CN201919377U - Vision-based grafted seedling classifying device for fruit and vegetable grafting machine - Google Patents
Vision-based grafted seedling classifying device for fruit and vegetable grafting machine Download PDFInfo
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- CN201919377U CN201919377U CN2010206472925U CN201020647292U CN201919377U CN 201919377 U CN201919377 U CN 201919377U CN 2010206472925 U CN2010206472925 U CN 2010206472925U CN 201020647292 U CN201020647292 U CN 201020647292U CN 201919377 U CN201919377 U CN 201919377U
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Abstract
The utility model relates to a vision-based grafted seedling classifying device for a fruit and vegetable grafting machine, which aims to provide a device capable of classifying grafted seedlings as per the diameters of stems automatically and realizing the automatic pairing of the grafted seedlings and cion seedlings, having the characteristics of simple structure and high accuracy and ensuring the grafting quality. The technical scheme is shown as follows: the vision-based grafted seedling classifying device for the fruit and vegetable grafting machine comprises a frame, a seedling tray conveyer belt horizontally arranged at the upper part of the frame and a grafted seedling conveying belt, a carrying mechanism for picking and placing the grafted seedlings, a photoelectric sensor for detecting the position of a seedling tray, a CCD (Charge Coupled Device) camera for shooting the image of the grafted seedlings, a computer for receiving and processing the photoelectric sensor and the CCD camera and a guiding module for guiding the grafted seedlings; and the carrying mechanism comprises a door-shaped transversal rack, an uniaxial driver mounted at the upper part of the transversal rack and a mechanical arm mounted on the uniaxial driver and used for clamping the grafted seedlings.
Description
Technical field
The utility model relates to a kind of sorter of vegetables and fruits grafting machine, is specifically related to a kind of vegetables and fruits grafting machine based on vision and treats the grafting sorter.
Background technology
The diameter of different grafting seedling does not wait at 1-5mm, during grafting, need match according to the diameter of the stem of rootstock seedling and scion seedling; But the graft technology main points that each operating personnel grasped, gimmick and qualification difference, seedling is tender and crisp thin and delicate in addition, the very expend energy on so grafting is got up is difficult to guarantee higher grafting quality and higher survival rate; And efficient is low, labour intensity is big, can not adapt to the requirement of China's agricultural production far away.
At present, China is actively adjusting pattern of farming, and the efficient Demonstration Garden of factory farming has been set up in cities such as Shanghai, Guangzhou.These large-scale graft seedling growth fields have only the commercialization grafting production that could finish high-quality by mechanized at short notice.Therefore, the automatic marriage problem of grafting and scion seedling waits to solve.
The utility model content
Technical problem to be solved in the utility model is: the deficiency that overcomes the above-mentioned background technology, provide a kind of vegetables and fruits grafting machine to treat the grafting sorter based on vision, this sorter should be able to automatically will be treated the grafting classification according to the diameter of stem, the automatic pairing of grafting and scion seedling is treated in realization, and have characteristics simple in structure, that accuracy is high, to guarantee the grafting quality.
The utility model provides following technical scheme:
Vegetables and fruits grafting machine based on vision is treated the grafting sorter, it is characterized in that: described sorter comprise frame, horizontally disposed at upper rack seedling dish conveyer belt and treat the grafting conveyer belt, pick and place the carrying mechanism for the treatment of grafting, the photoelectric sensor that is used to detect seedling dish position, take and treat CCD camera, the reception of grafting image and handle described photoelectric sensor and the calculator of CCD camera signals, treat the oriented module that grafting is led; Oriented module is installed in the direction of motion end for the treatment of grafting conveyer belt upper surface; Described carrying mechanism comprise across described seedling dish conveyer belt and treat above the grafting conveyer belt door font crossbearer, be installed in the single shaft driver on this crossbearer top and be installed in the mechanical arm that grafting is treated in gripping that is used on the single shaft driver.
Described crossbearer comprises the column that vertically is fixed on the frame both sides and is horizontally fixed on crossbeam between the two column tops that the axis of crossbeam is with described seedling dish conveyer belt and treat that the direction of motion of grafting conveyer belt is vertical.
