jaw connecting piece; 20 seedling gathering jaw; 2001 recess; 2002 guide inclined surface; 21 servo motor; 22 seedling gathering mechanism connecting frame; 23 rotating connecting rod; 24 rotating drive part; 25 fixed groove block; 26 first clamp jaw; 27 second clamp jaw; 28 connecting rod; 29 clamp jaw connecting frame. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned purposes, features and advantages of the utility model more apparent and easy to understand, the specific embodiments of the utility model will be described in detail below with reference to the drawings.

[0048] In the following description, specific details are set forth in order to provide a thorough understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the utility model. Therefore, the utility model is not limited by the specific embodiments disclosed below.

[0049] In the work of grafting solanaceous vegetables, two space positioning devices are usually needed, and the two space positioning devices are respectively located at two sides of the grafting position, one of the space positioning devices is used for positioning and clamping the scion, and the other space positioning device is used for positioning and clamping the stock. Through the two devices, the scion and the stock can be accurately clamped to the grafting position respectively, so that the accurate butt joint between the scion and the stock is realized.

[0050] As shown in Figure 1 The space positioning device for grafting solanaceous vegetables comprises a rack 7, the rack 7 is provided with a plug tray conveying belt 6, a plug tray 1 is placed on the plug tray conveying belt 6, and the plug tray 1 is conveyed to a specified position through the plug tray conveying belt 6. The rack 7 is also provided with a mechanical arm 4, the mechanical arm 4 is provided with a seedling clamping jaw 3 and a seedling gathering mechanism 2 at one end of the mechanical arm 4. The mechanical arm 4 can realize the movement of the seedling clamping jaw and the seedling gathering mechanism in the horizontal direction, the vertical direction and the vertical direction, so as to drive the seedling clamping jaw and the seedling gathering mechanism to move to the seedling to be clamped. The seedling gathering mechanism 2 realizes the gathering of the seedling, and the seedling is gathered to the center of the seedling gathering mechanism; and the seedling clamping jaw 3 realizes the clamping of the seedling.

[0051] When the stock and the scion are clamped, the positions of the seedling gathering mechanism and the seedling clamping jaw are different. When the positioning device is used for positioning and clamping the scion, the seedling gathering mechanism 2 is located below the seedling clamping jaw 3; and when the positioning device is used for positioning and clamping the stock, the seedling gathering mechanism 2 is located above the seedling clamping jaw 3. Therefore, the positioning device in the embodiment realizes the positioning and clamping of the scion.

[0052] The rack 7 is provided with a tray conveying motor 5, and the tray conveying motor 5 drives the plug tray conveying belt 6 to move in the action process. The connection mode between the tray conveying motor 5 and the plug tray conveying belt 6 can adopt the related structure form in the existing belt transmission, and therefore the application will not be described herein. The rack 7 is also provided with a light barrier photoelectric sensor 8, and the plug tray conveying belt 6 conveys the plug tray 1 to the seedling taking position in the movement process of the plug tray conveying belt 6 driven by the tray conveying motor 5. When the plug tray 1 moves to the position of the light barrier photoelectric sensor 8, the seedling on the plug tray 1 will block the light beam continuously emitted from the emitter to the receiver of the light barrier photoelectric sensor, at this time, the change of the optical signal will be converted into the change of the electrical signal, so as to trigger the tray conveying motor 5 to stop the action. At this time, the first row of seedlings of the plug tray 1 is accurately stopped at the seedling taking position.

[0053] The mechanical arm, the seedling clamping jaw and the seedling gathering mechanism connected with the mechanical arm are all located above the plug tray conveying belt 6. As shown in Figure 2The mechanical arm comprises a transverse driving mechanism, a longitudinal driving mechanism and a vertical driving mechanism. The transverse driving mechanism is arranged on the rack 7, the vertical driving mechanism is arranged on the transverse driving mechanism, and the longitudinal driving mechanism is arranged on the vertical driving mechanism. The transverse movement of the seedling taking clamp jaw and the seedling gathering mechanism is realized through the transverse driving mechanism. The vertical movement of the seedling taking clamp jaw and the seedling gathering mechanism is realized through the vertical driving mechanism. The longitudinal movement of the seedling taking clamp jaw and the seedling gathering mechanism is realized through the longitudinal driving mechanism. The seedling taking clamp jaw and the seedling gathering mechanism are driven to the hole of the plug tray through the movement of the mechanical arm.

