CN102918959A - Large-seed directional seeding device - Google Patents
Large-seed directional seeding device Download PDFInfo
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- CN102918959A CN102918959A CN2012105116664A CN201210511666A CN102918959A CN 102918959 A CN102918959 A CN 102918959A CN 2012105116664 A CN2012105116664 A CN 2012105116664A CN 201210511666 A CN201210511666 A CN 201210511666A CN 102918959 A CN102918959 A CN 102918959A
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Abstract
The invention relates to a large-seed directional seeding device, comprising an operating platform, a conveying mechanism, a seedling disc, a hole pressing mechanism, a camera shooting detection mechanism, a seeding mechanism, a seed box, a guide plate, a direction adjusting mechanism, a correcting mechanism and a control box, wherein the operating platform comprises a rack and an operating platform surface; the conveying mechanism, the hole pressing mechanism, the camera shooting detection mechanism, a seed absorbing mechanism, the direction adjusting mechanism and the correcting mechanism are connected with a control system in the control box; and the camera shooting detection mechanism is a computer which is externally connected with the control system in the control box and is internally equipped with image processing software. According to the large-seed directional seeding device provided by the invention, a sensor accurately detects and feeds back a working process, a conveying speed is controlled by virtue of frequency modulation of a stepping motor, bidirectional throttle valves and one-way throttle valves are adopted for regulating speed during the reciprocating motion of a hole pressing cylinder and a correcting cylinder and a gas collecting tube connecting suction needle motion, and directional planting with consistent germination point orientation after planting is realized.
Description
Technical field
The present invention relates to a kind of directed sower, relate in particular to a kind ofly for automatic grafting machine provides the large seed directional seeder of standardization seedling, belong to accurate agricultural machinery technological field.
Background technology
Because grafting can overcome the continuous cropping obstacle of crop, improve crop yield, in recent years, graft technology is widely used in facility cultivation, and wide technology application prospect is arranged.In order to improve the efficient of vegetable grafting, alleviate simultaneously workman's labour intensity, constantly studying for the automation of grafting both at home and abroad.Although the grafting process has realized automation, some grafting method, pith-cambium grafting method for example, grafting machine has certain direction requirement to the seedling cotyledon direction during grafting, and grafting machine still adopts artificial mode for seedling mostly at present, and efficient is very low.The production standard seedling realizes that the automatic confession seedling of automatic grafting machine becomes a kind of active demand in the present industrialized agriculture.
Research factorial seedling growth machinery, the time that abroad begins one's study is more morning than domestic, the precision sower investigative technique is very ripe, but mostly for small-sized seed, that is that all right is ripe in research for large seed.The research of Japan aspect the large seed sowing is the most ripe, can realize that seed long axis direction deviation is not more than the sowing of 30o, but a place direction that can not guarantee to sprout towards.Domestic starting late, that is that all right is ripe for technology, and especially the research for the implanted device of large seed is started in nearly 2 years, only utilizes mechanical type to sow, and same the existence sprouts a little towards the situation that can not be consistent.In recent years, some R﹠D institutions have also carried out the correlative study of precision drilling, and still domestic research for large seed precision drilling aspects such as pumpkins is less, payes attention to not enough.And for the employed melon of grafting section stock, use all be large seed.Thereby, sow for the development of large seed implanted device and to be necessary.
Summary of the invention
The object of the present invention is to provide a kind of large seed directional seeder, be exactly to sow at 5 ~ 15cm seed for picture pumpkin, corn, soybean equal length specifically, it solves large seed and after planting sprouts a little towards inconsistent problem, for automatic grafting machine is supplied with the condition that provides at grafting during Young young plant leaf by specific direction.
