Seedling pushing and inclined cutting type pot clamping and seedling picking end actuating device and method

Abstract

The invention belongs to the field of agricultural machinery, and relates to an end effector for pushing seedlings obliquely inserted into a clamping bowl and a method thereof, comprising a seedling pushing obliquely inserting unit and a parallel opening and closing unit. The closed unit is located directly below the inclined seedling insertion unit, and is straightly fastened on the support; when taking seedlings, use the seedling pushing plate of the seedling pushing inclined insertion unit to bend the seedling plant first, so as to give way to the work space for clamping needles , and then use the clamping needle to obliquely insert the clamping pot body along the diagonal direction of the hole, and extract the seedlings from the hole under the drive of the seedling picking mechanism; when releasing the seedlings, first relax the clamping needle, and then retract the clamping The needles make the seedling pot body out of the clamping effect, and the seedlings and their growing pot body fall into the planting system by their own weight. The invention has a simple structure and can effectively avoid the injury of seedlings when the needles are taken out. Two pairs of needles are used to insert into the bowl obliquely along the slope angle and azimuth of the edge of the hole, which can ensure the maximum clamping depth and better ensure the quality of the seedlings. , the mechanized transplanting field of plug seedlings can be used.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to an end effector for pushing seedlings and inserting them obliquely into a clamping bowl for picking seedlings and a method thereof. Background technique [0002] The seedling-taking end effector is a device that liberates manual labor. Driven by the seedling-taking mechanism, the seedlings are picked out from the growth hole and released to the corresponding planting system. Foreign automatic transplanters for plug seedlings widely use flexible claws to take seedlings, such as the Dutch Pic-O-Mat PC series automatic transfer machine, the Italian Transplanter RW series transplanter, etc., which perform well in terms of seedling picking speed and seedling quality . [0003] Scholars in my country have designed end effectors according to the needs of picking seedlings from pots, such as pneumatic seedling claws for pot seedling transplanting machines, application n...

AI Technical Summary

Problems solved by technology

These similar seedling picking end effectors only consider the needs of picking seedlings from the pot, and do not consider the characteristics of the seedlings, especially the seedlings with large stems and leaves, and the h

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