Adsorptive flexible seedling taking hand and seedling taking method

Abstract

The application relates to a flexible seedling taking hand and a seedling taking method, which comprises a seedling taking body, the seedling taking body comprises a mounting plate, a lifting mechanism arranged on the mounting plate, a rotating mechanism arranged on the lifting mechanism and a grabbing rod arranged on the rotating mechanism, the lower end of the grabbing rod is provided with a flexible profiling structure, the flexible profiling structure comprises a shroud and a flexible film arranged at the lower end of the shroud and forming a cavity with the shroud, a solid structure is arranged in the cavity, the solid structure is used for arching the flexible film downward, so that the flexible film is attached to the lettuce leaf; a plurality of vacuum suction cups are arranged on the flexible film, and a vacuum generating device is arranged on the grabbing rod. The application can make the vacuum suction cups better and more closely attached to the surface of the lettuce leaf, so that the surface of the lettuce leaf is prevented from being mechanically abraded, the damage to the lettuce leaf in the grabbing process is reduced, and the quality of the lettuce leaf is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural transplanting technology, and in particular to an adsorption-type flexible seedling picker and a seedling pickering method. Background Technology

[0002] With the development of industrialization in agricultural production, facility agriculture will become one of the important forms of future agriculture. Among them, intelligent transplanting technology is an indispensable part of industrialized agricultural production.

[0003] Currently, the main crop in facility agriculture is hydroponically grown lettuce. Transplanting robots typically detach lettuce seedlings from their trays by inserting them into the growing medium or by clamping the seedling stems, then thin them out onto planting boards. Both methods ensure a fast and efficient transplanting rate. However, in practice, because both methods involve mechanical contact, they can somewhat affect the normal development of the seedlings; in severe cases, they may cause the substrate to clump together, injure the seedlings, and lead to transplanting failure. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides an adsorption-type flexible seedling picker and a seedling pickering method.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: an adsorption-type flexible seedling picker, including a seedling picker body, the seedling picker body including a mounting plate, a lifting mechanism set on the mounting plate, a rotating mechanism set on the lifting mechanism, and a gripping rod set on the rotating mechanism. The lifting mechanism is used to drive the rotating mechanism to move up and down, and the rotating mechanism is used to drive the gripping rod to rotate.

[0006] The lower end of the gripping rod is provided with a flexible contouring structure, which includes a protective cover and a flexible membrane set at the lower end of the protective cover and forming a cavity with the protective cover. A solid structure is provided in the cavity, which is used to make the flexible membrane arch downward so that the flexible membrane fits the lettuce leaf.

[0007] The flexible membrane is equipped with multiple vacuum suction cups, and the gripping rod is equipped with a vacuum generating device. The vacuum generating device is used to evacuate the multiple vacuum suction cups to achieve the adsorption of lettuce leaves.

[0008] As a preferred technical solution, the lifting mechanism includes a miniature cylinder, and the rotating mechanism is disposed at the end of the piston rod of the miniature cylinder.

[0009] As a preferred technical solution, the rotating mechanism includes a micro motor, and the gripping rod is disposed at the output end of the micro motor.

[0010] As a preferred technical solution, the solid structure includes a flexible disc connected to the inner wall of the protective cover. The flexible disc is I-shaped and has a first connecting part and a second connecting part. Multiple first corrugated pipes are evenly distributed between the first connecting part and the flexible membrane. The first connecting part is provided with a first annular air intake channel communicating with the first corrugated pipe. The first annular air intake channel is connected to an air source through a first air intake pipe. Multiple second corrugated pipes are evenly distributed between the second connecting part and the flexible membrane. The second connecting part is provided with a second annular air intake channel communicating with the second corrugated pipe. The second annular air intake channel is connected to an air source through a second air intake pipe. The multiple first corrugated pipes and the multiple second corrugated pipes are arranged in a regular polygonal pattern. The inner diameter of the first annular air intake channel is larger than the outer diameter of the second annular air intake channel.