The present invention solves the technical scheme that its technical problem takes:
A kind of large seed directional seeder comprises workbench, conveying mechanism, seedling dish, pressure cave mechanism, image pick-up detection mechanism, suction kind mechanism, plants case, guide plate, adjusted device, straightening mechanism and control cabinet,
Its special character is: described workbench comprises frame and work top; Workflow by streamline on the described frame is fixed with respectively pressure cave mechanism, image pick-up detection mechanism, adjusted device, suction kind mechanism, plants case, straightening mechanism; The below of described work top is provided with control cabinet;
Described conveying mechanism, press cave mechanism, image pick-up detection mechanism, suction kind mechanism, adjusted device, straightening mechanism all to be connected with the interior control system of control cabinet; The calculator that control system is external, image processing software is equipped with in inside in described image pick-up detection mechanism and the control cabinet.
Above-mentioned conveying mechanism comprises stepper motor, belt pulley, conveyer belt and guide plate; Described stepper motor is installed in workbench seedling dish output side, and described conveyer belt is arranged on the work top, is connected by belt pulley between described stepper motor and the conveyer belt, and described guide plate is arranged at the conveyer belt both sides, and its width can be adjusted.
Above-mentioned pressure cave mechanism comprises the photoelectric sensor that is arranged on the air cylinder support and presses the cave cylinder; The pressure cave ram head pedestal with chute is installed on piston rod top in the cylinder of described pressure cave, is provided with V-shaped ram head in the chute of described pressure cave ram head pedestal, and the quantity of described ram head and size are pressed the requirement adjustment in cave according to the seedling dish.
Above-mentioned suction kind mechanism comprises fixed support, full wind-up, servomotor, vacuum generator, discharge and suction spindle head; Described servomotor is placed in the fixed support upper end, and described full wind-up one end is connected with electric machine main shaft, and the other end connects the discharge that is connected with vacuum generator, and described discharge connects the suction spindle head of inhaling kind of usefulness; Described suction spindle head relies on full wind-up, under the effect of servomotor, go out kind of groove from kind of a case and inhale kind and rotate to adjusted device and enter the guide plate position and put kind.
Above-mentioned image pick-up detection mechanism comprises photoelectric sensor and the camera that is installed on the worktable frame.
Above-mentioned adjusted device comprises into kind of a guide plate, directional plate, stepper motor and goes out kind of a guide plate; Describedly advance kind of guide plate and go out kind of guide plate to form external form like funnel device, described directional plate is placed on this external form like the funnel device inner neck portion, and is installed in outside stepper motor motor shaft and is connected; Described directional plate is realized rotating under electric machine main shaft drives.
Above-mentioned directional plate is the spill directional plate, the trans D of concave shaped space less than the major axis of seed greater than the minor axis of seed, long limit is not less than the major axis of seed longitudinally.
Above-mentioned straightening mechanism comprises the photoelectric sensor that is arranged on the air cylinder support and corrects cylinder; The reverse V-shaped ram head pedestal with chute is installed on piston rod top in the described rectification cylinder, and reverse V-shaped ram head is set in the chute of described reverse V-shaped ram head pedestal, and the quantity of described reverse V-shaped ram head and size are according to pressing the adjustment of cave ram head.
Control system in the above-mentioned control cabinet is single-chip microcomputer; Described calculator communicates by serial ports and single-chip microcomputer.
Above-mentioned camera utilizes the CMOS camera to carry out IMAQ.
The invention has the beneficial effects as follows:
This device adopts single-chip microcomputer to carry out integral body control, utilizes the CMOS camera to carry out IMAQ, and computer image processing technology is differentiated the seed direction.Sensor accurately detects feedback to the course of work, transporting velocity realizes by stepper motor frequency modulation, press cave cylinder, the reciprocating motion of rectification cylinder to be connected the motion of suction spindle head with discharge and adopt Double throttle check valve to carry out speed governing, realizing after planting sprouts a little sows towards concordant orientation.Production and the management that is beneficial to the standardization seedling is equipped with in the directed sowing of this large seed, for grafting machine provides precondition for seedling automatically, improves the production efficiency of growing seedlings with grafting.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is pressure of the present invention cave structure structural representation;
Fig. 3 is tuning structure structural representation of the present invention;
Fig. 4 is sowing structural representation of the present invention;
Fig. 5 is straightening mechanism structural representation of the present invention.
