Inferior pot seedling removal and transplanting wrapped clamping end effector

An end effector and wrapping technology, which is applied in the direction of transplanting machinery, chucks, planting methods, etc., can solve the problems of poor removal and transplanting effect, fragile clamping, etc., to achieve effective removal, reliable grasping, and improved The effect on success rate

Active Publication Date: 2016-06-15
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These end-effectors are suitable for transplanting healthy seedlings, and they are fragile for clamping inferior pot seedlings with weak root systems, and the removal effect of transplanting is not good

Method used

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  • Inferior pot seedling removal and transplanting wrapped clamping end effector
  • Inferior pot seedling removal and transplanting wrapped clamping end effector
  • Inferior pot seedling removal and transplanting wrapped clamping end effector

Examples

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with drawings and embodiments.

[0022] Such as figure 1 As shown, the present invention includes from top to bottom: seedling shovel pressing down execution part 1, cylinder fixing support part 2 and clamping seedling shovel execution part 4, four seedling shovel rods with the same structure of seedling shovel sliding execution part 3, respectively It is installed between the seedling shovel pressing down execution part 1, the cylinder fixed support part 2 and the clamping seedling shovel execution part 4, and its four seedling shovels are all positioned at the clamping seedling shovel execution part 4 below.

[0023] Such as figure 2 As shown, the seedling shovel press-down execution part 1 includes: a force plate 5, four bearing bracket fixing rings 6, four bearing brackets 7, four fixing pins 8, four bearings 9 and a press-down cylinder 10; The force applying plate 5 is a square pressing plate, ...

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PUM

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Abstract

The invention discloses a wrapping clamping end effector for rejecting inferior pot seedlings. Including force plate, four bearing bracket fixing rings, four bearing brackets, four fixing pins, four bearings and the seedling shovel down-pressing execution parts of the down-pressing cylinder; including four sets of upper guide tube supports, cylinder fixing support plates and Cylinder fixing bracket parts for two sets of downcomer supports; seedling shovel sliding actuator parts composed of four seedling shovel rods with the same structure; clamping seedling shovel actuators including seedling shovel clamping cylinders, extension arms and two connecting brackets , four seedling shovel rods with the same structure are respectively installed between the seedling shovel pressing down execution part, the cylinder fixing support part and the clamping seedling shovel execution part. The small hole on the fixed support plate of the cylinder is installed on the three-degree-of-freedom mechanical arm of the transplanting machine. The invention completes the actions of inserting, wrapping and clamping pot seedlings, lifting and releasing pot seedlings along the wall of the hole hole, and realizes the automatic transfer of inferior pot seedlings. Reliable grasping and effective removal during planting operations, improving the success rate of pot seedling removal and transplanting.

Description

technical field [0001] The invention relates to a transplanting machine among agricultural machines, in particular to a wrapped clamping end effector for removing and transplanting inferior seedlings. Background technique [0002] The plant seedling cultivation technology has been widely used in the world. The quality of pot seedlings should be checked before leaving the factory, and the inferior seedlings should be removed and replaced with healthy seedlings. Traditionally, manual work is used. The working environment of workers in the greenhouse is harsh and the production efficiency is low. The use of mechanization for culling and replanting can solve the above problems, and the transplanting consistency of potted seedlings is good. [0003] The pot-moving equipment realizes the grasping and release of pot seedlings through the end effector, which needs to be adapted to pot seedlings of different crop varieties, different substrates, and moisture content conditions. Obvi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10A01C11/02
Inventor 童俊华武传宇蒋焕煜俞高红钱荣
Owner ZHEJIANG SCI-TECH UNIV
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