CN106538122A - A kind of supporting shoot transplanting equipment machine people of high-level cultivating and its control method - Google Patents
A kind of supporting shoot transplanting equipment machine people of high-level cultivating and its control method Download PDFInfo
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- CN106538122A CN106538122A CN201611055036.5A CN201611055036A CN106538122A CN 106538122 A CN106538122 A CN 106538122A CN 201611055036 A CN201611055036 A CN 201611055036A CN 106538122 A CN106538122 A CN 106538122A
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- vertically movable
- level cultivating
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- perforating head
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a kind of supporting shoot transplanting equipment machine people of high-level cultivating and its control method, are related to field of agricultural equipment.The robot is made up of moving cart, hole tray index(ing) feed unit, vertically movable unit, horizontal symmetrical moving cell, end effector, perforation unit.Horizontal feed of the rice shoot along moving cart direct of travel is completed by hole tray index(ing) feed unit, positioning, seedling taking and the conveying of end effector are realized by vertically movable unit and horizontal symmetrical moving cell, and then perforating head positioning and drilling operation are realized by vertically movable unit and card punch horizontal mobile mechanism, and the detection realization punching severity control and the feedback of cultivation bed actual height by the resistance that punches, complete to put seedling finally according to the cultivation bed actual height fed back.Punching is realized and coordination and the precise match for putting seedling by the transmission on single screw and active displacement, and by force feedback realize punching with put the automatic adaptation that seedling operation rises and falls to high-level cultivating bed height, so as to the supporting rice shoot for meeting high-level cultivating facility transplants needs automatically.
Description
Technical field
The present invention relates to field of agricultural equipment, the supporting shoot transplanting equipment machine people of more particularly to a kind of high-level cultivating and its control
Method.
Background technology
Shoot transplanting equipment is the key link of various crop production, and the intensity of the frequent repeated labor of labourer is big and time-consuming takes
Power, thus mechanization transplanting technology has earned widespread respect and applied, all kinds of rice seedling transplanter products and automatic bowl system
Occur in a large number and used in fruits and vegetables production.
High-level cultivating is that fruits and vegetables are planted on frame high-level cultivating bed from the ground, so as to realize Labor-saving and clear production
New ant algorithms, for high-level cultivating shoot transplanting equipment at present completely by manually completing.Existing transplanter and automatic bowl system
System is difficult to meet the shoot transplanting equipment special requirement towards high-level cultivating：
(1) deficiency of ground transplant apparatus
Wider semi-automatic transplanter is applied at present, by seedling separation is accomplished manually and seedling need to be thrown, and operation is nervous, loaded down with trivial details, quality
It is difficult to ensure card.Existing Automatic Transplanter scheme and equipment, such as the PF2R riding type all automatic vegetables tree-removers of Japan ocean horse and
PN1A vegetable transplanters (modified) etc. then realize automatic seedling separation and throw seedling, are automatically performed whole transplanting processes.But with ground
Cultivation is compared, high-level cultivating be on frame plant and overhead by limited space, seedling side is sent in the inclination of Automatic Transplanter
Formula is difficult to arrange or is completed with seedling taking and the mode of planting seedlings.For relatively large rice shoot, generally by the trench digging on ground-put seedling-cover
Soil completes plant, and in the substrate groove formed by non-woven fabrics or plastic film material on overhead, similar fashion cannot be fitted
With.
(2) deficiency of automatic bowl system
At present towards disk transplanting or the robot system to flowerpot transplanting is changed, such as VISSER companies of Holland, Australia
The automatic plug transplantation machine of TRANSPLANT companies, is fixed station posture mechanism, by for the stream between seed plate and cultivation seed plate
Waterline coordinating operation, and without the need for the movement of fuselage.Simultaneously as seedling cavities and the coordinate position standard criterion for planting seedling cavities,
For large-scale rice shoot generally using independent punching with planting mechanism completing, and transplant operation in the portable of high-level cultivating groove
In, this kind of mode cannot then ensure to punch and put the alignment of seedling.In addition, the construction error of high-level cultivating bed causes cultivation bed to exist
Certain height relief change, automatic bowl system do not possess the adaptability to cultivation bed height relief.
