Soft shaft enveloping end effector

Abstract

This invention discloses a flexible shaft enveloping end effector. The flexible shaft mechanism of the end effector can envelop and grip seedling substrate from all directions. The flexible shaft guide seat guides the insertion direction of the flexible shaft to change during substrate gripping, causing the flexible shaft to insert into the substrate along the inner wall of the planting hole. When placing the seedling substrate, the guide seat presses down on the substrate, thus separating the substrate from the flexible shaft. A telescopic guide mechanism is used for the telescopic extension and guidance of the flexible shaft mechanism. A lifting mechanism is used for the overall lifting of the guide mechanism and the flexible shaft mechanism. When gripping the seedling substrate, the flexible shaft cylinder drives the flexible shaft to deform under the action of the guide seat, moving downwards along the inner wall of the planting tray hole, achieving an enveloping gripping action on the seedling substrate. The flexible shaft enveloping end effector of this invention uses a flexible shaft enveloping gripper, which can achieve maximum envelopment of loose seedling substrate, completing the gripping of the seedling substrate. It has advantages such as simple structure, small footprint, good gripping effect on loose substrate, and ease of multi-grip integration.

Description

Technical Field

[0001] This invention relates to an end effector, to the field of agricultural equipment, and specifically to a flexible shaft envelope end effector. Background Technology

[0002] Existing end effectors for plug seedling transplanters generally come in three forms: insertion-grip type, angled insertion type, and modified sliding needle type. Insertion-grip type end effectors typically require one drive unit to control the insertion and retraction of the seedling-picking needles, and another drive unit to control the opening and closing of the needles, in order to achieve the insertion and picking action. Angled insertion type end effectors, due to the angled arrangement of the seedling-picking needles, require the drive unit to be angled, or a transmission mechanism to be designed to convert the vertical linear motion of the drive unit into linear motion at a certain angle. Both of these methods increase the size of the end effector, making it difficult to integrate multiple end effectors. Modified sliding needle type end effectors typically use four steel wire seedling-picking needles in conjunction with an arc-shaped guide tube to achieve the angled insertion action. This type of end effector has a compact structure, but because the contact area between the four steel wires and the substrate is small, the substrate easily leaks out from the gaps between the seedling-picking needles, making it difficult to grasp loose substrate.

[0003] It can be seen that existing research on end effectors mainly focuses on the transplanting of older seedlings with compacted substrate, while there is relatively little research on end effectors for grasping loose substrate. Summary of the Invention

[0004] To address the problems existing in the background art, the present invention provides a flexible shaft envelope-type end effector. The present invention aims to solve the problems of existing insert-grip and oblique-insertion type end effectors being structurally complex, space-consuming, difficult to integrate with multiple claws, and the inability of deformable sliding pin type end effectors to grasp loose substrates.

[0005] The technical solution adopted in this invention is:

[0006] I. A flexible shaft envelope-type end effector, comprising:

[0007] The flexible shaft mechanism is used to envelop and grip the seedling substrate and to pick it up or place it into the planting tray. The flexible shaft mechanism includes several flexible shafts for all-round enveloping gripping of the seedling substrate, and also includes a flexible shaft guide seat. When gripping the seedling substrate, the flexible shaft guide seat guides the insertion direction of each flexible shaft to change, so that each flexible shaft is inserted into the seedling substrate along the inner wall of the hole of the planting tray, and presses the seedling substrate when placing the seedling substrate, thereby separating the seedling substrate from each flexible shaft.

[0008] The telescopic guide mechanism is used to extend and guide the flexible shaft mechanism during the process of enveloping and gripping the seedling substrate.

[0009] The lifting mechanism is used for the overall lifting of the guide mechanism and the flexible shaft mechanism.