Described single shaft driver is driven by stepper motor, comprises horizontally disposed at the screw mandrel on door font crossbearer top and the slide block that can laterally reciprocatingly slide on screw mandrel; The axis of the axle wired-AND gate font crossbearer middle cross beam of screw mandrel is parallel, and the chute on slide block top cooperates with the slide rail of crossbeam lower surface with realization and horizontally slips.
Described mechanical arm is connected with aforementioned calculator; Mechanical arm comprises support, the duplex cylinder that is positioned at the support bottom that vertically is installed in described slide block lower end, the gripper that grafting is treated in gripping that is used for that is installed in two piston rod tops of duplex cylinder; Stretch under two piston rod towards seedling dish directions of described duplex cylinder are oblique.
Described gripper comprise the CU cylinder that is installed in duplex cylinder two-piston masthead end, the contiguous block that is fixed on the piston rod top of CU cylinder, along two claw bars of the axis direction symmetric arrangement of this piston rod, respectively with the tail end of described two claw bars and two hinged connecting rods of both sides of contiguous block; The middle part of each claw bar all is hinged on the guide plate of CU cylinder, and the front portion of two claw bars is parallel to each other and keeps the 1-5mm distance.
Described seedling dish conveyer belt and treat that the grafting conveyer belt is arranged side by side in upper rack, two conveyer belts are driven by a stepper motor respectively; Described stepper motor is connected with aforementioned calculator.
The optical transmitting set of described photoelectric sensor and receiver are aimed on the frame that is installed in seedling dish conveyer belt both sides mutually.
Described oriented module comprises leading truck and is fixed at least three gathering sills on the leading truck; The both sides of leading truck are fixed on the frame, the axis of all gathering sills all stretches along the direction of motion for the treatment of the grafting conveyer belt, every gathering sill by two in opposite directions and to and keep the guide plate of 20-40mm spacing (decide) to form according to cave dish seedling soil block size, the lower edge of every guide plate is apart from treating grafting conveyer belt 1-3mm.
Described CCD camera is installed in seedling dish conveyer belt and treats on the frame between the grafting conveyer belt.
Operation principle of the present utility model is:
The seedling dish is with seedling dish conveyer belt, when sensor detects first row when treating grafting, send signal to calculator, computer control drives the stepper motor of seedling dish conveyer belt and shuts down, start the stepper motor of single shaft driver simultaneously, the slide block drive mechanical arm of single shaft driver moves to treats the grafting position, and grafting is treated in the gripping of computer control machinery arm, then to treating the motion of grafting driving-belt; In the motion process, the CCD camera takes the photo for the treatment of grafting and is sent to calculator, draw the size of stem after the Computer Processing related data, and move to different gathering sills according to result control mechanical arm, computer control machinery arm unclamps treats grafting, treat that grafting is with treating that the grafting conveyer belt to different gathering sills, realizes treating the classification of grafting.After sensor detected first row seedling got, the stepper motor of control seedling dish conveyer belt rotated, and second arranges seedling moves to the precalculated position, repeats to get seedling, puts seedling work.
The beneficial effects of the utility model are:
The utility model utilizes the camera collection image, the action of two conveyer belts of control and mechanical arm after the Computer Processing coherent video data, treating grafting classifies, simple in structure, accuracy and automaticity height have improved operating efficiency, have reduced labor intensity of operating staff, and improved the survival rate of vegetables and fruits graftings, have extensive market prospects.
Description of drawings
Fig. 1 is a perspective view of the present utility model.
Fig. 2 is the stereochemical structure enlarged drawing of carrying mechanism in the utility model.
Fig. 3 is the stereochemical structure enlarged drawing of gripper in the utility model.
Fig. 4 is the stereochemical structure enlarged drawing of oriented module in the utility model.
Embodiment
Below in conjunction with Figure of description, the utility model is described in further detail.
