阅读说明：本技术 一种马铃薯组培苗的移栽设备及其移栽方法 (Transplanting equipment and transplanting method for potato tissue culture seedlings ) 是由 段红兵 徐涛 蒋建霞 蔡兴奎 杨锐 姚飞虎 严福勇 于 2020-10-11 设计创作，主要内容包括：本发明属于农业设施工程技术领域,具体涉及一种马铃薯组培苗的移栽设备及其移栽方法。所述马铃薯组培苗移栽设备包括填土模块、扦插模块、切苗模块、覆土模块、浇水模块等五个模块,末端执行器以及末端执行器位置调整系统。所述填土模块、扦插模块、覆土模块、浇水模块依次排列,四个模块的穴盘传输机和导向条依次对接,它们的安装位置高度相同。所述切苗模块与扦插模块为平行设置。所述末端执行器位置调整系统置于切苗模块和扦插模块以上的支架上,其Z轴线性模组处设置有末端执行器。本发明结构设计合理、紧凑,工作效率高,对马铃薯组培苗的机械损伤小,组培苗的交叉感染率小。本发明适用于马铃薯组培苗的机械化移栽作业。(The invention belongs to the technical field of agricultural facility engineering, and particularly relates to transplanting equipment and a transplanting method for potato tissue culture seedlings. The potato tissue culture seedling transplanting equipment comprises five modules, namely a soil filling module, a cuttage module, a seedling cutting module, a soil covering module, a watering module and the like, and an end effector position adjusting system. The soil filling module, the cuttage module, the soil covering module and the watering module are sequentially arranged, the plug conveyors and the guide strips of the four modules are sequentially butted, and the height of the installation positions of the plug conveyors and the guide strips is the same. The seedling cutting module and the cuttage module are arranged in parallel. The end effector position adjusting system is arranged on the support above the seedling cutting module and the cuttage module, and an end effector is arranged at the position of the Z-axis linear module. The invention has reasonable and compact structural design, high working efficiency, small mechanical damage to the potato tissue culture seedlings and small cross infection rate of the tissue culture seedlings. The invention is suitable for mechanized transplanting operation of potato tissue culture seedlings.)

1. The utility model provides a transplantation equipment of potato tissue culture seedling which characterized in that: the device comprises a soil filling module (1), a cuttage module (2), a seedling cutting module (3), an end effector position adjusting system (4), an end effector (5), a soil covering module (6) and a watering module (7); the soil filling module (1), the cuttage module (2), the soil covering module (6) and the watering module (7) are arranged in sequence; the plug conveyor and the guide strip of the soil filling module (1), the cuttage module (2), the soil covering module (6) and the watering module (7) are in butt joint in sequence, and the mounting positions of the plug conveyor and the guide strip are the same in height; the seedling cutting module (3) and the cuttage module (2) are arranged in parallel; the end effector position adjusting system (4) is arranged on the bracket above the seedling cutting module (3) and the cuttage module (2), and an end effector (5) is arranged at the position of the Z-axis linear module (4-3) of the end effector position adjusting system (4).

2. The transplanting apparatus for tissue culture seedlings of potatoes as claimed in claim 1, wherein: the soil filling module (1) comprises a soil filling hole disc conveyor (1-1), a soil filling hole disc guide strip (1-2), a soil filling matrix box (1-3), a soil filling matrix conveyor belt (1-4), a soil scraping plate support (1-5), a soil scraping plate (1-6), a soil cleaning rolling brush support (1-7) and a soil cleaning rolling brush (1-8); the earth-filling hole disc guide strips (1-2) are symmetrically arranged on the section bars at two sides of the conveying belt of the earth-filling hole disc conveyor (1-1); the matrix box (1-3) for filling is arranged on the matrix conveyor belt (1-4) for filling, and the matrix conveyor belt (1-4) for filling is arranged on the plug conveyor (1-1) for filling; the scraper (1-6) is arranged on the scraper bracket (1-5), and the scraper bracket (1-5) is arranged on the hole tray conveyor (1-1) for filling; the soil cleaning rolling brush (1-8) is arranged on the soil cleaning rolling brush bracket (1-7), and the soil cleaning rolling brush bracket (1-7) is arranged on the hole disc conveyor (1-1) for filling soil.

3. The transplanting apparatus for tissue culture seedlings of potatoes as claimed in claim 1, wherein: the cuttage module (2) comprises a cuttage plug tray conveyor (2-1), a cuttage plug tray guide strip (2-2), a hole pressing mechanism support (2-3), a hole pressing cylinder (2-4), a hole pressing plate and a hole pressing head (2-5); the cutting plug guide strips (2-2) are symmetrically arranged on the section bars at two sides of the conveying belt of the cutting plug conveyor (2-1); the hole pressing plate and the hole pressing head (2-5) are arranged on the hole pressing air cylinder (2-4), the hole pressing air cylinder (2-4) is arranged on the hole pressing mechanism support (2-3), and the hole pressing mechanism support (2-3) is arranged on the hole disk conveyor (2-1) for cuttage.