[0010] The telescopic guide mechanism includes a flexible shaft cylinder, four guide seat connecting rods, a floating joint, a flexible shaft cylinder connecting plate, a floating joint nut, and two flexible shaft mounting seat connecting rods. The cylinder body of the flexible shaft cylinder is mounted on the lifting mechanism and located directly above the four guide seat connecting rods. The four guide seat connecting rods are vertically spaced and symmetrically installed on the bottom surface of the lifting mechanism. The top ends of the four guide seat connecting rods are connected to the bottom surface of the lifting mechanism, and the bottom ends of the four guide seat connecting rods are connected to the upper part of the flexible shaft mechanism. The floating joint, flexible shaft cylinder connecting plate, floating joint nut, and two flexible shaft mounting seat connecting rods are installed directly below the lifting mechanism. Located between four guide seat connecting rods, the floating joint has external threads on both its upper and lower parts. The piston rod of the flexible shaft cylinder has an internal thread at its lower end. The piston rod of the flexible shaft cylinder is vertically downward and its end thread is connected to the external thread on the upper part of the floating joint. The flexible shaft cylinder connecting plate is horizontally arranged. The lower part of the floating joint passes through a through hole provided in the center of the flexible shaft cylinder connecting plate. The external thread of the lower part of the floating joint is threadedly connected to the floating joint nut, so that the flexible shaft cylinder connecting plate is fixedly connected to the floating joint. The flexible shaft cylinder connecting plate is connected to the top surface of the flexible shaft mechanism through two flexible shaft mounting seat connecting rods that are vertically spaced and symmetrically arranged on its bottom end face.

[0011] The floating joint is stepped rod-shaped. The diameters of the upper and lower parts of the floating joint are smaller than the diameter of the middle part, which serves as an axial limiting function. The diameter of the lower part of the floating joint is equal to the diameter of the central through hole of the flexible shaft cylinder connecting plate, and the middle part of the floating joint is located directly above the central through hole of the flexible shaft cylinder connecting plate.

[0012] The flexible shaft mechanism includes a flexible shaft mounting base, a flexible shaft guide base, and several flexible shafts. The flexible shaft mounting base and the flexible shaft guide base are arranged horizontally at intervals from top to bottom. The lower ends of the two flexible shaft mounting base connecting rods are symmetrically connected to the upper end face of the flexible shaft mounting base. The lower ends of the four guide base connecting rods of the guide mechanism are symmetrically passed through the four corners of the flexible shaft mounting base and connected to the four corners of the flexible shaft guide base. The flexible shaft mounting base is provided with several vertical flexible shaft mounting through holes evenly spaced along its circumference. The upper end of each flexible shaft is connected to one of its own flexible shaft mounting through holes. The flexible shaft guide base is provided with several inclined flexible shaft guide through holes evenly spaced along its circumference. The lower part of each flexible shaft passes through one of its own directly below flexible shaft guide through holes. The lower end of each flexible shaft is a free end.

[0013] The upper and lower ports of each flexible shaft guide through hole in the flexible shaft guide seat are respectively far away from and close to the center of the flexible shaft guide seat, thus forming inclined through holes. The inclination angle of each flexible shaft guide through hole is consistent with the angle of the inner wall of the planting tray hole. The number of each flexible shaft guide through hole in the flexible shaft guide seat is consistent with the number of each flexible shaft mounting through hole in the flexible shaft mounting seat.

[0014] The dimensions of the flexible shaft mounting base and the flexible shaft guide base, as well as the inclination angle of the flexible shaft guide through hole of the flexible shaft guide base, can be designed according to the hole size of the planting tray so that the end effector can meet the grasping needs of seedling substrate of different sizes of planting trays.

[0015] The number of flexible shafts is greater when the seedling substrate is loose and less when the seedling substrate is compact. The number and distribution of flexible shafts can be increased or decreased according to the compactness of the seedling substrate. For compact substrates that are not easy to loosen, fewer flexible shafts can be used, while for looser substrates, more flexible shafts are needed to reduce the gaps between the flexible shafts and ensure that the substrate does not leak out from the gaps between the flexible shafts.

[0016] The flexible shaft is made of universal steel wire drive flexible shaft, brake line steel wire rope or stainless steel wire, or made of materials with good smoothness, easy bending, good toughness and good elasticity such as glass fiber and carbon fiber, which can restore the original shape after the flexible shaft cylinder retracts.