(3) deficiency of the supporting transplant apparatus of solid cultivation
Liu Jizhan etc. develops the rail mounted automation transplanting results one management equipment for pillar cultivation, possesses many caves
Disk rice shoot is carried and automatic disk-exchanging function, is capable of achieving the touring management to many cultivation columns, but which is directed to the specific machine of column
The arm-type transplanting mechanism of tool mainly solves vertical direction consecutive variations and action matching problem, and cannot meet the water of high-level cultivating bed
Flat continuous transplanting needs, and does not also possess punching functions.
The content of the invention
Transplanting problem of the rice shoot to high-level cultivating bed cannot be met for existing equipment and scheme, it is an object of the invention to
A kind of supporting shoot transplanting equipment machine people of high-level cultivating and its control method are provided, to realize tray seedling to bilateral high-level cultivating bed
Movable type automatically transplant operation.
In order to solve above technical problem, the concrete technical scheme that the present invention is adopted is as follows：
A kind of supporting shoot transplanting equipment machine people of high-level cultivating, it is characterised in that：Including by moving cart (1), hole tray interval
Feed unit (2), vertically movable unit (6), horizontal symmetrical moving cell (5), end effector (7) and perforation unit；Vertically
The frame of moving cell (6) is fixed on the car body of moving cart (1), the moving member and horizontal symmetrical of vertically movable unit (6)
The framework (14) of moving cell (5) is fixed, and the frame of hole tray index(ing) feed unit (2) is fixed on the car body of moving cart (1),
Hole tray (9) to be transplanted is placed horizontally on the mobile face of hole tray index(ing) feed unit (2), and end effector 7 is fixed on level
On the slide unit (13) of symmetric motion unit (5), perforation unit is by nut (22) and the two-way silk of horizontal symmetrical moving cell (5)
Thick stick (15) constitutes worm drive.
The perforation unit is by perforating head (3), stock (4), force snesor (10), card punch horizontal mobile mechanism (11) group
Into；Perforating head (3) is individually fixed in the two ends of force snesor (10) with stock (4), and stock (4) is fixed on card punch and moves horizontally
In mechanism (11)；
The card punch horizontal mobile mechanism (11) includes sliding bearing (17), thrust bearing (18), motor (19), active
Gear (20), driven gear (21), nut (22) and housing (23)；Housing (23) is connected with guide rod (16) by sliding bearing (17)
Connect, motor (19) is fixed on housing 23；Driving gear (20) is installed on the output shaft of motor (19), driven gear (21) and
Nut (22) is fixedly connected, and driven gear (21) and nut (22) are installed on housing (23) by thrust bearing (18), two-way
Leading screw (15) constitutes worm drive with nut (22), and driven gear (21) constitutes gear drive with driving gear (20).
According to a kind of control method of the described supporting shoot transplanting equipment machine people of high-level cultivating, it is characterised in that including following
Action step：
Step one, makes moving cart (1) into the passageway between two high-level cultivating beds (8)；
Step 2, causes moving cart (1) the passageway advance along between high-level cultivating bed (8) automatically by navigation；
Step 3, completes the interior rice shoot of hole tray (9) along moving cart (1) direct of travel using hole tray index(ing) feed unit (2)
Horizontal feed；
End effector (7) is positioned at by step 4 using vertically movable unit (6) and horizontal symmetrical moving cell (5)
Treat above seedling taking seedling in hole tray (9)；
Step 5, drives end effector (7) to move downward and grip in hole tray (9) by vertically movable unit (6)
Rice shoot；
Step 6, then, vertically movable unit (6) drives end effector (7) to carry picked up rice shoot straight up
Motion；
Step 7, in card punch horizontal mobile mechanism (11), is driven by driving gear (20) using motor (19) driven
Gear (21) and nut (22) synchronous axial system, drive perforating head by the screw-driven between two-way leading screw (15) and nut (22)
(3) edge moves horizontally, and perforating head (3) is positioned above the cultivation bed of high-level cultivating bed (8), the base that perforating head (3) is positioned
Quasi- height is H1；
Step 8, vertically movable unit (6) drive perforating head (3) to move straight down, realize to high-level cultivating bed (8)
The punching of matrix in cultivation bed；
Step 9, carries out beating for real-time detection vertical direction by the force snesor (10) between perforating head (3) and stock (4)
Hole resistance N, and judge whether punching resistance N has reached resistance threshold value N0；
Step 10, when punching resistance N is not reaching to resistance threshold value N0When, vertically movable unit (6) drive perforating head (3) after
It is continuous to move straight down；When punching resistance N has reached resistance threshold value N0When, show to have reached punching depth requirements H0, then vertically
Moving cell (6) stops, while control system calculates cultivation bed actual height H of high-level cultivating bed (8) and punching vertical displacement
S1；
Step 11, when completing depth H0Drilling operation after, using vertically movable unit (6) drive perforating head (3) erect
Directly altitude datum H is moved back into upwards1, so that perforating head leaves the cultivation bed of high-level cultivating bed (8)；
Step 12, card punch horizontal mobile mechanism (11) drive perforating head (3) to move to distal end, avoid high-level cultivating bed
(8) cultivation bed upper space；
Step 13, drives end effector (7) to clamp rice shoot edge by horizontal symmetrical moving cell (5) and moves horizontally simultaneously
It is positioned above the cultivation bed of high-level cultivating bed (8)；
Step 14, vertically movable unit (6) drive end effector (7) to move S straight down2, rice shoot is put into into height
In the hole that the cultivation bed of frame cultivation bed (8) is accomplished fluently；
Step 15, vertically movable unit (6) drive end effector (7) to move straight up, and then return to step one
Perform the transplanting action in next cycle.