4. The transplanting apparatus for tissue culture seedlings of potatoes as claimed in claim 1, wherein: the seedling cutting module (3) comprises a tissue culture box conveyor (3-1) for cutting seedlings, tissue culture box guide strips (3-2) for cutting seedlings, and CO₂Laser tube holder (3-3), CO₂The laser positioning device comprises laser tubes (3-4), laser reflection lenses (3-5), a plug positioning mechanism (3-6), a laser head position moving linear module (3-7), a laser head support (3-8) and a laser head (3-9); the tissue culture box guide strips (3-2) for cutting seedlings are symmetrically arranged on the section bars at two sides of the conveyor belt of the tissue culture box conveyor (3-1) for cutting seedlings; CO 2₂The laser tube bracket (3-3), the laser reflection lens (3-5) and the plug positioning mechanism (3-6) are arranged on the bracket of the tissue culture box conveyor (3-1) for cutting seedlings; CO 2₂The laser tube (3-4) is arranged at the CO₂A laser tube bracket (3-3); the laser head position moving linear module (3-7) is arranged on the plug positioning mechanism (3-6), the laser head support (3-8) is arranged on the laser head position moving linear module (3-7), and the laser head (3-9) is arranged on the laser head support (3-8).

5. The transplanting apparatus for tissue culture seedlings of potatoes as claimed in claim 1, wherein: the end effector position adjusting system (4) comprises an X-axis linear module (4-1), a Y-axis linear module (4-2) and a Z-axis linear module (4-3); the Z-axis linear module (4-3) is arranged on the Y-axis linear module (4-2); the Y-axis linear modules (4-2) are arranged on the pair of X-axis linear modules (4-1).

6. The transplanting apparatus for potato tissue culture seedlings according to claim 1 or 5, wherein: the end effector (5) comprises an end effector support (5-1), an upper end guide shaft support (5-2), an upper end guide shaft (5-3), a guide sliding block (5-4), a pitch-changing cylinder (5-5), a reticular pitch-changing mechanism (5-6), a lower end guide linear guide rail (5-7), a lower end guide shaft support (5-8), a lower end guide shaft (5-9), a manipulator connecting block (5-10) and a manipulator (5-11); the guide sliding block (5-4) is arranged on the upper end guide shaft (5-3), the upper end guide shaft (5-3) is arranged on the upper end guide shaft support (5-2), and the upper end guide shaft support (5-2) is arranged on the end effector support (5-1); the manipulator connecting block (5-10) is arranged on a lower end guide shaft (5-9), the lower end guide shaft (5-9) is arranged on a lower end guide shaft bracket (5-8), the lower end guide shaft bracket (5-8) is arranged on a lower end guide linear guide rail (5-7), and the lower end guide linear guide rail (5-7) is arranged on an end effector bracket (5-1); the guide sliding block (5-4) and the manipulator connecting block (5-10) are arranged on the reticular variable pitch mechanism (5-6); the manipulator (5-11) is arranged on the manipulator connecting block (5-10); the variable-pitch air cylinder (5-5) is arranged on the end effector bracket (5-1) and the guide slide block (5-4).

7. The transplanting apparatus for tissue culture seedlings of potatoes as claimed in claim 1, wherein: the soil covering module (6) comprises a hole tray conveyor (6-1) for soil covering, a hole tray guide strip (6-2) for soil covering, a substrate box (6-3) for soil covering, a soil outlet size adjusting mechanism (6-4) and a substrate conveyor belt (6-5) for soil covering; the earth covering plug guide strips (6-2) are symmetrically arranged on the section bars at two sides of the conveyor belt of the earth covering plug conveyor (6-1); the matrix box (6-3) for earthing is arranged on the matrix conveyor belt (6-5) for earthing, and the matrix conveyor belt (6-5) for earthing is arranged on the plug conveyor (6-1) for earthing; the size adjusting mechanism (6-4) of the soil outlet is arranged on the matrix box (6-3) for covering soil.

8. The transplanting apparatus for tissue culture seedlings of potatoes as claimed in claim 1, wherein: the watering module (7) comprises a watering hole tray conveyor (7-1), a watering hole tray guide strip (7-2), a watering pipeline support (7-3), a water outlet (7-4), a water outlet branch switch (7-5), a water outlet main switch (7-6), a watering pipeline (7-7) and a water receiving tank (7-8); the hole tray guide strips (7-2) for watering are symmetrically arranged on the section bars at two sides of the conveying belt of the hole tray conveyor (7-1) for watering; the water outlet (7-4), the water outlet branch switch (7-5), the water outlet main switch (7-6) are set on the watering pipe (7-7); the water receiving tank (7-8) is arranged below a conveying belt of the hole tray conveyor (7-1) for watering.

9. The apparatus for transplanting tissue culture seedlings of potatoes according to claim 1, wherein: the potato tissue culture seedling transplanting equipment cuts the potato tissue culture seedling by using laser, wherein the laser power is preferably 50-70W, and the cutting speed is preferably 12-36 mm/s.

10. The apparatus for transplanting tissue culture seedlings of potatoes according to claim 1, wherein: the tail end actuator drives the scissor type mechanism to adjust the parallel manipulator distance by using a variable-pitch cylinder; the manipulator generates positive pressure through an air compressor, and the positive pressure is converted into negative pressure through a vacuum generator after passing through an air source processor to suck the seedlings.

Technical Field

The invention belongs to the technical field of agricultural facility engineering, relates to a vertical strip-shaped tissue culture seedling transplanting device, in particular to a potato tissue culture seedling transplanting device and a transplanting method thereof, and particularly relates to a rapid transplanting device suitable for mechanized and automatic transplanting of potato tissue culture seedlings and a transplanting method thereof.

Background

The research and utilization of the potato virus-free seed potato provide an effective way for solving the potato virus infection, thereby improving the quality and the yield of the potato. The detoxified potato seeds are used for replacing conventional cut potatoes or whole potatoes to form the potato seeds for field sowing, so that the yield per unit of the potatoes can reach 1.3-1.5 times of the original yield per unit, and even can reach 1.5-2 times of the original yield per unit of the northern area.