[0017] The lifting mechanism includes a lifting cylinder and a cylinder mounting plate. The cylinder mounting plate is horizontally arranged. The cylinder body of the lifting cylinder is installed in a fixed position. The movable part of the lifting cylinder is connected to one side of the top surface of the cylinder mounting plate and can drive the cylinder mounting plate to move up and down. The cylinder body of the flexible shaft cylinder is installed on the other side of the top surface of the cylinder mounting plate. The piston rod of the flexible shaft cylinder passes vertically downward through the cylinder mounting plate and is threaded to the upper end of the floating joint. The upper ends of the four guide seat connecting rods are symmetrically connected to the bottom surface of the cylinder mounting plate.

[0018] II. A method for gripping and placing a flexible shaft envelope-type end effector, comprising:

[0019] When the flexible shaft envelope-type end effector is about to grasp seedling substrate, the lifting cylinder retracts, causing the entire flexible shaft mechanism to rise. The flexible shaft cylinder connecting plate moves upward via the flexible shaft cylinder, thereby sequentially moving the flexible shaft mounting base and each flexible shaft upward through the two flexible shaft mounting base connecting rods until the lower end of each flexible shaft is located in or flush with the lower end face of its respective flexible shaft guide hole in the flexible shaft guide seat. When one of the planting trays containing seedling substrate moves to directly below the center position of the lower end of each flexible shaft, the lifting cylinder extends, controlling the cylinder mounting plate to move vertically, thus... The flexible shaft mechanism and telescopic guide mechanism are moved as a whole to the top of the hole. The flexible shaft cylinder connecting plate is driven to move downward through the flexible shaft cylinder. Each flexible shaft bends and deforms along the flexible shaft guide holes of the flexible shaft guide seat. Each flexible shaft always moves downward along the inner wall of the hole, eventually forming a space that is consistent with the shape of the inner wall of the hole. Each flexible shaft wraps the seedling substrate, ensuring that as much substrate as possible is removed. The lifting cylinder controls the cylinder mounting plate to move vertically, thereby driving the flexible shaft mechanism and telescopic guide mechanism to move upward as a whole, and finally the seedling substrate wrapped around the hole is removed from the hole.

[0020] When the flexible shaft envelope-type end effector is to be placed with seedling substrate, it first clamps a seedling substrate, and then moves one of the empty holes in the planting tray to directly below the center of the lower end of each flexible shaft. The lifting cylinder controls the vertical movement of the cylinder mounting plate, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move towards the hole until the lower end of each flexible shaft is at the bottom of the inner wall of the hole. The flexible shaft cylinder drives the flexible shaft cylinder connecting plate to move upward, so that the lower end of each flexible shaft moves upward until it is completely detached from the clamped seedling substrate. During the movement of each flexible shaft, the flexible shaft guide seat is always pressed against the top surface of the seedling substrate until the seedling substrate is completely placed into the hole. Then, the lifting cylinder drives the flexible shaft mechanism and the telescopic guide mechanism to move upward away from the hole, completing the placement of the seedling substrate.

[0021] The lifting cylinder of this invention drives the flexible shaft mechanism and the telescopic guide mechanism to move up and down. The flexible shaft, driven by the cylinder, deforms under the action of the flexible shaft guide seat and moves downwards along the inner wall of the planting tray's holes, achieving an enveloping gripping action on the seedlings. This invention, through the various flexible shafts forming an enveloping gripper, can achieve maximum envelopment of loose seedling substrate, completing the gripping of the seedling substrate. It has advantages such as simple structure, small footprint, good gripping effect on loose substrate, and ease of multi-grip integration.