As shown in Figure 1, vegetables and fruits grafting machine based on vision described in the utility model is treated the grafting sorter, comprise a frame 1, horizontally disposed at upper rack seedling dish conveyer belt 13 and treat grafting conveyer belt 6, gripping treat the carrying mechanism of grafting, be used to detect seedling dish position photoelectric sensor, take the CCD camera 4 for the treatment of the grafting image, treat the oriented module 3 that grafting leads, the calculator (clean and tidy for making drawing, as to be omitted among the figure and do not draw) that receives and handle described photoelectric sensor and CCD camera signals; Described CCD camera is installed in seedling dish conveyer belt and treats on the frame between the grafting conveyer belt; Oriented module is installed in treats grafting conveyer belt upper surface, is positioned at the end for the treatment of the grafting driving-belt direction of motion, and the axis of all gathering sills all stretches along the direction of motion for the treatment of the grafting conveyer belt in the oriented module.
Described carrying mechanism comprises across at described seedling dish conveyer belt and treat door font crossbearer 5 above the grafting conveyer belt, described crossbearer comprises the column 5-1 that vertically is fixed on the frame both sides and is horizontally fixed on crossbeam 5-2 between the two column tops, the axis of crossbeam is with described seedling dish conveyer belt and treat that the direction of motion of grafting conveyer belt is vertical, and the top of door font crossbearer is equipped with a single shaft driver 8 driven by stepper motors.
Described single shaft driver is made up of at the screw mandrel 8-1 on door font crossbearer top and the described slide block 8-2 that cooperates with screw mandrel horizontally disposed, and the axis of the crossbeam of the axle wired-AND gate font crossbearer of screw mandrel is parallel; The top of slide block is shaped on the axis chute parallel with screw mandrel, and this chute matches with the slide rail that is positioned at the crossbeam lower surface to realize traverse motion.
The lower surface of described slide block is equipped with one and is used to pick and place the mechanical arm 7 for the treatment of grafting, comprises support 14, the duplex cylinder 15 that is positioned at the support bottom that vertically is installed in described slide block lower surface, the gripper A that grafting is treated in gripping that is used for that is installed in two piston rod tops of duplex cylinder; Stretch under two piston rod towards seedling dish directions of duplex cylinder are oblique, duplex cylinder piston rod flexible can drive and carry on the gripper or descend.
Described gripper A comprise the CU cylinder 16 that is installed in duplex cylinder two-piston masthead end, the contiguous block 17-1 that is fixed on the piston rod top of CU cylinder, along two claw bar 17-3 of the axis direction symmetric arrangement of this piston rod, respectively with the tail end of described two claw bars and two hinged connecting rod 17-2 of both sides of contiguous block; The middle part of each claw bar all is hinged on the guide plate 16-1 of CU cylinder, and the front portion of two claw bars is parallel to each other and keeps 1-5mm distance (concrete diameter according to the stem for the treatment of grafting is determined), and the piston rod of CU cylinder is flexible can be driven gripper and unclamp or clamp.
For making things convenient for the mechanical arm gripping to treat grafting, described seedling dish conveyer belt and treat that the grafting conveyer belt is arranged side by side in upper rack, two conveyer belts drive 2 by a stepper motor respectively; Described stepper motor is connected with aforementioned calculator.
The optical transmitting set 11-1 of described photoelectric sensor and receiver 11-2 aim on the frame that is installed in seedling dish conveyer belt both sides mutually.Described oriented module comprises leading truck 3-1 and is fixed at least three gathering sill 3-3 on the leading truck; The both sides of leading truck are fixed on the frame, every gathering sill by two in opposite directions and to and keep the guide plate 3-2 of 20-40mm spacing to form (concrete spacing is determined according to actual conditions), the lower edge of every guide plate is apart from treating grafting conveyer belt 1-3mm.
Stepper motor described in the utility model, calculator, photoelectric sensor, CCD camera, duplex cylinder, CU cylinder, the equal buyable of single shaft driver obtain.
Also has seedling dish 10 among the figure.