The application amount of the virus-free seed potatoes in the production of commercial potatoes in China is less than 30 percent at present, and the application amount of the virus-free seed potatoes in developed countries reaches more than 90 percent. The main reasons are the low production efficiency of the potato virus-free seed potato and the difficult control of the seed potato quality in the breeding process. The large amount of labor required in the production process of the potato virus-free seed potatoes is an important factor for restricting the production efficiency of the seed potatoes, so that the labor for transplanting tissue culture seedlings in the production of the virus-free seed potatoes is urgently needed to be reduced.

According to the reports of relevant data, the research and development of the vertical strip-shaped tissue culture seedling transplanting equipment are carried out in Japan, America, the Netherlands and other countries. This kind of equipment of transplanting often uses independent electromechanical system as the main part, adopts PLC programmable controller to realize corresponding information detection and power drive work to be equipped with image recognition system, discern group banks up seedling (or called test tube seedling, separation seedling) up, realize that the accurate of group banks up seedling cuts apart the transplantation. However, only one tissue culture seedling is generally taken at a time for node identification, cutting and transplanting treatment, and only one tissue culture seedling can be treated in one working cycle, so that the defects of low working efficiency and high cost exist. Therefore, the method can not be applied to the actual production process of transplanting the potato tissue culture seedlings in China.

The potato tissue culture seedling is different from a plug seedling or a pot seedling, is usually placed in an aseptic culture chamber in a tissue culture box for culture, and has the following characteristics: the density of the potato tissue culture seedlings in the culture box is high and is close to 9000 plants/m²And the seedlings are easy to cross, which is not beneficial to the position identification of the tissue culture seedlings. The potato tissue culture seedling has the characteristics of thinness, short and small size, undeveloped mechanical tissue and the like, and is easy to cause mechanical damage by mechanical clamping. The potato tissue culture seedling is easy to cause the later pollution of the tissue culture seedling because the root part is provided with the residual culture medium, so the culture medium at the root part of the tissue culture seedling needs to be cleaned or directly cut from the root part when the seedling is taken manually, but the space in the tissue culture box is narrow and is not beneficial to the mechanized operation.

The applicant of the invention discloses a patent application of a potato tissue culture seedling culture box (with the application number of CN2019107372328) suitable for mechanized production, which solves the problems that the existing culture box is relatively deep in box bottom and relatively small in box opening and is not beneficial to mechanized division of potato tissue culture seedlings, but the document is only the starting of the invention and only can solve the problem of the source of early stage test-tube seedlings implemented by the invention.

The overall technical solution of the present invention has not been reported so far.

Disclosure of Invention

The invention aims to provide a rapid transplanting device and a transplanting method thereof, which are suitable for mechanized and automatic transplanting of potato tissue culture seedlings on the whole, aiming at the defects of the existing problems.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a transplanting device for potato tissue culture seedlings, which comprises the following structure:

the invention belongs to a system device, which comprises

As shown in figure 1, the station of the invention is divided into 6 stations (units), and the station is divided into a soil filling station I, a hole pressing station II, a seedling cutting station III, a seedling taking station IV, a cuttage station V, a soil covering station VI and a watering station VII according to the tissue culture seedling transplanting process. The device comprises five modules, namely a soil filling module 1, a cuttage module 2, a seedling cutting module 3, a soil covering module 6 and a watering module 7, an end effector 5 and an end effector position adjusting system 4. The four modules of the soil filling module 1, the cuttage module 2, the soil covering module 6, the watering module 7 and the like are arranged in sequence. The plug conveyors and the guide strips of the four modules are sequentially butted, and the heights of the installation positions are the same. The seedling cutting module 3 and the cuttage module 2 are arranged in parallel, and the height of the tissue culture box conveyor 3-1 for cutting seedlings is equal to or slightly higher than that of the hole tray conveyor 2-1 for cuttage. The end effector position adjusting system 4 is arranged on the support above the seedling cutting module 3 and the cuttage module 2, and an end effector 5 is arranged at the position of a Z-axis linear module 4-3 of the end effector position adjusting system.

The soil filling module comprises a soil filling hole disc conveyor 1-1, a soil filling hole disc guide strip 1-2, a soil filling matrix box 1-3, a soil filling matrix conveyor belt 1-4, a soil scraping plate support 1-5, a soil scraping plate 1-6, a soil cleaning rolling brush support 1-7 and a soil cleaning rolling brush 1-8. The hole disc guide strips 1-2 for filling are symmetrically arranged on the section bars at two sides of the conveying belt of the hole disc conveyor 1-1 for filling to guide and limit the position of the hole disc. The filling substrate box 1-3 is arranged on a filling substrate conveyor belt 1-4, the filling substrate conveyor belt 1-4 is arranged on a filling aperture disk conveyor 1-1, when the aperture disk reaches a filling station I and is detected by a photoelectric switch, the filling substrate conveyor belt 1-4 is started to drive vermiculite in the filling substrate box 1-3 to enter the aperture disk for filling. The scraper plates 1-6 are arranged on the scraper plate supports 1-5, the scraper plate supports 1-5 are arranged on the hole tray conveyor 1-1 for filling soil, the height of the scraper plates 1-6 is adjustable, and when the hole tray filled with soil passes through the scraper plates 1-6, redundant vermiculite is scraped. The soil cleaning rolling brush 1-8 is arranged on the soil cleaning rolling brush support 1-7, the soil cleaning rolling brush support 1-7 is arranged on the hole tray conveyor 1-1 for filling soil, the height and the rotating speed of the soil cleaning rolling brush 1-8 are adjustable, and when the hole tray passes through the soil cleaning rolling brush 1-8, scattered vermiculite is cleaned by the rolling brush. The filling speed of the filling module 1 is determined by the conveying speed of the filling plug conveyor 1-1 and the filling matrix conveyor 1-4.

