End effector and seedling replenishing method for plug seedlings at cotyledon stage

Abstract

The invention discloses a seedling supplementing tail-end execution device for cotyledon-stage plug seedlings and a seedling supplementing method thereof. According to the device, a frontward and backward tooth thread screw rod has two threads with different directions and translational motion in two different directions is generated under the condition that only one driving unit is adopted; eachtransmission part is used for driving two seedling shovels to do synchronous inclined movement, so that the movement of the device is relatively simple and is easy to control; the seedling shovels canform an approximately reversed square pyramid shape and a covering type structure can be formed after the seedling shovels are inserted into holes of the plug seedlings, so that a complete and lossless taking-out process of seedlings and base materials is realized; the whole seedling supplementing tail-end execution device has the advantages of relatively compact structure, simplicity in controland high reliability, and the seedling supplementing tail-end execution device with good performance is provided for young seedlings of the cotyledon-stage plug seedlings.

Description

technical field [0001] The invention relates to the field of agricultural machinery, in particular to an end effector which can be applied to the process of replenishing seedlings of plug seedlings at the cotyledon stage. Background technique [0002] In today's vegetable production, plug seedlings occupy a major position in facility agriculture because of their good scale and commercialization, and the market demand is large. Transplanting, as an important link in the cultivation of plug seedlings, has considerable economic and social benefits. However, mechanized and automated transplanting has high requirements for supporting seedlings. Due to factors such as the cultivation environment, the complexity of the cultivation mechanism, and the condition of the seeds themselves, there are no seedling holes in the plug trays, which greatly affects the quality of automated transplanting. For this reason, the plug tray needs to be filled with seedlings before transplanting. Fil...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing seedling-taking manipulator cannot take out the cotyledon stage plug seedlings completely and without damage. The present invention proposes a simple and reliable cotyledon stage plug seedling filling end effector and its seedling filling method , through the two different directions of threads of the positive and negative thread screw rods, translational motions in two different directions are generated in the case of only one driving unit, and the two seedling shovels are driven by each transmission part to generate synchronous tilting motions. Therefore, the movement of the device is relatively simple and easy to control; two seedling shovels can be used to form a nearly inverted quadrangular truss shape, so that it can form a wrapped structure after being inserted into the seedling hole of the plug tray, and realize the complete and non-destructive removal process of seedlings and substrates; the whole The seedling filling end effector has a relatively compact structure, simple control, and high reliability, and provides a seedling filling end effector with excellent performance for the cotyledon stage plug seedlings.

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