Claims (9)
1. treat the grafting sorter based on the vegetables and fruits grafting machine of vision, it is characterized in that: described sorter comprise frame (1), horizontally disposed at upper rack seedling dish conveyer belt (13) and treat grafting conveyer belt (6), pick and place the carrying mechanism for the treatment of grafting, the photoelectric sensor that is used to detect seedling dish position, take CCD camera (4), the calculator that receives and handle described photoelectric sensor and CCD camera signals for the treatment of the grafting image, treat the oriented module (3) that grafting is led; Oriented module is installed in the direction of motion end for the treatment of grafting conveyer belt upper surface; Described carrying mechanism comprise across described seedling dish conveyer belt and treat above the grafting conveyer belt door font crossbearer (5), be installed in the single shaft driver (8) on this crossbearer top and the mechanical arm of grafting (7) is treated in the gripping that is used for that is installed on the single shaft driver.
2. the vegetables and fruits grafting machine based on vision according to claim 1 is treated the grafting sorter, it is characterized in that: described crossbearer comprises the column (5-1) that vertically is fixed on the frame both sides and is horizontally fixed on crossbeam (5-2) between the two column tops that the axis of crossbeam is with described seedling dish conveyer belt and treat that the direction of motion of grafting conveyer belt is vertical.
3. the vegetables and fruits grafting machine based on vision according to claim 1 and 2 is treated the grafting sorter, it is characterized in that: described single shaft driver is driven by stepper motor (2), comprises horizontally disposed at the screw mandrel (8-1) on door font crossbearer top and the described slide block (8-2) that can laterally reciprocatingly slide on screw mandrel; The axis of the axle wired-AND gate font crossbearer middle cross beam of screw mandrel is parallel, and the chute on slide block top cooperates with the slide rail of crossbeam lower surface with realization and horizontally slips.
4. the vegetables and fruits grafting machine based on vision according to claim 3 is treated the grafting sorter, it is characterized in that: described mechanical arm comprises that support (14), the duplex cylinder (15) that is positioned at the support bottom that vertically is installed in described slide block lower end, the gripping that is used for that is installed in two push rod tops of duplex cylinder treat the gripper of grafting (A); Two push rods of described duplex cylinder are stretched under oblique towards seedling dish direction.
5. the vegetables and fruits grafting machine based on vision according to claim 4 is treated the grafting sorter, it is characterized in that: described gripper (A) comprise the CU cylinder (16) that is installed in duplex cylinder two push rod tops, the contiguous block (17-1) that is fixed on the push rod top of CU cylinder, along two claw bars (17-3) of the axis direction symmetric arrangement of this push rod, respectively with the tail end of described two claw bars and hinged two connecting rods (17-2) in both sides of contiguous block; The middle part of each claw bar all is hinged on the guide plate (16-1) of CU cylinder, and the front portion of two claw bars is parallel to each other and keeps the 1-5mm distance.
6. the vegetables and fruits grafting machine based on vision according to claim 5 is treated the grafting sorter, it is characterized in that: described seedling dish conveyer belt and treat that the grafting conveyer belt is arranged side by side in upper rack, and two conveyer belts are driven by a stepper motor (2) respectively; Described stepper motor is connected with aforementioned calculator.
7. the vegetables and fruits grafting machine based on vision according to claim 6 is treated the grafting sorter, it is characterized in that: optical transmitting set of described photoelectric sensor (11-1) and receiver (11-2) are aimed at mutually and are installed on the frame of seedling dish conveyer belt both sides.
8. the vegetables and fruits grafting machine based on vision according to claim 7 is treated the grafting sorter, it is characterized in that: described oriented module comprises leading truck (3-1) and is fixed at least three gathering sills (3-3) on the leading truck; The both sides of leading truck are fixed on the frame, the axis of all gathering sills all stretches along the direction of motion for the treatment of the grafting conveyer belt, every gathering sill by two in opposite directions and to and keep the guide plate (3-2) of 20-40mm spacing to form, the lower edge of every guide plate is apart from treating grafting conveyer belt 1-3mm.