The cuttage module is composed of a cuttage plug conveyor 2-1, a cuttage plug guide strip 2-2, a hole pressing mechanism support 2-3, a hole pressing air cylinder 2-4, a hole pressing plate and a hole pressing head 2-5. The plug hole guide strips 2-2 are symmetrically arranged on the section bars on two sides of the conveying belt of the plug hole conveyor 2-1 for cutting, and guide and position limit are carried out on the plug holes. The hole pressing plate and the hole pressing head 2-5 are arranged on a hole pressing cylinder 2-4, the hole pressing cylinder 2-4 is arranged on a hole pressing mechanism support 2-3, the hole pressing mechanism support 2-3 is arranged on a hole plate conveyor 2-1 for cuttage, a hole plate to be filled with soil reaches a hole pressing station II, the hole plate is detected by a photoelectric switch, the hole pressing cylinder 2-4 is started to reciprocate, and holes are pressed on vermiculite in the hole plate by matching with the hole plate conveyor 2-1 for cuttage; and (4) stopping the conveyor belt until the whole cavity tray is completely inserted after the cavity tray with the pressed cavity reaches the inserting station V and is detected by the photoelectric switch.

The seedling cutting module consists of a tissue culture box conveyor 3-1 for cutting seedlings, tissue culture box guide strips 3-2 for cutting seedlings, and CO₂Laser tube holder 3-3, CO₂The laser positioning device comprises 3-4 parts of laser tubes, 3-5 parts of laser reflection lenses, 3-6 parts of a plug positioning mechanism, 3-7 parts of a linear module for laser head position movement, 3-8 parts of a laser head support and 3-9 parts of a laser head. The tissue culture box guide strips 3-2 for cutting seedlings are symmetrically arranged on the section bars at two sides of the conveying belt of the tissue culture box conveyor 3-1 for cutting seedlings, and the tissue culture box is guided and limited in position. CO 2₂The laser tube bracket 3-3, the laser reflection lens 3-5 and the plug positioning mechanism 3-6 are arranged on the bracket of the tissue culture box conveyor 3-1 for cutting seedlings. CO 2₂The laser tube 3-4 is arranged at the CO₂A laser tube bracket 3-3. The laser head position moving linear module 3-7 is arranged on the plug positioning mechanism 3-6, the laser head support 3-8 is arranged on the laser head position moving linear module 3-7, and the laser head 3-9 is arranged on the laser head support 3-8. CO 2₂The laser tube 3-4, the laser reflection lens 3-5 and the laser head 3-9 establish a light path. When the tissue culture box reaches the seedling cutting station III, the plug positioning mechanism 3-6 descends to limit the position, the manipulator 5-11 reaches the seedling taking station IV, the negative pressure is started to suck the potato tissue culture seedlings, and the CO is started₂The laser tube 3-4 drives the laser head to move and drives the linear module 3-7 to drive the laser head 3-9 to enable the laser beam to sweep through the potato tissue culture seedlings to be cut, and the potato tissue culture seedlings are cut off. And when the tissue culture box reaches the seedling cutting station III and is detected by the photoelectric switch, the conveying belt is suspended until the potato tissue culture seedlings of the whole tissue culture box are cut.

The end effector position adjustment system 4 is comprised of an X-axis linear module 4-1, a Y-axis linear module 4-2, and a Z-axis linear module 4-3. The Z-axis linear module 4-3 is disposed on the Y-axis linear module 4-2. The Y-axis linear modules 4-2 are disposed on the pair of X-axis linear modules 4-1. The end effector position adjusting system 4 controls a servo motor driver through a PLC, drives a linear module to realize the three-axis motion of an X, Y, Z shaft, and drives an end effector 5 to a specified position.

The end effector 5 is composed of an end effector support 5-1, an upper end guide shaft support 5-2, an upper end guide shaft 5-3, a guide sliding block 5-4, a variable-pitch cylinder 5-5, a reticular variable-pitch mechanism 5-6, a lower end guide linear guide rail 5-7, a lower end guide shaft support 5-8, a lower end guide shaft 5-9, a manipulator connecting block 5-10 and a manipulator 5-11. The guide slide block 5-4 is arranged on the upper end guide shaft 5-3, the upper end guide shaft 5-3 is arranged on the upper end guide shaft bracket 5-2, and the upper end guide shaft bracket 5-2 is arranged on the end effector bracket 5-1. The manipulator connecting block 5-10 is arranged on a lower end guide shaft 5-9, the lower end guide shaft 5-9 is arranged on a lower end guide shaft support 5-8, the lower end guide shaft support 5-8 is arranged on a lower end guide linear guide rail 5-7, and the lower end guide linear guide rail 5-7 is arranged on an end effector support 5-1. The guide sliding block 5-4 and the manipulator connecting block 5-10 are arranged on the reticular variable pitch mechanism 5-6; the manipulator 5-11 is arranged on the manipulator connecting block 5-10; and the variable-pitch air cylinder 5-5 is arranged on the end effector bracket 5-1 and the guide sliding block 5-4, and the variable-pitch air cylinder 5-5 is used for driving the guide sliding block 5-4 to perform parallel manipulator pitch adjustment. The manipulator 5-11 generates positive pressure through an air compressor, and the positive pressure is converted into negative pressure through a vacuum generator after passing through an air source processor to suck the seedlings.