[0011] As a preferred technical solution, the gripping rod is provided with an air extraction channel. The vacuum generating device includes a vacuum generator disposed on the gripping rod and connected to the air extraction channel, and a flow divider disposed at the end of the gripping rod and connected to the air extraction channel. The flow divider is connected to multiple vacuum suction cups through a flow dividing assembly. The gripping rod is provided with a flow sensor for detecting the gas flow rate in the air extraction channel.

[0012] As a preferred technical solution, the diversion assembly includes multiple air passage hoses disposed inside the flexible membrane, the multiple air passage hoses being arranged in a ring-shaped radial pattern, and multiple vacuum suction cups being grouped in pairs, with a group of vacuum suction cups connected to each air passage hose.

[0013] As a preferred technical solution, the flexible membrane is made of soft rubber material.

[0014] As a preferred technical solution, it also includes a frame, on which a longitudinal moving module is provided, a pitch changing module is provided on the longitudinal moving module, and a plurality of pitch changing sliders are provided on the pitch changing module, with the seedling taking body set on the pitch changing sliders.

[0015] As a preferred technical solution, the frame is equipped with a planting plate and a double-speed chain. The planting plate is used to place hydroponic leafy vegetables, and the two sides of the planting plate are fixed on the double-speed chain and transported by the double-speed chain along its length.

[0016] This application also provides a method for taking seedlings using an adsorption-type flexible seedling taker, comprising the following steps:

[0017] (1) By moving the longitudinal moving module and the variable distance module, each seedling body is positioned directly above the hydroponic leafy vegetables on the planting board;

[0018] (2) The solid structure causes the flexible film to arch downwards, the lifting mechanism drives the seedling body to move downwards, and the rotating mechanism makes the vacuum suction cup on the flexible film fit with the lettuce leaves.

[0019] (3) The vacuum generator evacuates the vacuum suction cup, and the vacuum suction cup adsorbs the lettuce leaves;

[0020] (4) The longitudinal moving module drives the variable distance module to move upward, and the lettuce and substrate are separated from the seedling tray as a whole, thus completing the seedling removal.

[0021] The beneficial effects of this application are as follows: 1. This application uses a solid structure to make the flexible film arch downwards, so that the flexible film fits the tilt angle of the lettuce leaf, and the vacuum suction cup can better fit tightly to the surface of the lettuce leaf, thereby preventing the surface of the lettuce leaf from being mechanically worn, reducing damage to the lettuce leaf during the gripping process, and improving the quality of the lettuce leaf.

[0022] 2. By using multiple evenly distributed vacuum suction cups to grip the lettuce simultaneously, and with each vacuum suction cup supplying suction independently, the gripping stability is increased when gripping lettuce, ensuring that the lettuce leaves are held in place while reducing damage to the lettuce leaves.

[0023] 3. In this application, multiple air passage hoses are arranged in a ring-shaped radial pattern, and each air passage hose is connected to a set of vacuum suction cups. This allows multiple smaller vacuum suction cups to achieve a larger working area, increasing the rationality of suction on the surface of lettuce leaves, effectively reducing the damage to the surface of lettuce leaves during suction, and further improving the appearance of lettuce leaves.

[0024] 4. The seedling-picking body is fixedly connected to the variable-pitch slider by the mounting plate, which reduces the vibration amplitude of the seedling-picking action and ensures the stability of seedling picking. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 for Figure 1 Sectional view;

[0027] Figure 3 This is a schematic diagram of the gripping lever and the diverter.

[0028] Figure 4 This is a schematic diagram of the structure of a soft disk;

[0029] Figure 5 for Figure 4 The front view;

[0030] Figure 6 This is a schematic diagram of the structure of the air passage hose on the flexible membrane;

[0031] Figure 7 This is a schematic diagram of a flexible membrane arching downwards.

[0032] Figure 8 This is a schematic diagram of the variable pitch module of this application;

[0033] Figure 9This is a schematic diagram of the structure of the lettuce before it is grasped in this application;

[0034] Figure 10 This is a schematic diagram of the structure of the vacuum suction cup for adsorbing lettuce leaves in this application;

[0035] Figure 11 for Figure 9 Top view;

[0036] Figure 12 This is a schematic diagram of the structure after the lettuce is grabbed in this application.