Punching vertical displacement S1Stopped process perpendicular is started to from vertically movable unit (6) according to during punching by control system
Straight displacement downwards is calculated automatically and is recorded, and then is calculated cultivation bed actual height H of high-level cultivating bed (8)
H=H1-S1+D0 (1)
D0For the depth requirements that punch, H1Start vertical drilling operation and the altitude datum for resetting for perforating head 3.
It is described to put seedling displacement S straight down2Computational methods are as follows
S2=S1+H0 (2)
H0For the difference in height of the lower end and end effector (7) lower end of perforating head (3).
The present invention has beneficial effect.The present invention by using the transmission on single screw and active displacement realize punching with
Coordination and the precise match of seedling are put, and punching are realized by force feedback and seedling operation is put to the fluctuating of high-level cultivating bed height
Automatic adaptation, so as to the supporting rice shoot for meeting high-level cultivating facility transplants needs automatically.
Description of the drawings
Fig. 1 is the supporting shoot transplanting equipment machine people's general structure schematic diagram of high-level cultivating of the present invention.
Fig. 2 is transplant robot upper body structural representation of the present invention.
Fig. 3 is horizontal symmetrical moving cell structural representation of the present invention.
Fig. 4 is card punch horizontal mobile mechanism structural representation of the present invention.
Fig. 5 is the supporting shoot transplanting equipment machine people control flow block diagram of high-level cultivating of the present invention.
In figure:1. moving cart, 2. hole tray index(ing) feed unit, 3. perforating head, 4. stock, 5. horizontal symmetrical motion is single
Unit, 6. vertically movable unit, 7. end effector, 8. high-level cultivating bed, 9. hole tray, 10. force snesor, 11. card punch levels
Travel mechanism, 12. symmetrical horizontal drive mechanisms, 13. slide units, 14. frameworks, 15. two-way leading screws, 16. guide rods, 17. sliding bearings,
18. thrust bearings, 19. motors, 20. driving gears, 21. driven gears, 22. nuts, 23. housings.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in further detail.
As depicted in figs. 1 and 2, the supporting shoot transplanting equipment machine people of high-level cultivating of the invention is by moving cart 1, hole tray interval
Feed unit 2, vertically movable unit 6, horizontal symmetrical moving cell 5, end effector 7, perforation unit composition.Wherein vertically transport
The frame of moving cell 6 is fixed on the car body of moving cart 1, moving member and the horizontal symmetrical moving cell 5 of vertically movable unit 6
Framework 14 fix.The frame of hole tray index(ing) feed unit 2 is fixed on the car body of moving cart 1,9 level of hole tray to be transplanted
It is positioned on the mobile face of hole tray index(ing) feed unit 2.
Such as Fig. 3, the horizontal symmetrical moving cell 5 of the present invention includes symmetrical horizontal drive mechanism 12, framework 14, two-way silk
Thick stick 15, guide rod 16 and two slide units 13.Two sections of the left and right reach of wherein two-way leading screw 15 is identical and oppositely oriented.Two-way silk
15 two ends of thick stick are installed on framework 14 by bearing, and guide rod 16 two ends parallel with two-way leading screw 15 are fixed on framework 14.End
End actuator 7 is fixed on slide unit 13, and two slide units 13 are constituted with two sections of two-way leading screw 15 or so rotation direction opposite threads respectively
Worm drive, symmetrical horizontal drive mechanism 12 drive two-way leading screw 15 to rotate, and two slide units 13 is slided along 16 symmetrical level of guide rod
It is dynamic.
