Grafted seedling tray planting manipulator end effector and corresponding planting mechanism and method
An end-effector and manipulator technology, applied in planting methods, transplanting machinery, applications, etc., can solve the problems of low planting efficiency and low degree of mechanization, and achieve the effects of precise movement, high equipment reliability and convenient manufacturing.
Inactive Publication Date: 2016-07-06
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
[0006] Aiming at the defects in the above-mentioned prior art, the present invention provides an end effector of grafted seedling tray planting manipulator and corresponding planting mechanism and planting method, which overcomes the defects of low manual planting efficiency and low mechanization degree of existing grafted seedlings, and has high positioning accuracy , high planting efficiency, stable work and meet the requirements of modern agricultural mechanization
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[0028] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0029] When the hole tray planting manipulator is working, an end effector, also called a robot claw, must be installed at the end of the manipulator wrist to directly complete the task. The gripper system of the robot is equivalent to the human hands, feet and the simple tools used. It needs to select the corresponding grasping method according to the material, temperature, shape and size of the surface of the grasped object and the different tasks to be completed. Way. Since the end effector of...
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The invention provides an end effector of grafted seedling tray planting manipulator and corresponding planting mechanism and method, comprising: connecting plate, air claw, seedling clamping claw, seedling clamping sponge and soil pressing mechanism, and the air claw includes air cylinder, air pipe, air cylinder Linear sliding guide rail and claw hand, one end of the cylinder is connected to the connecting plate, and the other end is connected to the claw hand; The claws are connected, the seedling clamping sponge is connected with the seedling clamping claws, and the soil pressing mechanism is threadedly connected with the cylinder block; the air pipe includes an air inlet pipe and an air outlet pipe, and one end of the air inlet pipe and the air outlet pipe is connected with the cylinder. The invention also provides a corresponding plug planting mechanism for grafted seedlings. The end effector of the grafted seedling tray planting manipulator of the present invention has the advantages of compact structure, precise seedling picking and planting movement, good soil pressing effect, high working efficiency, and environmental protection.
Description
technical field [0001] The invention relates to the technical field of agricultural mechanization, in particular to an end effector of a grafted seedling tray planting manipulator, a grafted seedling tray planting mechanism and a planting method. Background technique [0002] At present, grafting cultivation has become an important measure to achieve stable, high-yield, and high-quality cultivation of melon and fruit vegetables such as cucumbers, watermelons, and tomatoes. Japan, Holland, South Korea and other countries have generally adopted grafting cultivation techniques. 100% of watermelons in Japan, 90% of cucumbers, and 96% of eggplants are cultivated by grafting, and almost 100% of watermelons in South Korea are cultivated by grafting. Grafting cultivation technology has also been widely used in my country, and many large-scale vegetable grafting bases have been formed in northern my country such as Shandong and Hebei. Due to the strong timeliness of vegetable grafti...
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IPC IPC(8): A01C11/02
Inventor 曹其新冷春涛邱强谭明豪
Owner SHANGHAI JIAOTONG UNIV