[0037] The diagram shows the following markings: 1. Mounting plate, 2. Miniature cylinder, 3. Miniature motor, 4. Gripping rod, 41. Air extraction channel, 5. Protective cover, 6. Vacuum generator, 7. Flexible membrane, 71. Vacuum suction cup, 72. Air hose, 8. Diverter, 9. Soft disc, 91. First bellows, 911. First connection point, 92. Second bellows, 921. Second connection point, 93. First connection part, 931. First annular air intake channel, 94. Second connection part, 941. Second annular air intake channel, 10. Pitch module, 101. Pitch slider, 11. Flow sensor. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] Please see Figure 1-12This invention provides an adsorption-type flexible seedling picker, including a seedling picker body. The seedling picker body includes a mounting plate 1, a lifting mechanism mounted on the mounting plate 1, a rotating mechanism mounted on the lifting mechanism, and a gripping rod 4 mounted on the rotating mechanism. The lifting mechanism drives the rotating mechanism to move up and down, and the rotating mechanism drives the gripping rod 4 to rotate. The lower end of the gripping rod 4 is provided with a flexible contouring structure, which includes a protective cover 5 and a flexible membrane 7 located at the lower end of the protective cover 5 and forming a cavity with the protective cover 5. A solid structure is provided in the cavity, which is used to arch the flexible membrane 7 downward so that the flexible membrane 7 fits against the lettuce leaves. The flexible membrane 7 is provided with multiple vacuum suction cups 71, and the gripping rod 4 is provided with a vacuum generating device, which is used to evacuate the multiple vacuum suction cups 71 to achieve adsorption of lettuce leaves.

[0040] Combination Figure 1-3 As shown, the lifting mechanism includes a micro cylinder 2, a rotating mechanism is disposed at the piston rod end of the micro cylinder 2, the rotating mechanism includes a micro motor 3, and a gripping rod 4 is disposed at the output end of the micro motor 3.

[0041] Among them, combined Figure 2-5 As shown, the solid structure includes a flexible disc 9 connected to the inner wall of the protective cover 5. The flexible disc 9 is made of soft rubber material and is I-shaped with a first connecting part 93 and a second connecting part 94. A third connecting part is provided between the first connecting part 93 and the second connecting part 94. The second connecting part 94 is located below the first connecting part 93. The flexible disc 9 has a through hole that mates with the lower end of the gripping rod 4. The flexible disc 9 can be fitted onto the outside of the gripping rod 4. A plurality of first corrugated tubes 91 are evenly distributed in a ring between the first connecting part 93 and the flexible membrane 7. The first connecting part 93 has a first corrugated tube that mates with the first corrugated tubes. A first annular air intake channel 931 is connected to the air source through a first air intake pipe. A plurality of second corrugated pipes 92 are evenly distributed in an annular pattern between the second connecting part 94 and the flexible membrane 7. A second annular air intake channel 941 is provided on the second connecting part 94 and is connected to the second corrugated pipes 92. The second annular air intake channel 941 is connected to the air source through a second air intake pipe. The plurality of first corrugated pipes 91 and the plurality of second corrugated pipes 92 are evenly distributed circumferentially along their respective annular air intake channels. The inner diameter of the first annular air intake channel 931 is larger than the outer diameter of the second annular air intake channel 941.

[0042] Specifically, both the first corrugated pipe 91 and the second corrugated pipe 92 are made of soft rubber material, which can stretch after airflow is introduced, causing the flexible membrane 7 to deform and arch downwards. Both the first corrugated pipe 91 and the second corrugated pipe 92 are vertically arranged. The connection point between the first corrugated pipe 91 and the flexible membrane 7 is the first connection point 911, and the connection point between the second corrugated pipe 92 and the flexible membrane 7 is the second connection point 921. There are six of each type of corrugated pipe. The six first connection points 911 are connected in sequence to form a regular hexagon, and the six second connection points 921 are connected in sequence to also form a regular hexagon. The six first connection points 911 are connected in sequence to form the first regular hexagon, and the six second connection points 921 are connected in sequence to form the second regular hexagon. The centers of the first regular hexagon and the second regular hexagon are concentric. The center of the first regular hexagon and the second regular hexagon is defined as the exact center. The line connecting the first connection point 911 to the exact center coincides with the line connecting the second connection point 921 to the exact center.

