Seedling clamping and digging end executor and method

Abstract

The invention belongs to the field of agricultural machinery and relates to a seedling clamping and digging end executor and method. The end executor comprises a transverse-pushing joint finger, multiple clamping joint fingers and supporting joint fingers; when dug, seedlings are clamped through the clamping joint fingers, clamping needles are pushed out to penetrate cultivation soil of the seedlings obliquely, the clamping joint fingers are pushed to enable the clamping needles to have the cultivation soil clamping the seedlings dug, the seedlings are clamped and dug from a cultivation container under driving of a moving platform, the cultivation soil clamping the seedlings is released when the seedlings are to be released, the clamping needles are retracted, the cultivation soil is enabled to be separated from the clamping function, and finally, the seedlings are released by opening the clamping joint fingers. The end executor is simple in structure and capable of effectively avoiding hurting the seedlings by clamping of the clamping needles, manual digging of the seedlings with shovels is simulated, seedling taking quality is well guaranteed, and the seedling clamping and digging end executor and method is applicable to the field of mechanized transplanting of the container cultivated seedlings such as seed beds, trays or flowerpots.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to an end effector and a method for digging seedlings. Background technique [0002] Transplanting is a common method of crop production. First, seedlings are cultivated in containers such as seedbeds, plug trays or small flowerpots, and then transplanted to large fields or larger flowerpots after they are strong. The seedlings cultivated in the container are limited by the space of the container, and the root soil of the seedlings has established an adhesive relationship with the inner wall of the container, so it needs to be dug out with certain utensils. If digging and transplanting is carried out manually, it is labor-intensive, time-consuming, and costly, which requires mechanized transplanting operations. [0003] Seedling-picking end effector is a direct device that liberates manual labor, and will replace manual seedling-picking. Its working purpose is to c...

AI Technical Summary

Problems solved by technology

However, these similar multi-claw seedling picking end effectors do not take into account the characteristics of the seedlings, especially the larger seedlings. If the seedlings are directly clamped to get the seedlings, it is inevitable that the seedlings will be damaged, and in severe cases, the stems of the seedlings will be pinched off. , it is meaningless to take seedlings and transplant like this

In addition, for seedlings with larger roots and soil, directly clamping to get the seedlings is equivalent to forcibly breaking away from the cultivation container, and the quality of the seedlings is not high

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