The soil covering module consists of a soil covering plug conveyor 6-1, a soil covering plug guide strip 6-2, a soil covering matrix box 6-3, a soil outlet size adjusting mechanism 6-4 and a soil covering matrix conveyor belt 6-5. And the hole disc guide strips 6-2 for earthing are symmetrically arranged on the section bars at two sides of the conveying belt of the hole disc conveyor 6-1 for earthing to guide and position limit the hole discs. The matrix box 6-3 for earthing is arranged on the matrix conveyor belt 6-5 for earthing, the matrix conveyor belt 6-5 for earthing is arranged on the hole tray conveyor 6-1 for earthing, when the hole tray which is subjected to cuttage is detected by the photoelectric switch when the hole tray reaches the earthing station VI, the matrix conveyor belt 6-5 for earthing is started to drive vermiculite in the matrix box 6-3 for earthing to enter the hole tray for evenly earthing. The soil outlet size adjusting mechanism 6-4 is arranged on the matrix box 6-3 for covering soil and is used for adjusting the soil outlet size. The soil covering thickness of the soil covering module is determined by the conveying speed of the hole tray conveyor 6-1 for covering soil, the opening size of the soil outlet size adjusting mechanism 6-4 and the conveying speed of the matrix conveyor 6-5 for covering soil.

The watering module consists of a hole tray conveyor 7-1 for watering, a hole tray guide strip 7-2 for watering, a watering pipeline bracket 7-3, a water outlet 7-4, a water outlet branch switch 7-5, a water outlet main switch 7-6, a watering pipeline 7-7 and a water receiving tank 7-8. The hole tray guide strips 7-2 for watering are symmetrically arranged on the section bars at two sides of the conveying belt of the hole tray conveyor 7-1 for watering, and guide and position limit are carried out on the hole trays. The water outlet 7-4, the water outlet branch switch 7-5 and the water outlet main switch 7-6 are arranged on the watering pipeline 7-7. The water receiving tank 7-8 is arranged below a conveying belt of the hole tray conveyor 7-1 for watering. The watering quantity and the water pressure of the watering module 7 are determined by the water outlet 7-4, and when the hole tray reaches the watering station VII, the hole tray is detected by the photoelectric switch to start watering.

The potato tissue culture seedling transplanting equipment is integrally controlled through a PLC. The three modules with relatively simple functions of the soil filling module 1, the soil covering module 6 and the watering module 7 and relatively independent operation actions can be directly controlled by using a single chip microcomputer and can be finally controlled by using a PLC.

The hole tray conveyor and the tissue culture box conveyor respectively convey the tissue culture box and the hole tray, and the tissue culture box utilizes the whole box of potato tissue culture seedlings obtained by the invention patent (patent number is 2019107372328, invention name: a potato tissue culture seedling culture box suitable for mechanized production) which is granted by the applicant in the prior period.

According to the agricultural requirements, vermiculite with different humidity is evenly stirred and then respectively placed in the matrix boxes for filling soil 1-3 and the matrix boxes for covering soil 6-3.

The station of the transplanting equipment for the potato tissue culture seedlings is divided into soil filling, hole pressing, seedling cutting, seedling taking, cuttage, soil covering and watering according to the transplanting process of the tissue culture seedlings. The transplanting process comprises the following steps:(1) placing the cavity disc on a conveying belt of a hole disc conveyor 1-1 for filling, and conveying the cavity disc to a filling station I for filling, leveling and clearing; (2) the hole disc filled with the soil is conveyed to a hole pressing station II to be pressed; (3) the hole tray after pressing the hole is conveyed to a cuttage station V for cuttage of the potato tissue culture seedlings; (4) removing the upper barrel of the whole potato tissue culture seedling, placing the potato tissue culture seedling on a conveyor belt of a tissue culture box conveyor 3-1 for cutting the seedling, and conveying the potato tissue culture seedling to a seedling cutting station III for laser cutting of the seedling; (5) the end effector position adjusting system 4 drives the end effector 5 to a seedling taking station IV, and a vacuum generator is started to perform negative pressure clamping on the potato tissue culture seedlings; (6) turn on CO₂The laser tube 3-4 drives the laser head to move, and the linear module 3-7 drives the laser head 3-9 to cut seedlings; (7) the cut seedlings are brought to a cutting station V by an end effector 5 to be matched with a cutting module for cutting the potato tissue culture seedlings; (8) repeating the steps (5) to (7); (9) after a box of potato tissue culture seedlings are cut, lifting the plug positioning mechanism 8-4, and repeating the steps (4) - (8); (10) after the whole plug-tray potato tissue culture seedling is cut, the plug tray is conveyed to an earthing station VI for earthing; (11) and (5) conveying the potted tray covered with the soil to a watering station VII for watering.

Due to the adoption of the technical scheme, the invention has the following advantages:

1. this potato tissue culture seedling transplanting equipment falls into a plurality of modules, is convenient for transport and position adjustment, and whole equipment compact structure, arrange rationally.

2. The laser is used for replacing the traditional mechanical shearing mode to carry out the non-contact cutting of the potato tissue culture seedlings, so that the cross infection of the tissue culture seedlings caused by a cutting tool is effectively avoided, the stem survival of the transplanted tissue culture seedlings is promoted, and the seedling quality of the transplanted potato tissue culture seedlings is obviously improved.