[0043] When the flexible membrane 7 arches downwards, the second corrugated pipe 92 first inflates and elongates, causing the six first connection points 911 on the flexible membrane 7 to bear force, thus causing the flexible membrane 7 to partially bulge downwards. Then, according to the growth angle of the leaves, the first corrugated pipe 91 inflates and elongates again, causing the six second connection points 921 on the flexible membrane 7 to bear force, causing the flexible membrane 7 to arch downwards in a hemispherical shape, thus allowing the curved surface of the flexible membrane 7 to fit the lettuce leaves.

[0044] Combination Figure 2-3 As shown, the gripping rod 4 is provided with a suction channel 41. The vacuum generating device includes a vacuum generator 6 disposed on the gripping rod 4 and connected to the suction channel 41, and a distributor 8 disposed at the end of the gripping rod 4 and connected to the suction channel 41. The vacuum generator 6 is a component that generates negative pressure by high-speed jet according to Bernoulli's principle. The distributor 8 is a six-channel distributor. The distributor and the vacuum generator are technologies well known to those skilled in the art, and will not be described in detail here. The distributor 8 is connected to multiple vacuum suction cups 71 through a distributor assembly. The gripping rod 4 is provided with a flow sensor 11 for detecting the gas flow rate of the suction channel 41.

[0045] Combination Figure 6As shown, the diversion assembly includes multiple air passage hoses 72 disposed inside the flexible membrane 7. The multiple air passage hoses 72 are arranged in a ring-shaped radial pattern. Multiple vacuum suction cups 71 are grouped in pairs, with a group of vacuum suction cups 71 connected to each air passage hose 72. The flexible membrane 7 is made of soft rubber material. There are six air passage hoses 72, with a first corrugated pipe 91 and a second corrugated pipe 92 between two adjacent air passage hoses 72. The multiple vacuum suction cups 71 and the multiple air passage hoses 72 form a spider web-like distribution. Furthermore, the high water content of the hydroponic lettuce seedling leaves and the "inverted spider web" shape of the veins on the front of the leaves allow the multiple vacuum suction cups 71 to better adhere to the lettuce leaves, further increasing the gripping firmness and ensuring that the lettuce leaves are adhered to while reducing the degree of damage to the lettuce leaves.

[0046] The vacuum suction cup 71 on each airway hose 72 that is close to the distributor 8 is the inner vacuum suction cup, and the vacuum suction cup 71 that is far away from the distributor 8 is the outer vacuum suction cup. For hydroponic lettuce in facility agriculture, it is necessary to fix the temperature about 14 days after sowing. At this time, the hydroponic lettuce seedlings are in the 3-4 true leaf stage, the leaf moisture content is ≥90%, and the leaf spread is defined as 50-60mm for strong seedlings. The distance between the two outer vacuum suction cups on two adjacent airway hoses 72 in this application is less than 50mm.

[0047] This application also includes a frame, on which a longitudinal movement module is provided. The longitudinal movement module can be a linear module commonly used by those skilled in the art, or any existing displacement mechanism capable of vertical movement. A pitch-changing module 10 is provided on the longitudinal movement module, and multiple pitch-changing sliders 101 are provided on the pitch-changing module 10. The seedling-taking body is positioned on the pitch-changing sliders 101. The pitch-changing module 10 can be a pitch-changing module commonly used by those skilled in the art. The frame is provided with a planting plate and a double-speed chain. The planting plate is used to place hydroponic leafy vegetables, and both sides of the planting plate are fixed to the double-speed chain and transported along its length by the double-speed chain.