[0054] The transverse driving mechanism comprises a transverse fixed plate, a transverse sliding block 10, a transverse screw sliding table 12 and a transverse driving motor 14. The transverse fixed plate is located above the plug tray conveying belt 6, and the transverse fixed plate is fixedly connected with the rack 7. The transverse fixed plate supports the whole transverse driving mechanism. The transverse screw sliding table 12 is fixed on the transverse fixed plate, and the transverse sliding block 10 is arranged above the transverse screw sliding table 12. The vertical driving mechanism is arranged on the transverse sliding block 10. The transverse screw sliding table 12 and the transverse sliding block 10 are in sliding connection, and the transverse sliding block 10 and the transverse screw sliding table 12 slide relative to each other through screw transmission.

[0055] Specifically, a transverse ball screw is arranged in the transverse screw sliding table 12. The transverse ball screw is in transmission connection with the output end of the transverse driving motor 14. During the working process of the transverse driving motor 14, the transverse ball screw is driven to rotate. A threaded hole is arranged in the transverse sliding block 10. The threaded hole is sleeved on the outer side of the transverse ball screw, and the inner thread of the transverse sliding block and the outer thread of the transverse ball screw are in meshing connection. Therefore, during the rotation of the transverse ball screw, the transverse sliding block 10 is driven to reciprocate along the axial direction of the transverse ball screw through the thread meshing, and the seedling taking clamp jaw and the seedling gathering mechanism are driven to reciprocate by the transverse sliding block 10, so as to realize the transverse movement of the seedling taking clamp jaw and the seedling gathering mechanism.

[0056] The vertical driving mechanism comprises a vertical fixed plate, a vertical sliding block 11, a vertical screw sliding table 13 and a vertical driving motor 9. The vertical fixed plate is fixed on the transverse sliding block 10, and the vertical fixed plate supports the whole vertical driving mechanism. The vertical screw sliding table 13 is fixed on the side of the vertical fixed plate away from the seedling gathering mechanism. The vertical sliding block 11 is arranged on the side of the vertical screw sliding table 13 facing the seedling gathering mechanism. The longitudinal driving mechanism is arranged on the vertical sliding block 11. The vertical screw sliding table 13 and the vertical sliding block 11 are in sliding connection, and the vertical sliding block 11 and the vertical screw sliding table 13 slide relative to each other through screw transmission.

[0057] Specifically, the vertical ball screw is arranged in the vertical screw sliding table 13, the vertical ball screw is in transmission connection with the output end of the vertical driving motor 9, and the vertical driving motor 9 drives the vertical ball screw to rotate in the working process. The vertical sliding block 11 is provided with a threaded hole, the threaded hole is sleeved outside the vertical ball screw, and the internal thread of the vertical sliding block is in mesh with the external thread of the vertical ball screw. Therefore, in the rotating process of the vertical ball screw, the vertical sliding block 11 is driven to move reciprocatingly along the axial direction of the vertical ball screw through the thread meshing, and meanwhile, the vertical sliding block 11 drives the seedling taking clamp and the seedling gathering mechanism to move reciprocatingly, so that the vertical movement of the seedling taking clamp and the seedling gathering mechanism is realized.

