Bowl body low-damage puncture type seedling taking end effector

Abstract

A pot body low-damage puncture type seedling taking end effector comprises a probe sliding seat, a seedling taking probe sliding in the probe sliding seat and a flexible connecting piece. The probe sliding seat is provided with a linear sliding groove, and one sliding direction of the linear sliding groove is an execution direction; the seedling taking probe comprises a straight part in sliding fit with the linear sliding groove and a deformation part, and the free end of the deformation part is a puncture end; when the deformation part slides in the execution direction, at least one part of the deformation part can protrude to the outer side of the probe sliding seat and is used for penetrating a culture medium; the two ends of the flexible connecting piece are a driven end and a limiting end respectively, and the driven end is connected with the deformation part; the probe sliding seat is provided with a limiting mechanism, and the limiting mechanism can limit the sliding of the limiting end in the execution direction so as to enable the flexible connecting piece to be switched from the loose state to the tensioning state. The actuator conducts hooking in a substrate by simulating the posture of a fishhook, a bowl clamping mode is not needed, good stability and adaptability are achieved in the transplanting process, meanwhile, adjustment is not needed, and use is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural transplanting equipment, in particular to a low-damage puncture-type seedling-taking end effector for a pot body. Background Art

[0002] my country is a major vegetable producer. Among the comprehensive mechanization levels of vegetable cultivation, management and harvesting, the level of mechanization in planting is the lowest, which seriously restricts the development of agricultural mechanization. Seedling transplanting is a planting mode that transplants crop seedlings grown in trays in greenhouse substrates to fields. Compared with direct sowing, it has the advantages of climate compensation, increasing the multiple cropping index or resisting low temperature and cold damage in the seedling stage, and is an effective way to achieve high yields and increase production.

[0003] During the transplanting process, there are two ways for the end effector to take the seedlings, namely the stem clamping method and the pot clamping method.

[0004] Some seedlings have good root packing and the roots of the seedlings are heavy, so the stem clamping method can easily damage the stems of the seedlings. When the pot clamping method is used, the end effector applies squeezing force to the matrix with its fingertips to remove the seedlings. During implementation, the squeezing force can easily damage the matrix, affecting the root packing of the potted seedlings and limiting the success rate of seedling removal. At the same time, when faced with seedlings with large morphological differences, the pot clamping seedling removal device may not be able to adjust parameters such as the clamping angle and force well, which can easily damage the seedlings or make it impossible to remove the seedlings completely. Summary of the invention

[0005] The purpose of the present invention is to provide a low-damage puncture seedling removal end effector for a pot body, which can be hooked in the matrix by imitating the posture of a fishhook, without the need to clamp the pot, and has good stability and adaptability during transplanting. At the same time, it does not require adjustment and is easy to use.

[0006] The technical solution adopted by the present invention is: a low-damage puncture seedling extraction end effector for a pot body, comprising a probe slide, a seedling extraction probe sliding in the probe slide, and a flexible connector; The probe slide has a linear slide, and one of the sliding directions of the linear slide is the execution direction; The seedling extraction probe comprises a straight portion and a deformable portion that slides with the linear slide groove, wherein the free end of the deformable portion is a puncture end; when the deformable portion slides in the execution direction, at least a portion of the deformable portion can protrude to the outside of the probe slide seat for piercing the culture medium; The two ends of the flexible connector are a driven end and a limit end, respectively, and the driven end is connected to the deformation part; a limiting mechanism is provided on the probe slide, and the limiting mechanism can limit the limit end from sliding along the execution direction so that the flexible connector switches from a relaxed state to a tensioned state; During the sliding of the straight portion along the execution direction, the flexible connector in a tensioned state can limit and pull the puncture end, and when the straight portion continues to slide, the deformation portion protruding to the outside of the probe slide seat is bent laterally to hook the culture medium.

[0007] As a preferred solution, the limiting end includes a stop baffle fixed to the end of the flexible connector, and the limiting mechanism includes a stop step arranged in the linear slide groove for cooperating with the stop baffle.

[0008] As a preferred solution, the surface of the deformation portion is provided with a baffle groove along its length direction for sliding cooperation with the stop baffle.

[0009] As a preferred solution, a surface of the deformation portion is provided with a receiving groove for receiving the flexible connecting member.