Drawing reference numeral explanation: 1-pressure cave mechanism, 2-image pick-up detection mechanism, 3-adjusted device, 4-inhale and plant a mechanism, 5-kind of case, 6-straightening mechanism, 7-guide plate, 8-conveyer belt, 9-belt pulley, 10-stepper motor, 11-control cabinet, 12-seedling dish, 13-V-type ram head, 15-photoelectric sensor, 16-ram head cylinder, 17-air cylinder support, 18-directional plate, 19-stepper motor, 20-advance kind of a guide plate, 21-go out kind of a guide plate, 23-camera, 24-discharge, 25-full wind-up, 26-servomotor, 27-suction spindle head, 29-fixed support, 30-reverse V-shaped ram head, 33-rectification cylinder.
Embodiment
Referring to Fig. 1, a kind of large seed directional seeder, form by pressing cave mechanism 1, image pick-up detection mechanism 2, adjusted device 3, suction to plant a mechanism 4, kind case 5, straightening mechanism 6, guide plate 7, control cabinet 11, seedling dish 12 etc., it is characterized in that: the workflow by streamline on the frame of workbench is fixed with respectively pressure cave mechanism 1, image pick-up detection mechanism 2, adjusted device 3, inhales and plant a mechanism 4, kind case 5, straightening mechanism 6.Control cabinet 11 is installed under work top.Conveying mechanism is comprised of stepper motor 10, belt pulley 9, conveyer belt 8, and stepper motor 10 is installed in workbench seedling dish 12 output sides, by belt pulley 9
Drive is installed in 8 transmissions of work top upper conveyor belt, and two adjustable guide plates 7 of width are arranged in conveyer belt 8 both sides, and seedling dish 12 is moved along work top in the width of guide plate 7 restrictions, enters each workflow.
Referring to Fig. 2, press in the cave mechanism 1, photoelectric sensor 15 and ram head cylinder 16 are arranged on the air cylinder support 17,15 pairs of conveyer belts 8 of photoelectric sensor are transported to presses the acupuncture point to put seedling dish 12 each kind acupuncture points of 1 to put and detect, and thereby the control systems that information passes in the control cabinet 11 are made feedback, ram head cylinder 16
The piston rod top is installed one and is beaten cave ram head pedestal 14 with chute, ram head 13 is installed in the chute of pedestal 14, the quantity of ram head 13 and size can be pressed according to seedling dish 12 the requirement adjustment in cave, press the degree of depth in cave to adjust by the journey controller on the air cylinder support.
Image pick-up detection mechanism 2 is comprised of the photoelectric sensor 22 and the camera 23 that are installed on the worktable frame.The effect of photoelectric sensor 22 is with pressing photoelectric sensor 15 effects in the mechanism of cave similar, seedling dish 12 each kind acupuncture points that conveyer belt 8 are transported to the sowing position are put and are detected, thereby and information is passed in the control cabinet 11 control system make feedback, seed position and direction in 23 pairs of tuning mechanisms 3 of camera on the directional plate 18 are carried out IMAQ, instruct the action of adjusted device 3.
Referring to Fig. 3, adjusted device 3 is by advancing kind of guide plate 20, directional plate 18, stepper motor 19 and go out kind of guide plate 21 to form, advance kind of guide plate 20 and go out kind of guide plate 21 and form external form like funnel device, directional plate 18 is placed on its inner neck portion, be connected with stepper motor 19 motor shafts that are installed in the outside, at electricity
Owner's axle drives the lower rotating that realizes, the camera 23 in the positioning shooting device 2 is by the upper opening directive directional plate 21 of adjusted device 3.