3. The laser beam direction is perpendicular to the manipulator clamping direction, the cutting of multiple potato tissue culture seedlings in an entire row can be completed at one time, the transplanting efficiency of the potato tissue culture seedlings is remarkably improved, the space structure of the device is optimized, and the operation space requirement of the potato tissue culture seedlings in the perpendicular direction is reduced.

4. The manipulator is used for sucking the seedlings under negative pressure, so that damage to the potato tissue culture seedlings caused by mechanical clamping is reduced, the structure of the parallel manipulator is simplified, and high-density and small-plant row spacing operation of the potato tissue culture seedlings is facilitated.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1: the invention has the overall structure schematic diagram. Description of reference numerals: i-a soil filling station, II-a hole pressing station, III-a seedling cutting station, IV-a seedling taking station, V-a cuttage station, VI-an earthing station, VII-a watering station, 1-a soil filling module, 2-a cuttage module, 3-a seedling cutting module, 4-an end effector position adjusting system, 5-an end effector, 6-an earthing module and 7-a watering module.

FIG. 2: the structure of the filling module is shown schematically. Description of reference numerals: 1-1-a hole tray conveyor for filling, 1-2-a hole tray guide strip for filling, 1-3-a matrix box for filling, 1-4-a matrix conveyor belt for filling, 1-5-a scraper support, 1-6-a scraper, 1-7-a soil cleaning rolling brush support and 1-8-a soil cleaning rolling brush.

FIG. 3: the structure schematic diagram of the cuttage module. Description of reference numerals: 2-1-a plug tray transmission machine for cuttage, 2-2-a plug tray guide strip for cuttage, 2-3-a plug-pressing mechanism support, 2-4-a plug-pressing cylinder, 2-5-a plug-pressing plate and a plug-pressing head.

FIG. 4: the structure of the seedling cutting module is shown schematically. Description of reference numerals: 3-1-tissue culture box conveyor for cutting seedlings, 3-2-tissue culture box guide strip for cutting seedlings, 3-3-CO₂Laser tube holder, 3-4-CO₂The laser positioning system comprises a laser tube, 3-5 laser reflection lenses, 3-6 plug positioning mechanisms, 3-7 laser head position moving linear modules, 3-8 laser head supports and 3-9 laser heads.

FIG. 5: the structure of the end effector position adjusting system is shown schematically. Description of reference numerals: 4-1-X axis linear module, 4-2-Y axis linear module, 4-3-Z axis linear module.

FIG. 6: the end effector is a schematic structural diagram. Description of reference numerals: 5-1-end effector support, 5-2-upper end guide shaft support, 5-3-upper end guide shaft, 5-4-guide sliding block, 5-5-variable pitch cylinder, 5-6-reticular variable pitch mechanism, 5-7-lower end guide linear guide rail, 5-8-lower end guide shaft support, 5-9-lower end guide shaft, 5-10-manipulator connecting block and 5-11-manipulator.

FIG. 7: the structure schematic diagram of the soil covering module. Description of reference numerals: 6-1-hole tray conveyor for earthing, 6-2-hole tray guide strip for earthing, 6-3-matrix box for earthing, 6-4-soil outlet size adjusting mechanism and 6-5-matrix conveyor belt for earthing.

FIG. 8: and the watering module is in a schematic structure. Description of reference numerals: 7-1-a hole tray conveyor for watering, 7-2-a hole tray guide strip for watering, 7-3-a watering pipeline support, 7-4-a water outlet, 7-5-a water outlet branch switch, 7-6-a water outlet main switch, 7-7-a watering pipeline and 7-8-a water receiving tank.

Detailed Description

Example 1

A transplanting device for potato tissue culture seedlings comprises a soil filling module (1), a cuttage module (2), a seedling cutting module (3), an end effector position adjusting system (4), an end effector (5), a soil covering module (6) and a watering module (7); the soil filling module (1), the cuttage module (2), the soil covering module (6) and the watering module (7) are arranged in sequence; the plug conveyor and the guide strip of the soil filling module (1), the cuttage module (2), the soil covering module (6) and the watering module (7) are in butt joint in sequence, and the mounting positions of the plug conveyor and the guide strip are the same in height; the seedling cutting module (3) and the cuttage module (2) are arranged in parallel; the end effector position adjusting system (4) is arranged on the bracket above the seedling cutting module (3) and the cuttage module (2), and an end effector (5) is arranged at the position of the Z-axis linear module (4-3) of the end effector position adjusting system (4).

The soil filling module (1) comprises a soil filling hole disc conveyor (1-1), a soil filling hole disc guide strip (1-2), a soil filling matrix box (1-3), a soil filling matrix conveyor belt (1-4), a soil scraping plate support (1-5), a soil scraping plate (1-6), a soil cleaning rolling brush support (1-7) and a soil cleaning rolling brush (1-8); the earth-filling hole disc guide strips (1-2) are symmetrically arranged on the section bars at two sides of the conveying belt of the earth-filling hole disc conveyor (1-1); the matrix box (1-3) for filling is arranged on the matrix conveyor belt (1-4) for filling, and the matrix conveyor belt (1-4) for filling is arranged on the plug conveyor (1-1) for filling; the scraper (1-6) is arranged on the scraper bracket (1-5), and the scraper bracket (1-5) is arranged on the hole tray conveyor (1-1) for filling; the soil cleaning rolling brush (1-8) is arranged on the soil cleaning rolling brush bracket (1-7), and the soil cleaning rolling brush bracket (1-7) is arranged on the hole disc conveyor (1-1) for filling soil.