[0048] Combination Figure 9-12 As shown in the embodiment of this application, a method for taking seedlings using an adsorption-type flexible seedling taker is also provided, including the following steps:

[0049] (1) By moving the longitudinal moving module and the variable distance module 10, each seedling body is positioned directly above the hydroponic leafy vegetables on the planting board;

[0050] (2) The solid structure causes the flexible film 7 to arch downwards, the lifting mechanism drives the seedling body to move downwards, and the rotating mechanism makes the vacuum suction cup 71 on the flexible film 7 fit with the lettuce leaf;

[0051] (3) The vacuum generating device evacuates the vacuum suction cup 71, and the vacuum suction cup 71 adsorbs lettuce leaves;

[0052] (4) The longitudinal moving module drives the variable pitch module 10 to move upward, and the lettuce and substrate are separated from the seedling tray as a whole, thus completing the seedling removal.

[0053] This application also includes a first depth camera and a second depth camera. The first depth camera is on the variable pitch slider 101 of the variable pitch module 10 and is located directly above the seedling body. The first depth camera is used to obtain the circumferential distribution of lettuce leaves and the position of the maximum leaf spread. The second depth camera is set on the frame and is used to obtain the growth angle of lettuce leaves.

[0054] The rotation angle of the micro motor 3 is determined by the leaf distribution and the position of the maximum leaf spread obtained by the first depth camera. After the micro motor 3 drives the gripping rod 4, each lettuce leaf can be attached to the vacuum suction cup 71 on the air passage hose 72.

[0055] When adsorbing a 3-leaf lettuce, each lettuce leaf corresponds to one of two air passage hoses 72, and each lettuce leaf is attached to one of the four vacuum suction cups 71 on the two air passage hoses 72. When adsorbing a 4-leaf lettuce, the four lettuce leaves are designated as the first leaf, the second leaf, the third leaf, and the fourth leaf. The first leaf and the third leaf each correspond to two air passage hoses 72, while the second leaf and the fourth leaf each correspond to one air passage hose 72.

[0056] Specifically, the speed-increasing chain moves the hydroponic lettuce on the planting board to below the variable-pitch module 10. Based on the distribution of the hydroponic lettuce, the variable-pitch module 10 moves multiple seedling-collecting bodies, positioning each seedling-collecting body directly above each hydroponic lettuce on the planting board. The first depth camera captures the circumferential distribution of the lettuce leaves and the position of maximum leaf spread, while the second depth camera captures the growth angle of the lettuce leaves. Next, the micro-motor 3 drives the gripping rod 4 to rotate, aligning multiple vacuum suction cups 11 on the flexible membrane 7 with the lettuce leaves. Furthermore, each lettuce leaf is able to contact at least one air passage hose 7. The vacuum suction cup 71 on plate 2 is attached. Then, the longitudinal moving module drives the variable distance module 10 to move downward in the vertical direction, so that the lower end of the seedling body is 3cm away from the lettuce leaf. According to the growth angle of the lettuce leaf, the solid structure makes the flexible film 7 arch downward to start the shape imitation. After the shape imitation is completed, the micro cylinder 2 drives the gripping rod 4 to move downward, so that the vacuum suction cup 11 is attached to the lettuce leaf. The vacuum generating device evacuates the multiple vacuum suction cups 71. The vacuum suction cups 71 adsorb the lettuce leaf. The longitudinal moving module drives the variable distance module 10 to move upward. The lettuce and the substrate are separated from the seedling tray as a whole, and the seedling is picked up.