[0010] As a preferred solution, the puncture end has a radial rope threading hole, the middle part of the flexible connector passes through the rope threading hole, and a bending part for sliding and pulling the rope threading hole is formed at the rope threading hole; The driven end of the flexible connector is fixedly connected to an end of the deformation portion away from the puncture end.

[0011] As a preferred solution, the flexible connecting member is a traction rope.

[0012] As a preferred embodiment, the linear slide includes a first channel and a second channel connected to each other, the diameter of the first channel is larger than that of the second channel, and a stop step is formed at the connection between the two, and the diameter of the second channel is adapted to the outer diameter of the seedling retrieval probe.

[0013] As a preferred solution, the probe slide is tapered as a whole, and the end close to the puncture end has a smaller diameter.

[0014] As a preferred solution, a probe driving mechanism is provided on the outer side of the probe slide, and the probe driving mechanism drives the seedling removal probe to slide in the linear slide groove.

[0015] As a preferred solution, the probe slides are arranged in groups of two, and the multiple groups of probe slides are distributed in a straight line. A variable distance mechanism for adjusting the distance between adjacent groups is connected to the top of the multiple groups of probe slides.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Solve the problem that the pot body is fragile and affects the root packing in the clamp pot method. The clamp pot method clamps the matrix during the seedling picking process, exerts pressure on the matrix, and causes damage to the matrix, affecting the root packing of the seedling roots in the matrix. The present invention adopts the principle of fishhook seedling picking, does not adopt the method of squeezing the matrix, but adopts the method of imitating fishhook to hook the matrix out of the hole tray, with a small force area and little damage to the matrix.

[0017] 2. Solve the problem of complex structure of pot-type seedling picking. Many factors need to be considered when inserting the matrix component. Its shape and angle need to be adapted according to the shape and size of different pot seedlings, and its head angle and dimensional accuracy are required to be high. The present invention adopts the principle of hooking seedlings with fish hooks, and the insertion angle can be kept perpendicular to the matrix. It has high adaptability, simple structure and low accuracy requirements.

[0018] 3. The present invention adopts the form of pneumatic propulsion to bend the probe, which is simple and efficient, does not need to consider the control accuracy, and avoids complex circuits and programming control methods.

[0019] 4. Strong applicability and low requirements for substrates. The present invention can adapt to different substrate depths and widths, can adjust the depth of seedling insertion and the curvature of the seedling probe, and can control the curvature of the seedling probe by simply controlling the propulsion stroke of the cylinder, which is suitable for substrates of different depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is an overall axial side schematic diagram of the present invention; Figure 2 It is a cross-sectional schematic diagram of the probe slide and the seedling removal probe combination of the present invention; Figure 3 It is a cross-sectional schematic diagram of the probe slide of the present invention; Figure 4 This is a schematic diagram of the overall seedling retrieval probe of the present invention; Figure 5 for Figure 4 The enlarged schematic diagram of point A in the middle; Figure 6 It is a schematic diagram of the deformation part of the seedling taking probe of the present invention; Figure 7 is a schematic diagram of the flexible connector of the present invention in an installed state; Figure 8 It is a schematic diagram of the present invention in the process of transplanting seedlings; Fig. 9 It is a schematic diagram of the deformation part of the present invention in a bending state; Fig.10 It is a partial schematic diagram of the deformation part of the present invention.

[0022] Reference numerals: 1. Probe slide; 2. Seedling probe, 201, straight portion, 202, deformation portion, 203, puncture end, 204, rope threading hole, 205, baffle slide groove, 206, accommodating groove 206; 3. Linear slide, 301. Stop step, 302. First channel, 303. Second channel; 4. Flexible connector, 401. Stop baffle, 402. Bending portion; 5. Probe driving mechanism, 501. Support frame, 502. Cylinder body, 503. Cylinder push plate; 6. Pitch-changing mechanism. DETAILED DESCRIPTION

[0023] The present invention is described in detail below by way of exemplary embodiments. However, it should be understood that, without further description, elements, structures and features in one embodiment may also be beneficially combined in other embodiments.