3. The tissue culture seedling transplanting device for potatoes as claimed in claim 1, wherein: the cuttage module (2) comprises a cuttage plug tray conveyor (2-1), a cuttage plug tray guide strip (2-2), a hole pressing mechanism support (2-3), a hole pressing cylinder (2-4), a hole pressing plate and a hole pressing head (2-5); the cutting plug guide strips (2-2) are symmetrically arranged on the section bars at two sides of the conveying belt of the cutting plug conveyor (2-1); the hole pressing plate and the hole pressing head (2-5) are arranged on the hole pressing air cylinder (2-4), the hole pressing air cylinder (2-4) is arranged on the hole pressing mechanism support (2-3), and the hole pressing mechanism support (2-3) is arranged on the hole disk conveyor (2-1) for cuttage.

The seedling cutting module (3) comprises a tissue culture box conveyor (3-1) for cutting seedlings, tissue culture box guide strips (3-2) for cutting seedlings, and CO₂Laser tube holder (3-3), CO₂The laser positioning device comprises laser tubes (3-4), laser reflection lenses (3-5), a plug positioning mechanism (3-6), a laser head position moving linear module (3-7), a laser head support (3-8) and a laser head (3-9); the tissue culture box guide strips (3-2) for cutting seedlings are symmetrically arranged on the section bars at two sides of the conveyor belt of the tissue culture box conveyor (3-1) for cutting seedlings; CO 2₂The laser tube bracket (3-3), the laser reflection lens (3-5) and the plug positioning mechanism (3-6) are arranged on the bracket of the tissue culture box conveyor (3-1) for cutting seedlings; CO 2₂The laser tube (3-4) is arranged at the CO₂A laser tube bracket (3-3); the laser head position moving linear module (3-7) is arranged on the plug positioning mechanism (3-6), the laser head support (3-8) is arranged on the laser head position moving linear module (3-7), and the laser head (3-9) is arranged on the laser head support (3-8).

The end effector position adjusting system (4) comprises an X-axis linear module (4-1), a Y-axis linear module (4-2) and a Z-axis linear module (4-3); the Z-axis linear module (4-3) is arranged on the Y-axis linear module (4-2); the Y-axis linear modules (4-2) are arranged on the pair of X-axis linear modules (4-1).

The end effector (5) comprises an end effector support (5-1), an upper end guide shaft support (5-2), an upper end guide shaft (5-3), a guide sliding block (5-4), a pitch-changing cylinder (5-5), a reticular pitch-changing mechanism (5-6), a lower end guide linear guide rail (5-7), a lower end guide shaft support (5-8), a lower end guide shaft (5-9), a manipulator connecting block (5-10) and a manipulator (5-11); the guide sliding block (5-4) is arranged on the upper end guide shaft (5-3), the upper end guide shaft (5-3) is arranged on the upper end guide shaft support (5-2), and the upper end guide shaft support (5-2) is arranged on the end effector support (5-1); the manipulator connecting block (5-10) is arranged on a lower end guide shaft (5-9), the lower end guide shaft (5-9) is arranged on a lower end guide shaft bracket (5-8), the lower end guide shaft bracket (5-8) is arranged on a lower end guide linear guide rail (5-7), and the lower end guide linear guide rail (5-7) is arranged on an end effector bracket (5-1); the guide sliding block (5-4) and the manipulator connecting block (5-10) are arranged on the reticular variable pitch mechanism (5-6); the manipulator (5-11) is arranged on the manipulator connecting block (5-10); the variable-pitch air cylinder (5-5) is arranged on the end effector bracket (5-1) and the guide slide block (5-4).

The soil covering module (6) comprises a hole tray conveyor (6-1) for soil covering, a hole tray guide strip (6-2) for soil covering, a substrate box (6-3) for soil covering, a soil outlet size adjusting mechanism (6-4) and a substrate conveyor belt (6-5) for soil covering; the earth covering plug guide strips (6-2) are symmetrically arranged on the section bars at two sides of the conveyor belt of the earth covering plug conveyor (6-1); the matrix box (6-3) for earthing is arranged on the matrix conveyor belt (6-5) for earthing, and the matrix conveyor belt (6-5) for earthing is arranged on the plug conveyor (6-1) for earthing; the size adjusting mechanism (6-4) of the soil outlet is arranged on the matrix box (6-3) for covering soil.

The soil covering module consists of a soil covering plug conveyor 6-1, a soil covering plug guide strip 6-2, a soil covering matrix box 6-3, a soil outlet size adjusting mechanism 6-4 and a soil covering matrix conveyor belt 6-5. And the hole disc guide strips 6-2 for earthing are symmetrically arranged on the section bars at two sides of the conveying belt of the hole disc conveyor 6-1 for earthing to guide and position limit the hole discs. The matrix box 6-3 for earthing is arranged on the matrix conveyor belt 6-5 for earthing, the matrix conveyor belt 6-5 for earthing is arranged on the hole tray conveyor 6-1 for earthing, when the hole tray which is subjected to cuttage is detected by the photoelectric switch when the hole tray reaches the earthing station VI, the matrix conveyor belt 6-5 for earthing is started to drive vermiculite in the matrix box 6-3 for earthing to enter the hole tray for evenly earthing. The soil outlet size adjusting mechanism 6-4 is arranged on the matrix box 6-3 for covering soil and is used for adjusting the soil outlet size. The soil covering thickness of the soil covering module is determined by the conveying speed of the hole tray conveyor 6-1 for covering soil, the opening size of the soil outlet size adjusting mechanism 6-4 and the conveying speed of the matrix conveyor 6-5 for covering soil.