[0022] The beneficial effects of this invention are:

[0023] The flexible shaft enveloping end effector provided by this invention uses a flexible shaft enveloping gripper. Through the flexible shaft guide hole on the flexible shaft guide seat, which is at the same inclination angle as the inner wall of the planting tray hole, the flexible shaft is bent and deformed along the inner wall of the hole, creating a space with the same shape as the inner wall of the hole. This enables the loose seedling substrate to be wrapped as much as possible, completing the enveloping gripping of the seedling substrate. The flexible shaft enveloping end effector provided by this invention has the advantages of simple structure, small space occupation, good gripping effect on loose substrate, and easy integration of multiple grippers. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the complete assembly structure of an embodiment of the present invention;

[0025] Figure 2 This is a part drawing of the cylinder mounting plate according to an embodiment of the present invention;

[0026] Figure 3 This is a part drawing of the guide seat connecting rod according to an embodiment of the present invention;

[0027] Figure 4 This is a drawing of a floating joint component according to an embodiment of the present invention;

[0028] Figure 5 This is a part drawing of the flexible shaft cylinder connecting plate according to an embodiment of the present invention;

[0029] Figure 6 This is a part drawing of the connecting rod of the flexible shaft mounting base according to an embodiment of the present invention;

[0030] Figure 7 This is a part drawing of the flexible shaft mounting base according to an embodiment of the present invention;

[0031] Figure 8 This is a part drawing of the flexible shaft guide seat according to an embodiment of the present invention;

[0032] Figure 9 This is a flowchart of the replanting operation according to an embodiment of the present invention;

[0033] In the diagram: 1. Lifting cylinder, 2. Flexible shaft cylinder, 3. Cylinder mounting plate, 4. Guide seat connecting rod, 5. Floating joint, 6. Flexible shaft cylinder connecting plate, 7. Floating joint nut, 8. Flexible shaft mounting seat connecting rod, 9. Flexible shaft mounting seat, 10. Flexible shaft guide seat, 11. Flexible shaft. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0036] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0038] The main objective of this invention is to provide a flexible shaft envelope-type end effector, which aims to solve the problems of existing insert-grip and oblique insertion end effectors having complex structures, occupying large space, being difficult to integrate multiple claws, and deformable sliding pin end effectors being unable to grasp loose substrates.

[0039] like Figure 1 As shown, the flexible shaft enveloping end effector of the present invention includes a flexible shaft mechanism, a telescopic guide mechanism, and a lifting mechanism. The flexible shaft mechanism is used for enveloping and gripping the seedling substrate and picking it up or placing it into the planting tray. The flexible shaft mechanism includes several flexible shafts 11 for omnidirectional enveloping and gripping the seedling substrate, and also includes a flexible shaft guide seat 10. When gripping the seedling substrate, the flexible shaft guide seat 10 guides the insertion direction of each flexible shaft 11 to change, so that each flexible shaft 11 is inserted into the seedling substrate along the inner wall of the holes in the planting tray, and presses the seedling substrate when placing it, thereby separating the seedling substrate from each flexible shaft 11. The telescopic guide mechanism is used for telescopic and guiding the flexible shaft mechanism during the process of enveloping and gripping the seedling substrate. The lifting mechanism is used for the overall lifting of the guide mechanism and the flexible shaft mechanism.

[0040] The telescopic guide mechanism includes a flexible shaft cylinder 2, four guide seat connecting rods 4, a floating joint 5, a flexible shaft cylinder connecting plate 6, a floating joint nut 7, and two flexible shaft mounting seat connecting rods 8. The cylinder body of the flexible shaft cylinder 2 is mounted on the lifting mechanism and located directly above the four guide seat connecting rods 4. The four guide seat connecting rods 4 are vertically spaced and symmetrically installed on the bottom surface of the lifting mechanism. The top ends of the four guide seat connecting rods 4 are connected to the bottom surface of the lifting mechanism, and the bottom ends are connected to the upper part of the flexible shaft mechanism. The floating joint 5, the flexible shaft cylinder connecting plate 6, the floating joint nut 7, and the two flexible shaft mounting seat connecting rods 8 are installed directly below the lifting mechanism and positioned... Between the four guide seat connecting rods 4, the upper and lower parts of the floating joint 5 are provided with external threads. The lower end of the piston rod of the flexible shaft cylinder 2 is provided with internal threads. The piston rod of the flexible shaft cylinder 2 is vertically downward and its end thread is connected to the external thread of the upper part of the floating joint 5. The flexible shaft cylinder connecting plate 6 is arranged horizontally. The lower part of the floating joint 5 passes through the through hole provided in the center of the flexible shaft cylinder connecting plate 6. The external thread of the lower part of the floating joint 5 is threadedly connected to the floating joint nut 7, so that the flexible shaft cylinder connecting plate 6 is fixedly connected to the floating joint 5. The flexible shaft cylinder connecting plate 6 is connected to the top surface of the flexible shaft mechanism through two flexible shaft mounting seat connecting rods 8 arranged vertically at intervals on its bottom end face.