[0057] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An adsorption-type flexible seedling picker, characterized in that, The seedling taking body includes a mounting plate (1), a lifting mechanism set on the mounting plate (1), a rotating mechanism set on the lifting mechanism, and a grabbing rod (4) set on the rotating mechanism. The lifting mechanism is used to drive the rotating mechanism to move up and down, and the rotating mechanism is used to drive the grabbing rod (4) to rotate. The gripping rod (4) has a flexible contouring structure at its lower end. The flexible contouring structure includes a protective cover (5) and a flexible membrane (7) set at the lower end of the protective cover (5) and forming a cavity with the protective cover (5). A solid structure is provided in the cavity. The solid structure is used to make the flexible membrane (7) arch downward so that the flexible membrane (7) fits against the lettuce leaf. The flexible membrane (7) is provided with multiple vacuum suction cups (71), and the gripping rod (4) is provided with a vacuum generating device. The vacuum generating device is used to evacuate the multiple vacuum suction cups (71) to achieve adsorption of lettuce leaves. The solid structure includes a soft disc (9) connected to the inner wall of the cover (5). The soft disc (9) is I-shaped and has a first connecting part (93) and a second connecting part (94). Multiple first corrugated pipes (91) are evenly distributed between the first connecting part (93) and the flexible membrane (7). A first annular air intake channel (931) communicating with the first corrugated pipe (91) is provided on the first connecting part (93). The first annular air intake channel (931) is connected to the air source through the first air intake pipe. Multiple second corrugated pipes (92) are evenly distributed between the second connecting part (94) and the flexible membrane (7). A second annular air intake channel (941) communicating with the second corrugated pipe (92) is provided on the second connecting part (94). The second annular air intake channel (941) is connected to the air source through the second air intake pipe. The inner diameter of the first annular air intake channel (931) is larger than the outer diameter of the second annular air intake channel (941). The gripping rod (4) is provided with a suction channel (41). The vacuum generating device includes a vacuum generator (6) provided on the gripping rod (4) and communicating with the suction channel (41) and a flow divider (8) provided at the end of the gripping rod (4) and communicating with the suction channel (41). The flow divider (8) is connected to multiple vacuum suction cups (71) through a flow divider assembly. The gripping rod (4) is provided with a flow sensor (11) for detecting the gas flow rate of the suction channel (41). The diversion assembly includes multiple air hoses (72) disposed inside the flexible membrane (7). The multiple air hoses (72) are arranged in a ring-shaped radial pattern. Multiple vacuum suction cups (71) are arranged in pairs, and a set of vacuum suction cups (71) is connected to each air hose (72).

2. The adsorption-type flexible seedling picker according to claim 1, characterized in that: The lifting mechanism includes a miniature cylinder (2), and a rotating mechanism is located at the end of the piston rod of the miniature cylinder (2).

3. The adsorption-type flexible seedling picker according to claim 1, characterized in that: The rotating mechanism includes a micro motor (3) and a gripping rod (4) is located at the output end of the micro motor (3).

4. The adsorption-type flexible seedling picker according to claim 1, characterized in that: The flexible membrane (7) is made of soft rubber material.

5. An adsorption-type flexible seedling picker according to any one of claims 1-4, characterized in that: It also includes a frame, on which a longitudinal moving module is provided, and on which a variable pitch module (10) is provided, and on which a plurality of variable pitch sliders (101) are provided, and the seedling taking body is set on the variable pitch sliders (101).

6. The adsorption-type flexible seedling picker according to claim 5, characterized in that: The frame is equipped with a planting plate and a double-speed chain. The planting plate is used to place hydroponic leafy vegetables. The two sides of the planting plate are fixed to the double-speed chain and are transported by the double-speed chain along its length.

7. The method for taking seedlings using an adsorption-type flexible seedling taker according to claim 6, characterized in that, Includes the following steps: (1) By moving the longitudinal moving module and the variable distance module (10), each seedling body is positioned directly above the hydroponic leafy vegetables on the planting board; (2) The solid structure makes the flexible film (7) arch downwards, the lifting mechanism drives the seedling body to move downwards, and the rotating mechanism makes the vacuum suction cup (71) on the flexible film (7) fit with the lettuce leaves; (3) The vacuum generator evacuates the vacuum suction cup (71), and the vacuum suction cup (71) adsorbs lettuce leaves; (4) The longitudinal moving module drives the variable distance module (10) to move upward, and the lettuce and substrate are separated from the seedling tray as a whole, thus completing the seedling removal.

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