[0024] It should be noted that: unless otherwise defined, the technical terms or scientific terms used in this document shall have the usual meanings understood by people with ordinary skills in the field to which the invention belongs. The words "one", "an" or "the" and the like used in the patent application specification and claims of the present invention do not express quantity restrictions, but indicate the existence of at least one; the words "first", "second" and "third" used in this document shall not be regarded as restrictions on the order of components, but are only used to distinguish different components; words such as "include" or "comprise" and the like indicate that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, but do not exclude other elements or objects with the same function.

[0025] In order to more clearly describe the specific structural composition of the pot body low damage puncture seedling removal end effector, combined with the attached Figure 1-10 Describe this embodiment: A low-damage puncture seedling extraction end effector for a pot body comprises a probe slide 1, a seedling extraction probe 2 sliding in the probe slide 1, and a flexible connector 4; the probe slide 1 has a linear slide 3, one of the sliding directions of the linear slide 3 is an execution direction s; the seedling extraction probe 2 comprises a straight portion 201 and a deformation portion 202 slidingly matched with the linear slide 3, the free end of the deformation portion 202 is a puncture end 203; when the deformation portion 202 slides in the execution direction s, at least a part of the deformation portion 202 can protrude to the outside of the probe slide 1, so as to puncture a culture medium (or a pot body); See also Figure 4 , Figure 5 , Figure 6The two ends of the flexible connector 4 are respectively a driven end a and a limiting end b, and the driven end a is connected to the deformation part 202; a limiting mechanism is provided on the probe slide 1, and the limiting mechanism can limit the limiting end b from sliding along the execution direction s so that the flexible connector 4 switches from a relaxed state to a tensioned state; during the sliding of the straight portion 201 along the execution direction s, the flexible connector 4 entering the tensioned state can limit and lift the puncture end 203, and when the straight portion 201 continues to slide, the deformation part 202 protruding to the outside of the probe slide 1 is bent laterally to hook the culture medium (or bowl body).

[0026] The straight portion 201 of the seedling retrieval probe 2 can be made of an aluminum alloy with high hardness, low density and light weight. The deformable portion 202 can be bent and deformed and automatically recover when no force is applied. It can be made of a material with good elasticity, such as rubber or metal. When the materials used for the straight portion 201 and the deformable portion 202 are different, they can be fixed by bolts; the tip portion of the puncture end 203 adopts a trapezoidal structure, which can be smoothly inserted into the matrix, inserted into and retracted in the matrix.

[0027] The flexible connecting member 4 is a flexible, foldable or bendable structure, and its length does not need to change in its tensioned state. Specifically, it can be a traction rope; the limit end b does not move, and when the seedling probe 2 slides along the execution direction s, the traction rope begins to be tensioned, and when it continues to slide, the puncture end 203 is pulled by the traction rope, so that the deformation part 202 is forced to bend, such as Fig. 9 shown.

[0028] The position of the limiting end b can be always fixed. For example, the limiting structure can be a connecting component fixed on the probe slide 1, and the connecting component is fixedly connected to the limiting end of the flexible connector 4; The position of the limit end b can also be changed. For example, the limit end includes a stop baffle 401 fixed at the end of the flexible connector 4, and the limit mechanism is a stop step 301 arranged in the linear slide groove 3 for cooperating with the stop baffle 401; the limit end can slide in the linear slide groove 3 along with the stop baffle 401, and the position of the limit end b is fixed only after the stop baffle 401 contacts the rear stop step 301. This setting method enables the seedling retrieval probe 2 to have sliding space in the execution direction in the non-bending state, so that the seedling retrieval probe 2 first penetrates into the matrix and then bends the hook, so that the hooking is stable.

[0029] The driven end a can be directly fixedly connected to the deformation portion 202 (close to the puncture end 203), which is not shown in the figure; See Figure Figure 6 and Fig.10, a sliding method can also be adopted, specifically: a radial rope threading hole 204 is set at the puncture end 203, the middle part of the flexible connector 4 passes through the rope threading hole 204, and a bending portion 402 for sliding and pulling the rope threading hole 204 is formed at the rope threading hole 204, and the driven end of the flexible connector 4 is fixedly connected to the end of the deformation part 202 away from the puncture end 203; this method relies on the bending portion 402 to pull the rope threading hole 204, so that the deformation part 202 bends. The advantage of this method is that the flexible connector 4 can slide in the rope threading hole 204, so the puncture end 203 can be lowered and bent synchronously, which is conducive to smooth puncture of the matrix.