As shown in Figure 3 and Figure 4, perforation unit is by perforating head 3, stock 4, force snesor 10, card punch horizontal mobile mechanism
11 compositions.Perforating head 3 is individually fixed in the two ends of force snesor 10 with stock 4, and stock 4 is fixed on card punch horizontal mobile mechanism
On 11.Wherein card punch horizontal mobile mechanism 11 includes sliding bearing 17, thrust bearing 18, motor 19, driving gear 20, driven
Gear 21, nut 22 and housing 23.Housing 23 is connected with guide rod 16 by sliding bearing 17, and motor 19 is fixed on housing 23.
Driving gear 20 is installed on the output shaft of motor 19, and driven gear 21 is fixedly connected with nut 22, driven gear 21 and nut
22 are installed on housing 23 by thrust bearing 18, and two-way leading screw 15 constitutes worm drive, driven gear 21 and master with nut 22
Moving gear 20 constitutes gear drive.
As shown in figure 5, the supporting shoot transplanting equipment machine people of high-level cultivating using the present invention carries out rice shoot to high-level cultivating bed 8
Automatically the control process transplanted is as follows：
(1) moving cart 1 enters two high-level cultivating beds, 8 passageways；
(2) moving cart 1 is advanced along 8 passageways of high-level cultivating bed automatically；
(3) hole tray index(ing) feed unit 2 completes horizontal feed of the rice shoot along 1 direct of travel of moving cart in hole tray 9；
(4) vertically movable unit 6 and horizontal symmetrical moving cell 5 are positioned at end effector 7 in hole tray 9 and treat seedling taking seedling
Top；
(5) vertically movable unit 6 drives end effector 7 to move downward and grip the rice shoot in hole tray 9；
(6) vertically movable unit 6 drives end effector 7 to carry picked up rice shoot and moves straight up；
(7), in card punch horizontal mobile mechanism 11, motor 19 drives driven gear 21 and nut 22 by driving gear 20
Synchronous axial system, drives perforating head 3 along moving horizontally by screw-driven between two-way leading screw 15 and nut 22, and makes perforating head
3 are positioned above the cultivation bed of high-level cultivating bed 8, and the altitude datum of the positioning of perforating head 3 is H1(Fig. 2)；
(8) vertically movable unit 6 drives perforating head 3 to move straight down, carries out base in the cultivation bed to high-level cultivating bed 8
The punching of matter；
(9) the punching resistance N of the 10 real-time detection vertical direction of force snesor between perforating head 3 and stock 4, and judge punching
Whether resistance N has reached resistance threshold value N0, resistance threshold value N0By the punching depth requirements D of specific cultivation bed and matrix0Determined.
By test, for the turf-vermiculite-perlite mixed-matrix of moisture content 30%, as punching depth requirements D0For
When 10 centimetres, when trepanning velocity is 10 cel, resistance threshold value N0For 45N.
(10) when punching resistance N has reached resistance threshold value N0, show to have reached punching depth requirements H0, then it is vertically movable
Unit 6 stops, and ensures punching depth requirements so as to the cultivation bed for adapting to automatically high-level cultivating bed 8 has height relief change.
Meanwhile, control system calculates cultivation bed actual height H of high-level cultivating bed 8 and punching vertical displacement S1(Fig. 2), wherein overhead cultivation
The cultivation bed actual height of training bed 8
H=H1-S1+D0 (1)
Wherein punch vertical displacement S1Stopping (punching is started to from vertically movable unit 6 according to during punching by control system
Resistance N reaches resistance threshold value N0) displacement of process calculates automatically and record, H1Start vertical drilling operation for perforating head 3 and answer
The altitude datum of position.
Work as H1=95 meters, S1=17 centimetres, D0For 10 centimetres when, the cultivation of 8 position of high-level cultivating bed can be obtained according to formula (1)
Training groove actual height H is 88 centimetres.