[0041] The lifting mechanism includes a lifting cylinder 1 and a cylinder mounting plate 3. The cylinder mounting plate 3 is arranged horizontally. The cylinder body of the lifting cylinder 1 is installed in a fixed position. The movable part of the lifting cylinder 1 is connected to one side of the top surface of the cylinder mounting plate 3 and can drive the cylinder mounting plate 3 to move up and down. The cylinder body of the flexible shaft cylinder 2 is installed on the other side of the top surface of the cylinder mounting plate 3. The piston rod of the flexible shaft cylinder 2 passes vertically downward through the cylinder mounting plate 3 and is threaded to the upper end of the floating joint 5. The upper ends of the four guide seat connecting rods 4 are symmetrically connected to the bottom surface of the cylinder mounting plate 3.

[0042] like Figure 2 As shown, the cylinder mounting plate 3 has three through holes on one side, and three threaded holes below the movable part of the lifting cylinder 1. The cylinder mounting plate 3 is fixed to the movable part of the lifting cylinder 1 by three bolts passing through the three through holes on one side of its top surface and the three threaded holes below the movable part. One side of the top surface of the cylinder mounting plate 3 has a step for positioning during installation. The other side of the top surface of the cylinder mounting plate 3 has four countersunk holes and one through hole in the center. Four bolts pass through the four countersunk holes to fix the flexible shaft cylinder 2 to the cylinder mounting plate 3, and the piston rod of the flexible shaft cylinder 2 passes through the through hole in the center.

[0043] like Figure 3As shown, the upper part of the guide seat connecting rod 4 has threads, and there are four through holes around the other side of the cylinder mounting plate 3. The threads on the upper part of the guide seat connecting rod 4 pass through the four through holes around the other side of the cylinder mounting plate 3, and the four guide seat connecting rods 4 are fixed to the cylinder mounting plate 3 by four nuts.

[0044] like Figure 4 As shown, the floating joint 5 is a stepped rod shape. The diameters of the upper and lower parts of the floating joint 5 are smaller than the diameter of the middle part, serving as an axial limit. The diameter of the lower part of the floating joint 5 is equal to the diameter of the central through hole of the flexible shaft cylinder connecting plate 6. The middle part of the floating joint 5 is located directly above the central through hole of the flexible shaft cylinder connecting plate 6. The middle part of the floating joint 5 has a through hole, into which a screwdriver can be inserted for easy limiting during installation and tightening.

[0045] like Figure 5 and Figure 6 As shown, the upper and lower end faces of the flexible shaft mounting base connecting rod 8 have threaded holes, and the upper and lower ends of the flexible shaft cylinder connecting plate 6 have countersunk holes. Bolts are passed downward through the countersunk holes on the flexible shaft cylinder connecting plate 6 and connected to the threaded holes on the upper end faces of the two flexible shaft mounting base connecting rods 8. The upper parts of the two flexible shaft mounting base connecting rods 8 are inserted into the countersunk holes at the lower ends of the flexible shaft cylinder connecting plate 6, which can limit the movement of the flexible shaft mounting base connecting rods 8.