[0030] See also Figure 5 In the above embodiment, a baffle groove 205 is provided on the surface of the deformation portion 202 along its length direction, which is slidably matched with the stop baffle 401. On the one hand, it prevents the limit end of the flexible connector 4 from moving randomly. On the other hand, when the seedling probe 2 is disassembled, the flexible connector 4 can be taken out together, which is convenient for the installation and removal of the flexible connector 4. See also Figure 6 In the above embodiment, in order to reduce the friction between the flexible connector 4 and the linear slide groove 3, a receiving groove 206 for receiving the flexible connector 4 is provided on the surface of the deformation portion 202, and the receiving groove 206 can replace the baffle slide groove 205; receiving grooves 206 are opened on two opposite sides of the seedling retrieval probe 2, and the lower ends of the two receiving grooves 206 are connected through the rope threading hole 204.

[0031] See also Figure 3 Specifically, the linear slide 3 includes a first channel 302 and a second channel 303 connected to each other. The diameter of the first channel 302 is larger than that of the second channel 303, and a stop step 301 is formed at the connection between the two. The diameter of the second channel 303 is adapted to the outer diameter of the seedling probe 2.

[0032] In the above embodiment, the overall shape of the probe slide 1 can be set to be conical, and the end close to the puncture end 203 has a small diameter, which is conducive to a part of the probe slide 1 piercing into the matrix during use; at the same time, the conical surface can exert a certain degree of pressure downward, and the fishhook-shaped deformation part 202 can produce a vertical clamping force on the matrix, which is conducive to the stability of the transfer process; A layer of hydrophobic polytetrafluoroethylene coating can be applied to the outside of the probe slide 1 to have hydrophobicity, thereby preventing the probe slide 1 from being bonded to the matrix when inserted into the matrix.

[0033] See also Figure 1A probe driving mechanism is provided on the outer side of the probe slide 1, and the probe driving mechanism drives the seedling picking probe 2 to slide in the linear slide 3. The probe driving mechanism specifically includes a support frame 501, a cylinder body 502 and a cylinder push plate 503; one end of the support frame 501 is fixed to the cylinder body 502, and the other end is fixed to the probe slide 1 in a ring structure, and a cylinder push plate 503 is provided on the cylinder arm of the cylinder body 502, which is used to connect the straight part 201 of the seedling picking probe 2, and drive the seedling picking probe 2 to slide in the probe slide 1 through the cylinder push plate 503; See also Figure 8 The probe slides 1 can be arranged in groups of two, and multiple groups of probe slides 1 are distributed in a straight line. A variable distance mechanism for adjusting the distance between adjacent groups is connected to the top of the multiple groups of probe slides 1. The variable distance mechanism can adopt a conventional mechanism and will not be described in detail here.

[0034] The specific use process of the present invention is: The present invention is installed on the pitch-changing mechanism 6, and the overall movement is controlled by the pitch-changing mechanism 6. The pitch-changing mechanism 6 is controlled by a motor to move horizontally and vertically. During the transplanting process, the present invention moves to the top of the plug tray under the drive of the pitch-changing mechanism 6, and then moves downward as a whole, and the probe slide 1 is inserted into the matrix. After the end effector is lowered as a whole to a certain depth of the probe slide 1, the cylinder starts to push the seedling probe 2 to move downward in the linear slide 3. After the seedling probe 2 is lowered to a certain height, the stop baffle 401 matched with the slide of the seedling probe 2 reaches the stop step 301 where the first channel 302 and the second channel 303 in the conical tube are connected. As the seedling probe 2 descends, the stop baffle 401 is blocked at the stop step 301 and no longer moves. At this time, the flexible connector 4 is tightened, and the puncture end 203 of the seedling probe 2 begins to be tightened. As the cylinder stroke increases, the seedling probe continues to move downward, and the deformation part 202 on the lower side of the seedling probe 2 begins to bend and deform, and begins to hook the matrix like a fishhook. Then the end effector moves upward as a whole, hooking out the matrix and seedlings. When it reaches the seedling placement position, the cylinder drives the seedling probe to retract, and the lower part of the seedling probe begins to return to its original state. The matrix and seedlings fall off, and preparations for the next seedling removal work begin.