(11) vertically movable unit 6 drives perforating head 3 to move back into altitude datum H straight up1, so that perforating head from
Open the cultivation bed of high-level cultivating bed 8；
(12) card punch horizontal mobile mechanism 11 drives perforating head 3 to move to distal end, gets out of the way on 8 cultivation bed of high-level cultivating bed
Portion space；
(13) horizontal symmetrical moving cell 5 drives the clamping rice shoot of end effector 7 edge to move horizontally and be positioned at overhead cultivation
Above the cultivation bed of training bed 8；
(14) vertically movable unit 6 drives end effector 7 to move straight down, and rice shoot is put into high-level cultivating bed 8
In the hole that cultivation bed is accomplished fluently, wherein putting seedling displacement straight down
S2=S1+H0 (2)
Wherein H0For the difference in height of lower end and 7 lower end of end effector of perforating head 3, so as to be passed according to power in drill process
What is the cultivation bed height relief of high-level cultivating bed 8 changed when the detection of sensor 10 ensure that end effector 7 puts seedling is automatically suitable
Should.
Work as H0=3 centimetres, S1When=17 centimetres, can be obtained according to formula (2) and seedling displacement be put straight down for S2For 20 centimetres.
(15) vertically movable unit 6 drives end effector 7 to move straight up, and then it is dynamic to perform the transplanting in next cycle
Make.
Claims (4)
1. the supporting shoot transplanting equipment machine people of a kind of high-level cultivating, it is characterised in that：Including by moving cart (1), hole tray interval enter
To unit (2), vertically movable unit (6), horizontal symmetrical moving cell (5), end effector (7) and perforation unit；Vertically transport
The frame of moving cell (6) is fixed on the car body of moving cart (1), and moving member and the horizontal symmetrical of vertically movable unit (6) are transported
The framework (14) of moving cell (5) is fixed, and the frame of hole tray index(ing) feed unit (2) is fixed on the car body of moving cart (1), treats
The hole tray (9) of transplanting is placed horizontally on the mobile face of hole tray index(ing) feed unit (2), and end effector 7 is fixed on level pair
Claim on the slide unit (13) of moving cell (5), perforation unit is by nut (22) and the two-way leading screw of horizontal symmetrical moving cell (5)
(15) worm drive are constituted.
The perforation unit is made up of perforating head (3), stock (4), force snesor (10), card punch horizontal mobile mechanism (11)；
Perforating head (3) is individually fixed in the two ends of force snesor (10) with stock (4), and stock (4) is fixed on card punch and moves horizontally machine
On structure (11)；
The card punch horizontal mobile mechanism (11) includes sliding bearing (17), thrust bearing (18), motor (19), driving gear
(20), driven gear (21), nut (22) and housing (23)；Housing (23) is connected with guide rod (16) by sliding bearing (17),
Motor (19) is fixed on housing 23；Driving gear (20) is installed on the output shaft of motor (19), driven gear (21) and spiral shell
Female (22) are fixedly connected, and driven gear (21) and nut (22) are installed on housing (23) by thrust bearing (18), two-way silk
Thick stick (15) constitutes worm drive with nut (22), and driven gear (21) constitutes gear drive with driving gear (20).