9. the vegetables and fruits grafting machine based on vision according to claim 8 is treated the grafting sorter, it is characterized in that: described CCD camera is installed in seedling dish conveyer belt and treats on the frame between the grafting conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206472925U CN201919377U (en) | 2010-12-03 | 2010-12-03 | Vision-based grafted seedling classifying device for fruit and vegetable grafting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206472925U CN201919377U (en) | 2010-12-03 | 2010-12-03 | Vision-based grafted seedling classifying device for fruit and vegetable grafting machine |
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| Publication Number | Publication Date |
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| CN201919377U true CN201919377U (en) | 2011-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206472925U Expired - Fee Related CN201919377U (en) | 2010-12-03 | 2010-12-03 | Vision-based grafted seedling classifying device for fruit and vegetable grafting machine |
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| CN (1) | CN201919377U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103202179A (en) * | 2013-03-14 | 2013-07-17 | 浙江理工大学 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
| CN103465260A (en) * | 2013-09-18 | 2013-12-25 | 武汉筑梦科技有限公司 | Multifunctional vision testbed |
| CN103831826A (en) * | 2013-12-27 | 2014-06-04 | 广州奥迪通用照明有限公司 | Intelligent correction manipulator system |
| CN103831820A (en) * | 2014-03-20 | 2014-06-04 | 湃思科技（苏州）有限公司 | Automatic taking-out and putting-away machine for flexible circuit boards |
| CN104149090A (en) * | 2014-08-22 | 2014-11-19 | 苏州昌飞自动化设备厂 | Color sorting combined mechanical arm |
| CN104226616A (en) * | 2014-08-22 | 2014-12-24 | 苏州昌飞自动化设备厂 | Hoisting type product tray of combined color sorting mechanical arm |
| CN104476552A (en) * | 2014-10-30 | 2015-04-01 | 佛山金皇宇机械实业有限公司 | Machine vision based robot profile carrying device and method thereof |
| CN105798895A (en) * | 2016-06-01 | 2016-07-27 | 佛山市联智新创科技有限公司 | Metal waste block grabbing device |
| CN107683662A (en) * | 2016-08-06 | 2018-02-13 | 佳木斯大学 | Water column ejecting type cave seedling crop automated intelligent transplanter |
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2010
- 2010-12-03 CN CN2010206472925U patent/CN201919377U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103202179A (en) * | 2013-03-14 | 2013-07-17 | 浙江理工大学 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
| CN103202179B (en) * | 2013-03-14 | 2014-05-07 | 浙江理工大学 | Adjustable sorting device of cotyledons of seedlings to be grafted on basis of vision |
| CN103465260A (en) * | 2013-09-18 | 2013-12-25 | 武汉筑梦科技有限公司 | Multifunctional vision testbed |
| CN103465260B (en) * | 2013-09-18 | 2016-08-17 | 武汉筑梦科技有限公司 | Multifunctional visual sense testing stand |
| CN103831826A (en) * | 2013-12-27 | 2014-06-04 | 广州奥迪通用照明有限公司 | Intelligent correction manipulator system |
| CN103831820A (en) * | 2014-03-20 | 2014-06-04 | 湃思科技（苏州）有限公司 | Automatic taking-out and putting-away machine for flexible circuit boards |
| CN103831820B (en) * | 2014-03-20 | 2017-01-04 | 湃思科技（苏州）有限公司 | FPC automatic clamping and placing machine |
| CN104149090A (en) * | 2014-08-22 | 2014-11-19 | 苏州昌飞自动化设备厂 | Color sorting combined mechanical arm |
| CN104226616A (en) * | 2014-08-22 | 2014-12-24 | 苏州昌飞自动化设备厂 | Hoisting type product tray of combined color sorting mechanical arm |
| CN104476552A (en) * | 2014-10-30 | 2015-04-01 | 佛山金皇宇机械实业有限公司 | Machine vision based robot profile carrying device and method thereof |
| CN105798895A (en) * | 2016-06-01 | 2016-07-27 | 佛山市联智新创科技有限公司 | Metal waste block grabbing device |
| CN107683662A (en) * | 2016-08-06 | 2018-02-13 | 佳木斯大学 | Water column ejecting type cave seedling crop automated intelligent transplanter |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110810 Termination date: 20111203 |