[0035] The parts not described in detail in the above embodiments are prior art.

[0036] It should be noted that although the present invention is described by the above embodiments, the present invention may also have other various embodiments. Without departing from the spirit and scope of the present invention, it is obvious that those skilled in the art may make various corresponding changes and deformations to the present invention, but these changes and deformations should all fall within the scope of protection of the appended claims of the present invention and their equivalents.

Claims

1. A low-damage puncture seedling removal end effector for a pot, characterized in that: It comprises a probe slide (1), a seedling extraction probe (2) sliding in the probe slide (1), and a flexible connecting piece (4); The probe slide (1) has a linear slide groove (3), and one sliding direction of the linear slide groove (3) is an execution direction; The seedling extraction probe (2) comprises a straight portion (201) and a deformable portion (202) that slidably cooperates with the linear slide groove (3); the free end of the deformable portion (202) is a puncture end (203); when the deformable portion (202) slides in the execution direction, at least a portion of the deformable portion (202) can protrude to the outside of the probe slide seat (1) for piercing the culture medium; The two ends of the flexible connector (4) are respectively a driven end and a limiting end, and the driven end is connected to the deformation portion (202); a limiting mechanism is provided on the probe slide (1), and the limiting mechanism can limit the limiting end from sliding along the execution direction so that the flexible connector (4) switches from a relaxed state to a tensioned state; When the straight portion (201) slides along the execution direction, the flexible connecting member (4) that enters the tensioned state can restrict and pull the puncture end (203), and when the straight portion (201) continues to slide, the deformation portion (202) protruding to the outside of the probe slide (1) is bent laterally to hook the culture medium.

2. According to claim 1, a low-damage puncture seedling removal end effector for a pot, characterized in that: The limiting end comprises a stop baffle (401) fixed to the end of the flexible connecting member (4), and the limiting mechanism comprises a stop step (301) arranged in the linear slide groove (3) for cooperating with the stop baffle (401).

3. The low-damage puncture seedling removal end effector of the pot body according to claim 2 is characterized by: The surface of the deformation portion (202) is provided with a baffle sliding groove along its length direction, which is slidably matched with the stop baffle (401).

4. The low-damage puncture seedling removal end effector of the pot body according to claim 1 is characterized in that: The surface of the deformation portion (202) is provided with a receiving groove for receiving the flexible connecting member (4).

5. The low-damage puncture seedling removal end effector of the pot body according to claim 1, characterized in that: The puncture end (203) has a radial rope threading hole (204), the middle portion of the flexible connecting member (4) passes through the rope threading hole (204), and a bending portion (402) is formed at the rope threading hole (204) for sliding and lifting the rope threading hole (204); The driven end of the flexible connecting member (4) is fixedly connected to an end of the deformation portion (202) away from the puncture end (203).

6. The low-damage puncture seedling removal end effector of the pot body according to claim 1, characterized in that: The flexible connecting member (4) is a traction rope.

7. The low-damage puncture seedling removal end effector of claim 2, characterized in that: The linear slide groove (3) comprises a first channel (302) and a second channel (303) which are connected to each other. The diameter of the first channel (302) is larger than that of the second channel (303), and a stop step (301) is formed at the connection between the two. The diameter of the second channel (303) is adapted to the outer diameter of the seedling extraction probe (2).

8. The low-damage puncture seedling removal end effector of the pot body according to claim 1, characterized in that: The probe slide (1) is tapered as a whole, and has a smaller diameter at an end close to the puncture end (203).

9. The low-damage puncture seedling removal end effector of the pot body according to claim 1, characterized in that: A probe driving mechanism is provided on the outer side of the probe slide (1), and the probe driving mechanism drives the seedling removal probe (2) to slide in the linear slide groove (3).

10. The low-damage puncture seedling removal end effector of the pot body according to claim 1, characterized in that: The probe slides (1) are arranged in groups of two, and the multiple groups of probe slides (1) are distributed in a straight line. A variable distance mechanism for adjusting the distance between adjacent groups is connected to the top of the multiple groups of probe slides (1).

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