Referring to Fig. 4, inhaling kind of a mechanism 4 is comprised of discharge 24, full wind-up 25, servomotor 26, suction spindle head 27, fixed support 29, servomotor 26 is placed in fixed support 29 upper ends, full wind-up 25 1 ends are connected with servomotor 26 main shafts, the other end connects the discharge 24 that is connected with vacuum generator
And connecting the suction spindle head 27 of inhaling kind of usefulness by discharge 24, suction spindle head 27 relies on the full wind-ups 25 can be under the effect of servomotor 26, realizes that going out kind of groove from kind of case 5 inhales and kind rotate to adjusted device 3 and enter kind of guide plate 20 positions and put kind.
Referring to Fig. 5, in the straightening mechanism 6, photoelectric sensor 32 is arranged on the air cylinder support 34 and correct cylinder 33, seedling dish 12 each kind acupuncture points that 32 pairs of conveyer belts 8 of photoelectric sensor are transported to straightening mechanism 6 are put and are detected, and thereby the control systems that information passes in the control cabinet 11 are made feedback, correct cylinder 16
The V-type ram head pedestal 31 with chute is installed on the piston rod top, and V-type ram head 30 is installed in the chute of pedestal 31, and the quantity of V-type ram head 30 and size can be according to pressing cave ram head 13 to adjust.
Need the seedling dish 12 of sowing by the conveying mechanism on the workbench, under guide plate 7 guiding that width can be regulated according to seedling dish 12 sizes, enter each workflow along movable workbench, when the hole that the photoelectric sensor 15 on pressing cave mechanism 1 air cylinder support 17 detects seedling dish 12 moves under the ram head 13, control system transmitted signal in the control cabinet 11, control system is made a response after receiving information, at first stepper motor 10 being sent instruction stops operating it, thereby conveying mechanism quits work, and then sends out
Go out pulse signal control cylinder air-operated solenoid valve, make 16 motions of ram head cylinder, realize the pressure cave operation to each cave in the seedling dish 12, further lead in order to guide large seed.Seedling dish 12 presses the requirement in caves to be installed in the quantity of V-type ram head 13 in the chute of pedestal 14 and the journey controller on size and the air cylinder support 17 satisfies by adjustment.Pressed the seedling dish 12 in cave to move forward, when the photoelectric sensor 22 in the image pick-up detection mechanism 2 detects the hole of seedling dish 12, control system transmitted signal in the control cabinet 11, control system is made a response after receiving information, at first the stepper motor 10 of conveying mechanism being sent instruction stops operating it, thereby conveying mechanism quits work, then send the action of pulse signal control vacuum transmitter electronic valve, vacuumize, time-delay, suction spindle head 27 goes out kind of groove 28 from kind of case 5 and draws seed, each suction spindle head 27 is by seed of vacsorb, then control system is to being placed in servomotor 26 transmitteds on the fixed frame 29, what driven rotary arm 25 turned to adjusted device 3 enters kind of guide plate 20 positions, and the magnetic valve that connects jet in the vacuum generator is connected, the inflation of vacuum discharge, seed is injected and go out, and is slipped on the directional plate 18 by advancing kind of guide plate 20.Because the effect in the space at directional plate 18 places can only be placed by directional plate 18 long limit parallel directions the seed major axis.The seed that 23 pairs of cameras are slipped on the directional plate 18 carries out IMAQ, the image of the seed that the image processing techniques of utilizing calculator gathers camera 23 carries out gray scale to be processed, gray-scale map is being carried out binary conversion treatment, obtain the seed bianry image, then utilize bianry image to carry out the comparison of area, thereby obtain a seed position of sprouting.The seed directional information of the acquisition that calculator will obtain passes to control system by serial communication with directional information, control system is controlled stepper motor 19 according to the seed directional information, realize directional plate 18 rotatings, and then can make seed vertically enter out kind of gathering sill 21, through going out the guide effect of kind of gathering sill 21, can make seed fall into seedling dish 12 via going out kind of a mouth slowly, finish a direction concordant orientation seeding process of sprouting after the large seed seeding.Finishing the seedling dish of planting moves forward, in the time of under the hole that the photoelectric sensor 32 on straightening mechanism 6 air cylinder supports 34 detects seedling dish 12 moves to reverse V-shaped ram head 30, control system transmitted signal in the control cabinet 11, control system is made a response after receiving information, at first stepper motor 10 being sent instruction stops operating it, thereby conveying mechanism quits work, then send pulse signal control cylinder air-operated solenoid valve, rectification cylinder 33 is moved downward, the reverse V-shaped ram head 30 in its top will be inserted and finish in the seedling dish soil of planting, the cave opening size of being pressed because of seedling dish soil is less than reverse V-shaped ram head 30 opening sizes, along with reverse V-shaped ram head 30 is inserted the soil depth increase, seedling dish soil is piled up to the hole under the effect of reverse V-shaped ram head 30 power, seed is produced extruding, the effect of twice in hole soil of seed extruding is moved to the tram, and a seed direction of sprouting is basically identical in the seedling dish of realizing finishing kind.
