CN110301242B - A Rootstock Seedling Clamping and Cotyledon Precise Orientation Device - Google Patents

Abstract

In order to solve the problem that the rootstock cotyledons cannot be accurately adjusted and the rootstock stems are clamped and damaged during the vegetable grafting process, the present invention discloses a rootstock seedling clamping and cotyledons precise orientation adjustment device, which mainly consists of a steering wheel, a double-axis double-rod It consists of a cylinder, a stepping motor, a seedling pressing sheet, a seedling clamping mechanism and a direction linkage adjustment mechanism. The invention can realize the non-destructive clamping of the rootstock of the grafted Cucurbitaceae seedlings, the linkage between clamping and pressing of the seedlings and the precise adjustment of the direction of the cotyledon of the rootstock, and can make the cotyledon of the rootstock seedling and the cotyledon of the scion seedling intersect at 90°.

Description

A device for rootstock seedling clamping and cotyledon precise orientation adjustment

technical field

The invention relates to a rootstock seedling clamping and cotyledon precise orientation adjustment device, which belongs to the technical field of agricultural machinery, and is especially suitable for non-destructive clamping of rootstock cotyledons, non-destructive pressure seedlings and precise orientation adjustment of rootstock cotyledons in the process of automatic mechanical grafting of facility vegetables.

Background technique

With the advent of specialization, intensification and large-scale development of the vegetable industry, vigorously developing the mechanization of the vegetable industry has become an inevitable trend for the modernization of China's vegetable industry. The problem of continuous cropping diseases of Solanaceae and Cucurbitaceae vegetables is very prominent, which seriously affects the quality and yield of vegetables. Grafting cultivation can not only make use of the excellent disease resistance of rootstock seedlings, but also retain the excellent varieties of scions to improve the disease resistance of plants , reduce the impact of continuous cropping diseases, is conducive to the promotion of fine varieties, and is an important measure to achieve high and stable vegetable yields. However, the problem of non-destructive clamping of rootstock cotyledon, non-destructive seedling pressing and precise orientation adjustment of rootstock cotyledons in the grafting process needs to be solved urgently, so it is imperative to develop a non-destructive seedling pressing and precise orientation adjustment device for non-destructive clamping of rootstock cotyledons.

Contents of the invention

In order to realize the non-destructive clamping of rootstock cotyledons in the mechanized grafting process of facility vegetables, and the problem of non-destructive pressing of seedlings and precise alignment of rootstock cotyledons, the present invention designs a rootstock seedling clamping and cotyledon precise alignment device, which can realize rootstock cotyledons Non-destructive clamping, with a sponge pad on the seedling pressing sheet, which can realize non-destructive seedling pressing, and use the direction linkage adjustment mechanism to accurately adjust the direction of the cotyledons of the rootstock to ensure that the cotyledons of the rootstock and the grafted scion seedlings cross at 90°.

The technical solution adopted by the present invention is: a device for clamping rootstock seedlings and cotyledons for precise direction adjustment, which is mainly composed of a steering wheel, a double-axis double-rod cylinder, a seedling pressing piece, a seedling clamping mechanism and a direction linkage adjustment mechanism. The double-axis and double-rod cylinder is installed on the cylinder bracket, the seedling pressing piece is fixed on the curved plate of the cylinder, the seedling clamping mechanism is installed above the steering wheel, and the direction linkage adjustment mechanism is installed below the steering wheel .

Further, the seedling clamping mechanism is composed of a double-axis double-rod cylinder, a cylinder curved plate, a rear top block, a guide wheel, a guide wheel shaft, a clamping arm, an extension spring, a seedling clamping block, a rubber belt, a support slider, a support slide rail, the cylinder bending plate is installed on the double-axis upper rod cylinder, the guide wheel is installed on the guide wheel shaft on the cylinder bending plate, the rear jacking block is fixed with the clamping arm, and the clamping The holding arm is installed on the support slide block, the support slide block is installed on the support slide rail, the two ends of the extension spring are respectively installed in the extension spring holes of the two clamp arms, and the seedling clamping block is installed on the in the groove of the clamping arm.

Further, the direction linkage adjustment mechanism is composed of a stepper motor, an intermediate guide rail, a side link, a steering shaft, a circular guide rail, a guide rail slider, and a roller. The stepper motor is installed on the motor bracket, and the The motor bracket mentioned above is installed under the steering wheel, the middle guide rail is installed on the stepper motor shaft, one end of the side connecting rod is embedded in the groove of the middle guide rail, and the other end is connected with the steering shaft. The shaped guide rail is installed below the steering wheel, and the inside of the guide rail slider has rollers installed on the circular guide rail, and the bottom is connected with the side link.

Description of drawings

Below in conjunction with accompanying drawing, the invention is further described.

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a schematic structural view of the seedling clamping mechanism of the present invention.

Fig. 3 is a structural schematic diagram of the direction linkage adjustment mechanism of the present invention.

In the figure: 1. Cylinder bracket, 2. Steering wheel, 3. Motor bracket, 4. Stepper motor, 5. Double-axis double-rod cylinder, 6. Cylinder bending plate, 7. Seedling pressing piece, 8. Extension spring, 9. Clamping block, 10. Rubber belt, 11. Clamping arm, 12. Sponge pad, 13. Guide wheel, 14. Guide wheel shaft, 15. Rear top block, 16. Support slider, 17. Support guide rail, 18 .Adjustment shaft, 19. Guide rail slider, 20. Circular guide rail, 21. Side connecting rod, 22. Middle guide rail.