[0046] The flexible shaft mechanism includes a flexible shaft mounting base 9, a flexible shaft guide seat 10, and several flexible shafts 11. The flexible shaft mounting base 9 and the flexible shaft guide seat 10 are arranged horizontally at intervals from top to bottom. The lower ends of the two flexible shaft mounting base connecting rods 8 are symmetrically connected to the upper end face of the flexible shaft mounting base 9. The lower ends of the four guide seat connecting rods 4 of the guide mechanism symmetrically pass through the four corners of the flexible shaft mounting base 9 and connect to the four corners of the flexible shaft guide seat 10. The flexible shaft mounting base 9 has several vertical flexible shaft mounting through holes evenly spaced along its circumference. The upper end of each flexible shaft 11 is connected to one of its own flexible shaft mounting through holes. The flexible shaft guide seat 10 has several inclined flexible shaft guide through holes evenly spaced along its circumference. The lower part of each flexible shaft 11 passes through one of its own directly below flexible shaft guide through holes. The lower end of each flexible shaft 11 is a free end. The number of flexible shafts 11 is greater when the seedling substrate is loose and less when the seedling substrate is compact. The number and distribution of flexible shafts 11 can be adjusted according to the compactness of the seedling substrate. For compact substrates that are not easily loosened, fewer flexible shafts 11 can be used, while for looser substrates, more flexible shafts 11 are needed to reduce gaps between the flexible shafts 11 and ensure that the substrate does not leak out from the gaps between the flexible shafts 11. The flexible shafts 11 are made of universal steel wire drive flexible shafts, brake wire ropes, or stainless steel wires, or are made of materials with good smoothness, easy bending, good toughness, and good elasticity, such as glass fiber or carbon fiber, which can return to their original shape after the flexible shaft cylinder 2 retracts.

[0047] Both the flexible shaft mounting base 9 and the flexible shaft guide seat 10 have a hollow structure to reduce the overall weight of the actuator. For example... Figure 7 As shown, the upper and lower end faces of the middle of both sides of the flexible shaft mounting base 9 have countersunk holes. Bolts pass upward through the countersunk holes on the lower part of the middle of the flexible shaft mounting base 9 and connect to the threaded holes on the lower end faces of the two flexible shaft mounting base connecting rods 8. The lower parts of the two flexible shaft mounting base connecting rods 8 are inserted into the countersunk holes on the upper end faces of the middle of both sides of the flexible shaft mounting base 9, which can limit the movement of the flexible shaft mounting base connecting rods 8. The upper and lower surfaces of the flexible shaft mounting base 9 have a number of evenly distributed flexible shaft mounting through holes for the flexible shaft 11 to pass through. The upper end face of the flexible shaft 11 is flush with the upper end face of the flexible shaft mounting base 9. The outer or inner sides of the flexible shaft mounting base 9 have threaded holes corresponding to the positions of the flexible shaft mounting through holes for installing set screws to fix the upper end of the flexible shaft 11 to the flexible shaft mounting base 9. The flexible shaft mounting base 9 has four through holes at its four corners. Composite bearings are installed inside the through holes. The guide seat connecting rod 4 passes through the inner hole of the composite bearing in the four corner through holes of the flexible shaft mounting base 9, so that the flexible shaft mounting base 9 can slide up and down along the guide seat connecting rod 4. The composite bearing can prevent wear inside the four through holes at the four corners of the flexible shaft mounting base 9 and provide lubrication when the flexible shaft mounting base 9 slides up and down.

[0048] like Figure 8 As shown, the flexible shaft guide seat 10 has flexible shaft guide holes on its upper and lower surfaces, which are the same number and positional as the flexible shaft mounting holes on the upper and lower surfaces of the flexible shaft mounting seat 9. The flexible shaft 11 passes through the flexible shaft guide holes on the flexible shaft guide seat 10. The flexible shaft guide holes on the flexible shaft guide seat 10 have a certain inclination angle, which is consistent with the angle of the inner wall of the planting tray hole. This ensures that the space formed by the flexible shaft 11, which has the same number of flexible shaft mounting holes as the flexible shaft mounting seat 9, when moving downward along the inclination guide holes on the flexible shaft guide seat 10, can maintain the same shape as the inner wall of the planting tray hole. During the retraction process of the flexible shaft 11, the flexible shaft guide seat 10 can play the role of pressing and covering the substrate, realizing the purpose of active separation between the substrate and the flexible shaft 11. The flexible shaft guide seat 10 has four through holes at its four corners. The lower part of the guide seat connecting rod 4 has threads. The threads at the lower part of the guide seat connecting rod 4 pass through the four through holes at the four corners of the flexible shaft guide seat 10. Four nuts are used to connect with the four guide seat connecting rods 4 that pass through the four through holes at the four corners of the flexible shaft guide seat 10, so that the flexible shaft guide seat 10 is fixed to the cylinder mounting plate 3 through the four guide seat connecting rods 4.