This device adopts single-chip microcomputer to carry out integral body control, utilizes CMOS camera 23 to carry out IMAQ, and computer image processing technology is differentiated the seed direction.By serial ports calculator and single-chip microcomputer are communicated, thereby the information of image processing and the control of adjusted device are combined.Sensor accurately detects feedback to the course of work, transporting velocity realizes by stepper motor 10 frequency modulation, press cave cylinder 16, correct cylinder 33 and move back and forth to be connected with discharge and connect 27 motions of suction spindle head and adopt Double throttle check valves to carry out speed governing, a direction concordant orientation sowing realizes after planting sprouting.This large seed directional seeder is conducive to production and the management of standardization seedling, for grafting machine provides precondition for seedling automatically, improves the production efficiency of growing seedlings with grafting.
Claims (10)
1. a large seed directional seeder comprises workbench, conveying mechanism, seedling dish, pressure cave mechanism, image pick-up detection mechanism, suction kind mechanism, plants case, guide plate, adjusted device, straightening mechanism and control cabinet,
It is characterized in that: described workbench comprises frame and work top; Workflow by streamline on the described frame is fixed with respectively pressure cave mechanism, image pick-up detection mechanism, adjusted device, suction kind mechanism, plants case, straightening mechanism; The below of described work top is provided with control cabinet;
Described conveying mechanism, press cave mechanism, image pick-up detection mechanism, suction kind mechanism, adjusted device, straightening mechanism all to be connected with the interior control system of control cabinet; The calculator that control system is external, image processing software is equipped with in inside in described image pick-up detection mechanism and the control cabinet.
2. described large seed directional seeder according to claim 1, it is characterized in that: described conveying mechanism comprises stepper motor, belt pulley, conveyer belt and guide plate; Described stepper motor is installed in workbench seedling dish output side, and described conveyer belt is arranged on the work top, is connected by belt pulley between described stepper motor and the conveyer belt, and described guide plate is arranged at the conveyer belt both sides, and its width can be adjusted.
3. described large seed directional seeder according to claim 1, it is characterized in that: described pressure cave mechanism comprises the photoelectric sensor that is arranged on the air cylinder support and presses the cave cylinder; The pressure cave ram head pedestal with chute is installed on piston rod top in the cylinder of described pressure cave, is provided with V-shaped ram head in the chute of described pressure cave ram head pedestal, and the quantity of described ram head and size are pressed the requirement adjustment in cave according to the seedling dish.
4. described large seed directional seeder according to claim 1 is characterized in that: described suction kind mechanism comprises fixed support, full wind-up, servomotor, vacuum generator, discharge and suction spindle head; Described servomotor is placed in the fixed support upper end, and described full wind-up one end is connected with electric machine main shaft, and the other end connects the discharge that is connected with vacuum generator, and described discharge connects the suction spindle head of inhaling kind of usefulness; Described suction spindle head relies on full wind-up, under the effect of servomotor, go out kind of groove from kind of a case and inhale kind and rotate to adjusted device and enter the guide plate position and put kind.