[0058] The longitudinal driving mechanism includes a longitudinal fixed plate, a longitudinal sliding block 17, a longitudinal screw sliding table 16 and a longitudinal driving motor 15. The longitudinal fixed plate is fixed on the vertical sliding block 11, and the longitudinal fixed plate supports the whole longitudinal driving mechanism. The longitudinal fixed plate is fixed with the longitudinal screw sliding table 16 on the bottom surface, the longitudinal screw sliding table 16 is provided with the longitudinal sliding block 17 towards the bottom surface of the plug plate, the longitudinal screw sliding table 16 and the longitudinal sliding block 17 are in sliding connection, and the longitudinal sliding block 17 and the longitudinal screw sliding table 17 slide relatively through the screw transmission. The seedling taking clamp and the seedling gathering mechanism are arranged on the longitudinal sliding block 17.

[0059] Specifically, the longitudinal ball screw is arranged in the longitudinal screw sliding table 16, the longitudinal ball screw is in transmission connection with the output end of the longitudinal driving motor 15, and the longitudinal driving motor 15 drives the longitudinal ball screw to rotate in the working process. The longitudinal sliding block 17 is provided with a threaded hole, the threaded hole is sleeved outside the longitudinal ball screw, and the internal thread of the longitudinal sliding block is in mesh with the external thread of the longitudinal ball screw. Therefore, in the rotating process of the longitudinal ball screw, the longitudinal sliding block 17 is driven to move reciprocatingly along the axial direction of the longitudinal ball screw through the thread meshing, and meanwhile, the longitudinal sliding block 17 drives the seedling taking clamp and the seedling gathering mechanism to move reciprocatingly, so that the longitudinal movement of the seedling taking clamp and the seedling gathering mechanism is realized.

[0060] The seedling taking clamp is connected with the longitudinal sliding block 17 through the connecting rod 28: one end of the connecting rod 28 is fixedly connected with the bottom surface of the longitudinal sliding block 17, and the other end of the connecting rod 28 is connected with the seedling taking clamp.

[0061] As Figure 5As shown, the seedling taking clamp jaw includes a clamp jaw connecting frame 29, one side of the clamp jaw connecting frame 29 is provided with a fixed groove block 25, a sliding groove is arranged in the fixed groove block 25, and two symmetrically arranged clamp jaws are arranged in the sliding groove and are slidably arranged in the sliding groove. In the embodiment, the two symmetrically arranged clamp jaws are respectively a first clamp jaw 26 and a second clamp jaw 27. In the application, the reciprocating motion of the two clamp jaws can be realized by a motor, and the motor is connected with a control system. Through the control system, not only the action of the motor can be controlled, but also the reciprocating motion range of the clamp jaw can be determined, so that the center position between the two clamp jaws is kept at a fixed position, that is, the position of the clamping center is kept unchanged.

[0062] As shown in Figure 3 and Figure 4 As shown, the seedling taking mechanism includes a seedling taking mechanism connecting frame 22, a seedling taking claw 20, and a servo motor 21. The servo motor 21 is fixed on the seedling taking mechanism connecting frame 22, and the two seedling taking claws 20 are rotationally connected with the seedling taking mechanism connecting frame 22. During the action of the servo motor 21, the two symmetrically arranged seedling taking claws 20 can be driven to expand outward or tighten inward, and the seedling taking action can be completed when the two seedling taking claws 20 tighten inward. The clamp jaw connecting frame 29 is fixedly arranged on the top surface of the seedling taking mechanism connecting frame 22.

[0063] The seedling taking mechanism includes two seedling taking claws 20. One end of the seedling taking claw 20 is rotationally connected with the seedling taking mechanism connecting frame 22, and the other end of the seedling taking claw 20 is provided with a groove 2001. When the two seedling taking claws are in a closed state, the free ends of the two seedling taking claws form a closed seedling taking space. The seedling taking claw in the embodiment includes a first seedling taking claw and a second seedling taking claw. One end of each of the two seedling taking claws is rotationally connected with the seedling taking mechanism connecting frame 22. The free end of the first seedling taking claw and the free end of the second seedling taking claw are each provided with a groove. The groove of the first seedling taking claw is provided with a slope at one side of the connecting frame, and the groove of the corresponding second seedling taking claw is also provided with a slope at one side of the connecting piece. The slope of the first seedling taking claw and the slope of the second seedling taking claw are mutually fitted, so as to form a closed seedling taking space at the free end of the first seedling taking claw and the free end of the second seedling taking claw.

