Automatic potted seedling transplanting, picking and placing method based on two mechanical fingers and four clamp pins

Abstract

The invention relates to an automatic potted seedling transplanting, picking and placing method based on two mechanical fingers and four clamp pins. The method comprises the following steps of: pushing the clamp pins 14 to stretch out of the unfolded mechanical fingers and insert into a potted seedling pot body by utilizing a piston rod 12 of a minitype air cylinder 6; folding and pinching the potted seedling pot body under the acting force of a deflation spring 8 of an air bag of a rubber finger by utilizing the mechanical fingers so as to pick seedlings; inflating the air bag of the rubber finger 4 so as to drive the mechanical fingers to be unfolded; and pushing the clamp pins 14 to retract and separate from the potted seedling pot body by utilizing a piston rod 12 of the minitype air cylinder 6 so as to place the seedlings. According to the method, the four clamp pins 14 stretch out and insert into the potted seedling pot body, so that the mechanical fingers are folded to clamp the seedlings; and the mechanical fingers are unfolded to loosen the four clamp pins 14, and then the clamp pins 14 retract and separate from the potted seedling pot body so as to place the seedlings. The method is simple and has the advantages of high seedling picking and placing flexibility and low possibility of damaging the seedlings; and by virtue of coordination with a seedling picking mechanism, the method can be used for automatically transplanting potted seedlings of vegetables and flowers with different specifications such as 128 holes and 72 holes.

Description

technical field [0001] The invention relates to a transplanting method for plug-in seedlings, in particular to an automatic method for picking and placing seedlings in plug-in trays using two mechanical fingers and four pinching needles. Background technique [0002] Industrial seedling cultivation of vegetables, flowers and other crops is the pioneer of modern agriculture and factory agriculture, and has become the leader of modern vegetable and flower industries. The industrialization of seedlings has great potential for development, and automated seedling raising and transplanting equipment is the key technical equipment for the seedling industry. Plug seedling transplanting technology started earlier in developed countries. Holland has widely used plug seedling automatic transplanting machines (such as Visser Group’s Pic-O-Mat PC series automatic transfer machines, etc.) in greenhouse flower production. Seedlings are automatically transplanted from high-density plugs to ...

AI Technical Summary

Problems solved by technology

So far, my country has not independently developed an automatic transfer machine for plug seedlings to be applied to production. Although Taiwan, Nanjing Agricultural University, Shenyang Agricultural University and other units have trial-produced some seedling-taking end effectors similar to four-finger claws, the structure is simple, but the finger It has been fixed and formed, and only four clamping needles are used to stretch and retract in the mechanical fingers to achieve seedlings. The flexibility is poor, and it is difficult to avoid the occurrence of seedling injury.

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