The watering module (7) comprises a watering hole tray conveyor (7-1), a watering hole tray guide strip (7-2), a watering pipeline support (7-3), a water outlet (7-4), a water outlet branch switch (7-5), a water outlet main switch (7-6), a watering pipeline (7-7) and a water receiving tank (7-8); the hole tray guide strips (7-2) for watering are symmetrically arranged on the section bars at two sides of the conveying belt of the hole tray conveyor (7-1) for watering; the water outlet (7-4), the water outlet branch switch (7-5), the water outlet main switch (7-6) are set on the watering pipe (7-7); the water receiving tank (7-8) is arranged below a conveying belt of the hole tray conveyor (7-1) for watering.

The watering quantity and the water pressure of the watering module 7 are determined by the water outlet 7-4, and when the hole tray reaches the watering station VII, the hole tray is detected by the photoelectric switch to start watering.

The potato tissue culture seedling transplanting equipment cuts the potato tissue culture seedling by using laser, wherein the laser power is preferably 50-70W, and the cutting speed is preferably 12-36 mm/s.

The tail end actuator drives the scissor type mechanism to adjust the parallel manipulator distance by using a variable-pitch cylinder; the manipulator generates positive pressure through an air compressor, and the positive pressure is converted into negative pressure through a vacuum generator after passing through an air source processor to suck the seedlings.

The potato tissue culture seedling transplanting equipment is integrally controlled through a PLC. The three modules with relatively simple functions of the soil filling module 1, the soil covering module 6 and the watering module 7 and relatively independent operation actions can be directly controlled by using a single chip microcomputer and can be finally controlled by using a PLC.

The hole tray conveyor and the tissue culture box conveyor respectively convey the tissue culture box and the hole tray, and the tissue culture box utilizes the whole box of potato tissue culture seedlings obtained by the invention patent (patent number is 2019107372328, invention name: a potato tissue culture seedling culture box suitable for mechanized production) which is granted by the applicant in the prior period.

According to the agricultural requirements, vermiculite with different humidity is evenly stirred and then respectively placed in the matrix boxes for filling soil 1-3 and the matrix boxes for covering soil 6-3.

The mechanized transplanting process of the potato tissue culture seedlings comprises the following steps:

(1) the hole disc is placed on a conveying belt of a hole disc conveyor 1-1 for filling, when the hole disc reaches a filling station I and is detected by a photoelectric switch, a matrix conveying belt 1-4 for filling is started to drive vermiculite in a matrix box 1-3 for filling to enter the hole disc for filling, the hole disc filled with the soil passes through a soil scraping plate 1-6, redundant vermiculite is scraped off, and the redundant vermiculite is cleaned by a rolling brush after passing through a soil cleaning rolling brush 1-8.

(2) And when the hole disc reaches a hole pressing station II, the photoelectric switch detects the hole disc, the hole pressing air cylinder 2-4 is started to reciprocate, and the hole disc conveyor 2-1 for cuttage is matched to press holes on the vermiculite in the hole disc.

(3) And (5) when the hole tray reaches the cuttage station V and is detected by the photoelectric switch, suspending the conveyor belt until the whole hole tray is completely planted.

(4) After the upper barrel of the whole potato tissue culture seedling is removed, the whole potato tissue culture seedling is placed on a conveying belt of a tissue culture box conveying machine 3-1 for cutting the seedling, when the tissue culture box reaches a seedling cutting station III and is detected by a photoelectric switch, a hole disc positioning mechanism 3-6 descends to limit the position, and the conveying belt is stopped until the potato tissue culture seedling of the whole tissue culture box is cut.

(5) The end effector position adjusting system 4 controls a servo motor driver through a PLC (programmable logic controller), drives a linear module to realize X, Y, Z three-axis motion, drives the end effector 5 to a seedling taking station IV, drives a variable-pitch cylinder 5-5 to reduce the parallel manipulator distance to a specified size, and starts a vacuum generator to perform negative pressure clamping on potato tissue culture seedlings.

(6) Turn on CO₂The laser pipe 3-4 drives the laser head to move, the linear module 3-7 is used for driving the laser head 3-9 to enable the laser beam to sweep through the potato tissue culture seedlings to be cut, and the potato tissue culture seedlings are cut off.

(7) After the cutting of the single potato tissue culture seedling is finished, the end effector 5 is driven to a cutting station V through the end effector position adjusting system 4, the parallel manipulator distance is increased to a specified size through the driving variable pitch cylinder 5-5, and the cutting module 2 is matched for carrying out the cuttage of the potato tissue culture seedling.

(8) And (5) repeating the steps (5) to (7).

(9) And (5) after cutting a box of potato tissue culture seedling, lifting the plug positioning mechanism 3-6, and repeating the steps (4) - (8).

(10) After the whole plug-tray potato tissue culture seedling is cut, the plug tray is conveyed to an earthing station VI for earthing, when the plug tray reaches the earthing station VI and is detected by a photoelectric switch, a matrix conveyor belt 6-5 for earthing is started to drive vermiculite in a matrix box 6-3 for earthing to enter the plug tray for earthing; (11) and (3) conveying the potted tray covered with the soil to a watering station VII for watering, starting watering when the potted tray reaches the watering station VII and is detected by a photoelectric switch, and lifting the potted tray away from the conveyor belt after watering.