[0064] Meanwhile, the end of the free end of the two seedling taking claws 20 is provided with a guide slope 2002, and the guide slopes 2002 of the two seedling taking claws are symmetrically arranged. The distance between the two guide slopes towards the connecting frame is less than the distance between the two guide slopes away from the connecting frame. By arranging the guide slope, it is convenient to guide the seedling into the seedling taking space formed by the two seedling taking claws.

[0065] The output shaft of the servo motor 21 is in transmission connection with a rotary driving piece 24, the other end of the rotary driving piece 24 is hinged with one end of a rotary connecting rod 23, and the other end of the rotary connecting rod 23 is hinged with a straight driving rod 18. The other end of the straight driving rod 18 is connected with the middle part of the seedling taking claws on the two sides through a seedling taking claw connecting piece 19.

[0066] In this embodiment, the direct-acting connecting rod 18 is slidably arranged in the slide groove of the seedling gathering mechanism connecting frame 22, and the slide groove limits the direct-acting connecting rod 18, so that the direct-acting connecting rod 18 can only move linearly in the slide groove.

[0067] During the operation of the servo motor 21, the rotating driving member 24 is driven to rotate. The rotating driving member 24 drives the rotating connecting rod 23 to swing, and the rotating connecting rod 23 swings while driving the direct-acting connecting rod 18 to move linearly in the slide groove. When the direct-acting connecting rod 18 moves towards the servo motor 21, the two seedling gathering claws 20 on the two sides are pulled inwards by the seedling gathering claw connecting member 19, at this time, the seedling gathering claws 20 are rotated inwards around the rotating connection point between the seedling gathering claws 20 and the connecting frame 22, so that the two seedling gathering claws are closed, and the seedlings are gathered to the center. When the direct-acting connecting rod 18 moves away from the servo motor 21, the two seedling gathering claws 20 on the two sides are pushed outwards by the seedling gathering claw connecting member 19, at this time, the seedling gathering claws 20 are rotated outwards around the rotating connection point between the seedling gathering claws 20 and the connecting frame 22, so that the two seedling gathering claws are opened.

[0068] In this application, the seedling gathering mechanism adopts a mechanical mechanism, and the center position in the seedling gathering process is determined. The seedling taking center of the seedling taking clamp is determined by the control system, so this application can ensure that the seedling gathering center position of the seedling gathering mechanism is completely aligned with the seedling taking center position. After the two seedling gathering claws are closed, the seedlings can be positioned to the clamping center of the seedling taking clamp, and the center positioning of the seedlings is completed.

[0069] The working principle of the device is described as follows. First, the motion law parameters of the mechanical arm 4 are adjusted in advance according to the number of rows and columns of the plug tray 1 and the length and width specifications of a single hole, including the working parameters of the vertical driving motor 9, the horizontal driving motor 14 and the longitudinal driving motor 15, to realize three-dimensional space motion of different requirements to adapt to plug trays 1 of different specifications.

[0070] When working, the plug tray 1 is placed on the plug tray conveying belt 6, the tray conveying motor 5 is rotated, and the plug tray conveying belt 6 quickly advances to convey the plug tray 1 to the seedling taking position. When the first row of seedlings reaches the position of the light emitting and receiving sensor 8 at the seedling taking position, the seedlings will block the light beam continuously emitted from the emitter to the receiver of the sensor. At this time, the change of the optical signal will be converted into the change of the electrical signal, so as to trigger the tray conveying motor 5 to stop working, and the first row of seedlings will be accurately stopped at the seedling taking position, and the "row" positioning is completed.

[0071] Subsequently, the mechanical arm 4 carrying the seedling gathering mechanism 2 starts to move: the vertical driving motor 9 drives the vertical sliding block 11 to complete the Z-axis movement along the vertical screw sliding table 13, the horizontal driving motor 14 drives the horizontal sliding block 10 to complete the X-axis movement along the horizontal screw sliding table 12, and the longitudinal driving motor 15 drives the longitudinal sliding block 17 to complete the Y-axis movement along the longitudinal screw sliding table 16, and the motion logic is realized according to the set motion logic to realize the positioning of a single hole from inside to outside, and the "hole" positioning is completed.