2. the control method of the supporting shoot transplanting equipment machine people of a kind of high-level cultivating according to claim 1, it is characterised in that
Including following action step：
Step one, makes moving cart (1) into the passageway between two high-level cultivating beds (8)；
Step 2, causes moving cart (1) the passageway advance along between high-level cultivating bed (8) automatically by navigation；
Step 3, completes water of the interior rice shoot of hole tray (9) along moving cart (1) direct of travel using hole tray index(ing) feed unit (2)
Flat feeding；
End effector (7) is positioned at hole tray using vertically movable unit (6) and horizontal symmetrical moving cell (5) by step 4
(9) treat above seedling taking seedling in；
Step 5, drives end effector (7) to move downward and grip the rice shoot in hole tray (9) by vertically movable unit (6)；
Step 6, then, vertically movable unit (6) drives end effector (7) to carry picked up rice shoot and moves straight up；
Step 7, in card punch horizontal mobile mechanism (11), drives driven gear by driving gear (20) using motor (19)
(21) perforating head (3) is driven by the screw-driven between two-way leading screw (15) and nut (22) and nut (22) synchronous axial system,
Edge moves horizontally, and perforating head (3) is positioned above the cultivation bed of high-level cultivating bed (8), and the benchmark that perforating head (3) is positioned is high
Spend for H1；
Step 8, vertically movable unit (6) drive perforating head (3) to move straight down, realize the cultivation to high-level cultivating bed (8)
The punching of matrix in groove；
Step 9, carries out the punching resistance of real-time detection vertical direction by the force snesor (10) between perforating head (3) and stock (4)
Power N, and judge whether punching resistance N has reached resistance threshold value N0；
Step 10, when punching resistance N is not reaching to resistance threshold value N0When, it is perpendicular that vertically movable unit (6) drives perforating head (3) to continue
Directly move downward；When punching resistance N has reached resistance threshold value N0When, show to have reached punching depth requirements H0, then it is vertically movable
Unit (6) stops, while control system calculates cultivation bed actual height H of high-level cultivating bed (8) and punching vertical displacement S1；
Step 11, when completing depth H0Drilling operation after, using vertically movable unit (6) drive perforating head (3) straight up
Move back into altitude datum H1, so that perforating head leaves the cultivation bed of high-level cultivating bed (8)；
Step 12, card punch horizontal mobile mechanism (11) drive perforating head (3) to move to distal end, avoid high-level cultivating bed (8)
Cultivation bed upper space；
Step 13, drives end effector (7) to clamp rice shoot edge by horizontal symmetrical moving cell (5) and moves horizontally and position
Above the cultivation bed of high-level cultivating bed (8)；
Step 14, vertically movable unit (6) drive end effector (7) to move S straight down2, rice shoot is put into into high-level cultivating
In the hole that the cultivation bed of bed (8) is accomplished fluently；
Step 15, vertically movable unit (6) drive end effector (7) to move straight up, and then return to step one is performed
The transplanting action in next cycle.
3. the control method of the supporting shoot transplanting equipment machine people of a kind of high-level cultivating according to claim 2, its feature also exist
In：Punching vertical displacement S1From control system according to punching when from vertically movable unit (6) start to stopped process it is vertical to
Bottom offset amount is calculated automatically and is recorded, and then is calculated cultivation bed actual height H of high-level cultivating bed (8)
H=H1-S1+D0 (1)
D0For the depth requirements that punch, H1Start vertical drilling operation and the altitude datum for resetting for perforating head 3.
4. the control method of the supporting shoot transplanting equipment machine people of a kind of high-level cultivating according to claim 2, its feature also exist
In：It is described to put seedling displacement S straight down2Computational methods are as follows
S2=S1+H0 (2)
H0For the difference in height of the lower end and end effector (7) lower end of perforating head (3).
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| CN201611055036.5A CN106538122A (en) | 2016-11-25 | 2016-11-25 | A kind of supporting shoot transplanting equipment machine people of high-level cultivating and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611055036.5A CN106538122A (en) | 2016-11-25 | 2016-11-25 | A kind of supporting shoot transplanting equipment machine people of high-level cultivating and its control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019148597A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic seedling pick-up and seedling feeding device for transplanter and method therefor |
| CN110419307A (en) * | 2019-08-29 | 2019-11-08 | 马鞍山市安工大智能装备技术研究院有限公司 | A kind of Plug seedling is transplanted seedlings machine automatically |
| CN111587645A (en) * | 2020-05-28 | 2020-08-28 | 苏建军 | Plant seedling transplanting robot |
-
2016
- 2016-11-25 CN CN201611055036.5A patent/CN106538122A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019148597A1 (en) * | 2018-02-02 | 2019-08-08 | 江苏大学 | Automatic seedling pick-up and seedling feeding device for transplanter and method therefor |
| US11259458B2 (en) | 2018-02-02 | 2022-03-01 | Jiangsu University | Automatic picking and casting device for transplanting machine and its method |
| CN110419307A (en) * | 2019-08-29 | 2019-11-08 | 马鞍山市安工大智能装备技术研究院有限公司 | A kind of Plug seedling is transplanted seedlings machine automatically |
| CN110419307B (en) * | 2019-08-29 | 2020-11-10 | 马鞍山市安工大智能装备技术研究院有限公司 | Automatic seedling transplanting machine for plug seedlings |
| CN111587645A (en) * | 2020-05-28 | 2020-08-28 | 苏建军 | Plant seedling transplanting robot |
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Application publication date: 20170329 |