5. described large seed directional seeder according to claim 1, it is characterized in that: described image pick-up detection mechanism comprises photoelectric sensor and the camera that is installed on the worktable frame.
6. described large seed directional seeder according to claim 1, it is characterized in that: described adjusted device comprises into kind of a guide plate, directional plate, stepper motor and goes out kind of a guide plate; Describedly advance kind of guide plate and go out kind of guide plate to form external form like funnel device, described directional plate is placed on this external form like the funnel device inner neck portion, and is installed in outside stepper motor motor shaft and is connected; Described directional plate is realized rotating under electric machine main shaft drives.
7. described large seed directional seeder according to claim 6, it is characterized in that: described directional plate is the spill directional plate, the trans D of concave shaped space less than the major axis of seed greater than the minor axis of seed, long limit is not less than the major axis of seed longitudinally.
8. described large seed directional seeder according to claim 1, it is characterized in that: described straightening mechanism comprises the photoelectric sensor that is arranged on the air cylinder support and corrects cylinder; The reverse V-shaped ram head pedestal with chute is installed on piston rod top in the described rectification cylinder, and reverse V-shaped ram head is set in the chute of described reverse V-shaped ram head pedestal, and the quantity of described reverse V-shaped ram head and size are according to pressing the adjustment of cave ram head.
9. arbitrary described large seed directional seeder according to claim 1～8 is characterized in that: the control system in the described control cabinet is single-chip microcomputer; Described calculator communicates by serial ports and single-chip microcomputer.
10. described large seed directional seeder according to claim 9, it is characterized in that: described camera utilizes the CMOS camera to carry out IMAQ.
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| CN104521380A (en) * | 2014-12-16 | 2015-04-22 | 青岛农业大学 | Directional seeding system and directional seeding method for corns |
| CN105512719A (en) * | 2016-02-01 | 2016-04-20 | 江峰 | Automatic seed counting machine |
| CN105594336A (en) * | 2014-11-19 | 2016-05-25 | 天津富康农业开发有限公司 | Seed selection apparatus |
| CN105611150A (en) * | 2015-12-17 | 2016-05-25 | 北京农业智能装备技术研究中心 | Seed direction adjustment device, system and method |
| WO2016078022A1 (en) * | 2014-11-19 | 2016-05-26 | 天津富康农业开发有限公司 | Directional corn seeder |
| CN105961037A (en) * | 2016-04-27 | 2016-09-28 | 西北农林科技大学 | Multi-seedling appearance characteristic continuous detection device |
| CN107336977A (en) * | 2017-07-11 | 2017-11-10 | 成都宇亨工业制造有限公司 | One seedling stem class crop-planting machine transports reshaping structure |
| CN109640627A (en) * | 2016-07-19 | 2019-04-16 | 安莎种子公司 | For sowing the method and seeder of single seed in seed position |
| CN109688793A (en) * | 2016-07-14 | 2019-04-26 | 精密种植有限责任公司 | There is system, equipment and the method for the seed orientation of adjustable single row machine during sowing |
| CN109688792A (en) * | 2016-07-14 | 2019-04-26 | 精密种植有限责任公司 | For utilizing seed positioner seed orients in farmland system, equipment and method |
| CN109714947A (en) * | 2016-07-14 | 2019-05-03 | 精密种植有限责任公司 | System, equipment and method for seed passive in farmland orientation |
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| WO2016078022A1 (en) * | 2014-11-19 | 2016-05-26 | 天津富康农业开发有限公司 | Directional corn seeder |
| CN104521380A (en) * | 2014-12-16 | 2015-04-22 | 青岛农业大学 | Directional seeding system and directional seeding method for corns |
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| CN109714947A (en) * | 2016-07-14 | 2019-05-03 | 精密种植有限责任公司 | System, equipment and method for seed passive in farmland orientation |
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