[0072] After each "hole" positioning is completed, the longitudinal driving motor 15 rotates again to push the seedling gathering mechanism 2 to the seedling direction by a certain distance, at this time the seedling is guided into the seedling gathering space formed by the two seedling gathering claws through the guide inclined surface 2002 of the seedling gathering claw, the servo motor 21 rotates to drive the two seedling gathering claws 20 to close inward, and the center of the closed seedling gathering claws is on the same vertical line with the clamping center of the seedling clamping claw 3, so that the seedling gathering claws 20 can position the seedling to the clamping center after closing to complete the "center" positioning of the seedling.

[0073] After the mechanical arm 4 completes the seedling gathering of a row of seedlings according to the movement logic, the emitter and the receiver of the light emitting and receiving sensor 8 are not blocked by the seedlings, the change of the light signal is converted into the change of the electric signal again, so as to drive the take-up motor 5 to rotate, and when the next row of seedlings enters the seedling gathering position of the light emitting and receiving sensor 8 again, the above seedling positioning and gathering process is repeated to position and gather the next row of seedlings, until the positioning and gathering of the whole tray of seedlings are completed.

[0074] The space positioning device described in the embodiment realizes the positioning and gathering of the scion to the specified position. In the process of completing the grafting of the solanaceous vegetables, a second space positioning device is also needed to realize the positioning and gathering of the stock. In this process, the accurate positioning and gathering of the scion and the stock are completed through the above row positioning, hole positioning and center positioning, so that the scion and the stock can be accurately gathered to the specified position and the butt joint between the scion and the stock is realized at the specified position, and the accuracy of the grafting is improved.

[0075] The space positioning device for the grafting of the solanaceous vegetables is described in detail above. The principle and implementation mode of the utility model are described by applying specific examples in this paper, and the above embodiment is only used to help understand the method and core idea of the utility model. It should be pointed out that the utility model can be improved and modified by the ordinary skilled in the art without departing from the principle of the utility model, and these improvements and modifications also fall within the protection scope of the utility model claims. The above description of the disclosed embodiments enables the person skilled in the art to implement or use the utility model. Various modifications of these embodiments will be obvious to the person skilled in the art, and the general principle defined in this paper can be realized in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to these embodiments shown in this paper, but will conform to the widest scope consistent with the principles and novel features disclosed in this paper.

Claims

1. A spatial positioning device for grafted solanaceous vegetables, characterized in that, The utility model relates to a seedling taking device, which comprises a plug tray conveying belt, a plug tray is arranged on the plug tray conveying belt, the plug tray conveying belt drives the plug tray to move to a seedling taking position, a pair of light barriers are arranged outside the plug tray conveying belt at the seedling taking position; a mechanical arm is arranged above the plug tray conveying belt to realize the horizontal, vertical and longitudinal movement of a seedling gathering mechanism and a seedling taking clamp; the seedling gathering mechanism is arranged above or below the seedling taking clamp, and the seedling gathering mechanism and the seedling taking clamp are connected with the mechanical arm, and the centers of the seedling gathering mechanism and the seedling taking clamp are on the same vertical line. The plug tray conveying belt is arranged on a rack, and a plug tray conveying belt is driven to move by a plug tray conveying motor, and a pair of light barriers are arranged on the rack corresponding to the seedling taking position.

2. The spatial positioning device for grafted solanaceous vegetables according to claim 1, wherein The mechanical arm comprises a horizontal driving mechanism, a vertical driving mechanism and a longitudinal driving mechanism, the horizontal driving mechanism is connected with the rack, one end of the vertical driving mechanism is connected with the horizontal driving mechanism, and the other end of the vertical driving mechanism is connected with the longitudinal driving mechanism, and the seedling gathering mechanism and the seedling taking clamp are connected with the longitudinal driving mechanism.