Detailed ways

With reference to Fig. 1, Fig. 2, Fig. 3, the present invention is a kind of rootstock seedling clamping and cotyledon precise direction adjustment device, mainly by steering wheel (2), biaxial double rod cylinder (5), stepper motor (4) , a seedling pressing sheet (7), a seedling clamping mechanism and a direction linkage adjustment mechanism, the biaxial double-rod cylinder (5) is installed on the cylinder bracket (1), and the stepping motor (4) is installed on the motor bracket (3), the described seedling pressing sheet (7) is installed on the cylinder bending plate (6), the described sponge pad (12) is installed below the seedling pressing sheet (7), and the described seedling clamping mechanism is installed on Above the steering wheel (2), the direction linkage adjustment mechanism is installed below the steering wheel (2),

Described cylinder bending plate (6) is installed on the biaxial upper rod cylinder (5), and described guide wheel (13) is installed on the guide wheel axle (14) on the cylinder bending plate (6), and described rear The top block (15) is fixed to the clamping arm (11), the clamping arm (11) is installed on the support slide (16), and the support slide (16) is installed on the support slide (17) Above, the two ends of the extension spring (8) are respectively installed in the extension spring holes of the two clamping arms (11), and the described clamping seedling block (9) is installed in the groove of the clamping arm (11), Described rubber belt (10) is installed on the clamping seedling block (9),

The motor bracket (3) is installed under the steering wheel (2), the middle guide rail (22) is installed on the stepper motor shaft, and one end of the side link (21) is embedded in the middle guide rail (22) In the groove, the other end is equipped with a steering shaft (18), and the circular guide rail (20) is installed under the steering wheel (2), and the inside of the guide rail slider (19) has rollers installed on the circular On the guide rail (20), the bottom is connected with the side link (21).

In the initial state, the guide wheel (13) driven by the cylinder pushes the rear top block (15) to both sides. After the seedlings are put on, the cylinder drops by half, and the guide wheel (13) returns to the triangular groove of the two rear top blocks (15). Inside, the two clamping arms (11) are closed by the tension of the tension spring (8), the elastic rubber belt (10) clamps the rootstock without damage, and the seedling clamping block (9) can rotate in the groove of the clamping arm (11) , which is convenient for precise steering.

After the seedling clamping action is completed, the image recognition is used to detect how much the cotyledons of the rootstock seedling deviate from the specified angle, and a pulse signal is given to the stepping motor (4), and the stepping motor (4) rotates clockwise through a certain angle according to the number of pulses emitted to drive the middle guide rail (22) rotates, and the side link (21) rotates accordingly, and the guide rail slider (19) is installed on the circular guide rail (20), restricting the redundant degree of freedom of the side link (21), so that the side link (21) Rotate according to the prescribed track, the height of the two side connecting rods (21) is different, which can ensure that no collision will occur, and the steering shaft (18) above the side connecting rod (21) is embedded in the round hole of the clamping block (9), thereby driving the clamping The seedling block (9) rotates to precisely adjust the direction of the cotyledons, and finally the cylinder continues to descend to drive the seedling pressing sheet to press the seedlings without damage.

Claims (1)

1. A rootstock seedling clamping and cotyledon precise direction adjustment device, characterized in that: it is composed of a steering wheel, a double-axis double-rod cylinder, a seedling pressing piece, a seedling clamping mechanism and a direction linkage adjustment mechanism, and the double-axis double-rod The cylinder is installed on the cylinder bracket, the seedling pressing sheet is installed on the curved plate of the cylinder, the seedling clamping mechanism is installed above the steering wheel, and the direction linkage adjustment mechanism is installed below the steering wheel; The seedling clamping mechanism is composed of a double-axis double-rod cylinder, a rear top block, a guide wheel, a guide wheel shaft, a clamping arm, a tension spring, a seedling clamping block, a rubber belt, a supporting slide block, and a supporting slide rail. On the double-shaft double-rod cylinder, the guide wheel is installed on the guide wheel shaft on the bent plate of the cylinder, the rear jacking block is fixed with the clamping arm, and the clamping arm is installed on the support slider. The support slider described above is installed on the support slide rail, the two ends of the tension spring are respectively installed in the tension spring holes of the two clamping arms, and the seedling clamping block is installed in the groove of the clamping arm. At the same time, the guide wheel driven by the cylinder pushes the rear top block to both sides. After the seedlings are put on, the cylinder drops halfway, and the guide wheel returns to the triangular groove of the two rear top blocks. The two clamping arms are closed by the tension of the tension spring, and the elastic rubber belt The rootstock is clamped without damage, and the clamping block can be rotated in the groove of the clamping arm to facilitate precise orientation adjustment; the direction linkage adjustment mechanism is composed of a stepping motor, an intermediate guide rail, a side link, an orientation axis, a circular Shaped guide rail, guide rail slider, and rollers, the stepping motor is installed on the motor bracket, the motor bracket is installed under the steering wheel, the middle guide rail is installed on the stepping motor shaft, the One end of the side link is embedded in the groove of the middle guide rail, and the other end is connected with the steering shaft. The circular guide rail is installed under the steering wheel, and the rollers inside the guide rail slider are installed on the circular guide rail. The side link is connected, and the stepper motor rotates clockwise through a certain angle according to the number of pulses emitted to drive the middle guide rail to rotate, and the side link rotates accordingly. The guide rail slider is installed on the circular guide rail to limit the extra degree of freedom of the side link. Make the side connecting rods rotate according to the prescribed trajectory. The height of the two side connecting rods is different to ensure that there will be no collision. The upper end of the upper steering shaft is embedded in the round hole of the clamping block, thereby driving the clamping block to rotate to achieve precise steering Finally, the cylinder continues to descend, driving the seedling pressing sheet to press the seedlings without damage.

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