An end effector and control method for hole-piercing and seedling-planting integrated plug-in seedling transplanting
An end-effector and integrated technology, applied in planting methods, transplanting machinery, digging/covering ditches, etc., can solve the problem that the duckbill cannot solve the problem of picking seedlings, so as to reduce the difficulty of operation control and structural complexity and the effect
Active Publication Date: 2016-09-07
JIANGSU UNIV
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Problems solved by technology
[0003] Catheter-type, clamp-type, and chain-clamp transplanters all rely on special ditching and soil-covering devices to realize transplanting of seedlings in the field; catheter-type transplanters use the principle of gravity-dropping seedlings, and their duckbills cannot Solve the problem of picking seedlings
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[0029] Such as figure 1 , figure 2 and image 3 As shown, the end effector for hole-planting and seedling-planting integrated hole tray seedling transplanting is composed of a linear drive element 8, two connecting rods 7, a frame 3, two integrated fingers and two one-way elastic tilting pins 2.
[0030] Wherein the one-piece finger comprises an elastic perforating lip 4, a seedling-taking needle 5, a sliding tube inner spring 6, and a sliding tube 9. Such as Figure 4 As shown, the main body of the elastic perforating lip 4 is a slender elastic plate with a tendency to bend inward, and the lower end of the elastic perforating lip 4 has a short flat elbow 11 bent outward. Such as Figure 5 As shown, the bottom of the linear seedling-taking needle 5 has a one-way notch 12, and the angle α≤90 between the upper side of the one-way notch 12 and the straight line of the seedling-taking needle 5 o , the angle β between the upper side of the one-way notch 12 and the inclin...
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The invention discloses an end effector and a control method of an integrated hole tray seedling transplanting end effector for hole-planting seedlings. The device of the invention is composed of a linear drive element, two connecting rods, a frame, two integrated fingers and two one-way elastic tilting pins. The one-piece finger includes an elastic perforating lip, a seedling removal needle, a sliding tube inner spring, and a sliding tube. When the one-piece finger is stretched out along the fixed line, when the one-way notch on the seedling-taking needle hits the one-way elastic inclined ejector pin, it gets stuck, and the seedling-taking needle completes the clamping of the seedling lump. When reaching the position above the seedlings, the two elastic perforating lips continue to protrude downwards and close together to form a tapered sharp mouth to complete the perforation. Using the structural integration of the punching lip and the seedling taking needle and the functional integration of the ejector pin limit and switch control, the single power seedling picking-punching-planting operation is realized, which greatly reduces the structural complexity and operation control difficulty , can be used for punching holes and planting seedlings when transplanting plug seedlings.
Description
technical field [0001] The invention relates to the field of agricultural equipment, in particular to an end effector and a control method for hole-piercing and seedling-planting integrated hole tray seedling transplanting. Background technique [0002] Usually all will in advance ditch or dig a hole in the ground of transplanting or flowerpot, plug when transplanting of seedling. In mechanized ground transplanting, the conduit type, clamp type or chain clamp type transplanter usually completes the ditching by the ditch opener, the seedlings are thrown manually or by the seedling picking and throwing system, and then the seedlings are passed through the seedling guide tube or tongs. The mouth transports the seedlings into the seedling ditch opened by the ditch opener, and then covers the soil to complete the transplanting; the hanging basket transplanter adopts a duckbill structure, and the seedlings are thrown manually or by the seedling picking and throwing system. The mo...
Claims
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IPC IPC(8): A01C5/04A01C11/02
Inventor 刘继展李茂李萍萍
Owner JIANGSU UNIV