3. The spatial positioning device for grafted solanaceous vegetables according to claim 1, wherein The horizontal driving mechanism comprises a horizontal fixed plate which is arranged above the rack and is fixedly connected with the rack and is arranged along the conveying direction perpendicular to the plug tray conveying belt, a horizontal screw sliding table which is fixed on the horizontal fixed plate, a horizontal driving motor whose output shaft is in transmission connection with a horizontal ball screw, and the horizontal ball screw is in rotation connection with the horizontal screw sliding table, and a horizontal sliding block whose internal thread is in thread engagement with the horizontal ball screw.

4. The spatial positioning device for grafted solanaceous vegetables according to claim 3, wherein The vertical driving mechanism comprises a vertical fixed plate which is fixedly connected with the horizontal sliding block and is arranged along the vertical direction, a vertical screw sliding table which is fixed on the vertical fixed plate, a vertical driving motor whose output shaft is in transmission connection with a vertical ball screw, and the vertical ball screw is in rotation connection with the vertical screw sliding table, and a vertical sliding block whose internal thread is in thread engagement with the vertical ball screw. The longitudinal driving mechanism comprises a longitudinal fixed plate which is fixedly connected with the vertical sliding block and is arranged along the conveying direction parallel to the plug tray conveying belt, a longitudinal screw sliding table which is fixed on the longitudinal fixed plate, a longitudinal driving motor whose output shaft is in transmission connection with a longitudinal ball screw, and the longitudinal ball screw is in rotation connection with the longitudinal screw sliding table, and a longitudinal sliding block whose internal thread is in thread engagement with the longitudinal ball screw, and the seedling taking clamp and the seedling gathering mechanism are connected with the longitudinal sliding block. The seedling gathering mechanism comprises a servo motor which is arranged on a seedling gathering mechanism connecting frame and is connected with a rotary driving part through an output shaft, two seedling gathering claws which are hingedly connected with the connecting frame at one end, and the free ends of the two seedling gathering claws form a seedling gathering space, and the middle parts of the seedling gathering claws are connected with the rotary driving part through a connecting rod mechanism. The connecting rod mechanism comprises a rotary connecting rod which is hingedly connected with the rotary driving part at one end and is hingedly connected with a straight motion connecting rod at the other end, and the straight motion connecting rod is arranged in a sliding groove of the seedling gathering mechanism connecting frame, converts the swing of the rotary connecting rod into reciprocating linear motion, and the end parts are respectively connected with the middle parts of the seedling gathering claws through seedling gathering claw connecting pieces. The opposite surfaces of the two seedling gathering claws are respectively provided with grooves, and the grooves of the two seedling gathering claws completely fit between the side walls of the connecting frame, so that the seedling gathering space is formed between the two seedling gathering claws.

5. The spatial positioning device for grafted solanaceous vegetables according to claim 3, wherein ​ ​ ​ ​ ​ 6. The spatial positioning device for grafted solanaceous vegetables of claim 3, wherein, ​ ​ ​ ​ ​ 7. The spatial positioning device for grafted solanaceous vegetables of claim 1, wherein, ​ ​ ​ 8. The spatial positioning device for grafted solanaceous vegetables according to claim 7, wherein ​ ​ ​ 9. The spatial positioning device for grafted solanaceous vegetables of claim 7, wherein, ​ The end of the free end of the seedling gathering claw is provided with an inclined guide slope, and the guide slopes of the two seedling gathering claws are symmetrically arranged, and the distance between the end of the guide slope of the two seedling gathering claws facing the connecting frame is greater than the distance between the end of the guide slope of the two seedling gathering claws away from the connecting frame.

10. The spatial positioning device for grafted solanaceous vegetables of claim 1, wherein, The seedling taking clamp jaw comprises: A fixed groove block is internally provided with a sliding groove; Two symmetrically arranged clamp jaws are slidably arranged in the sliding groove.

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