[0049] The upper and lower ports of each flexible shaft guide hole in the flexible shaft guide seat 10 are respectively far from and close to the center of the flexible shaft guide seat 10, thus forming inclined through holes. The inclination angle of each flexible shaft guide through hole is consistent with the angle of the inner wall of the planting tray's hole. The number of each flexible shaft guide through hole in the flexible shaft guide seat 10 is consistent with the number of each flexible shaft mounting through hole in the flexible shaft mounting seat 9. The dimensions of the flexible shaft mounting seat 9 and the flexible shaft guide seat 10, as well as the inclination angle of the flexible shaft guide through holes in the flexible shaft guide seat 10, can be designed according to the hole size of the planting tray so that the end effector can meet the grasping needs of seedling substrate in planting trays of different sizes.

[0050] The specific method for gripping and placing the flexible shaft envelope-type end effector of the present invention is as follows:

[0051] When the flexible shaft envelope-type end effector is about to grasp seedling substrate, the lifting cylinder 1 retracts, causing the entire flexible shaft mechanism to rise. This, in turn, drives the flexible shaft cylinder connecting plate 6 upward via the flexible shaft cylinder 2. Consequently, the two flexible shaft mounting base connecting rods 8 sequentially move the flexible shaft mounting base 9 and each flexible shaft 11 upward until the lower end of each flexible shaft 11 is positioned within or flush with the lower end face of a guide hole in the flexible shaft guide seat 10. When one of the planting trays containing seedling substrate moves directly below the center position of the lower end of each flexible shaft 11, the lifting cylinder 1 extends, controlling the cylinder mounting plate 3 to move vertically. The flexible shaft mechanism and the telescopic guide mechanism are moved together to directly above the hole. The flexible shaft cylinder 2 drives the flexible shaft cylinder connecting plate 6 to move downward. Each flexible shaft 11 bends and deforms along the flexible shaft guide holes of the flexible shaft guide seat 10. Each flexible shaft 11 always moves downward along the inner wall of the hole, eventually forming a space that is consistent with the shape of the inner wall of the hole. Each flexible shaft 11 wraps the seedling substrate, ensuring that as much substrate as possible can be removed. The lifting cylinder 1 controls the cylinder mounting plate 3 to move vertically, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move upward as a whole, and finally removing the wrapped seedling substrate from the hole by fully enveloping it.

[0052] When the flexible shaft envelope end effector is about to place the seedling substrate, it first clamps a seedling substrate, and then moves one of the empty holes in the planting tray to be directly below the center of the lower end of each flexible shaft 11. The lifting cylinder 1 controls the vertical movement of the cylinder mounting plate 3, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move towards the hole until the lower end of each flexible shaft 11 is at the bottom of the inner wall of the hole. The flexible shaft cylinder 2 drives the flexible shaft cylinder connecting plate 6 to move upward, so that the lower end of each flexible shaft 11 moves upward until it is completely detached from the clamped seedling substrate. During the movement of each flexible shaft 11, the flexible shaft guide seat 10 is always pressed against the top surface of the seedling substrate until the seedling substrate is completely placed into the hole. Then, the lifting cylinder 1 drives the flexible shaft mechanism and the telescopic guide mechanism to move upward away from the hole, completing the placement of the seedling substrate.

[0053] like Figure 9 As shown, the working process of this invention is as follows:

[0054] In the initial state, the piston rod of the lifting cylinder 1 is in the retracted state, and the flexible shaft cylinder 2 is in the retracted state.

[0055] 1) The flexible shaft envelope end effector moves to the location directly above the seedling picking point under the drive of the transplanting robot.

[0056] 2) The piston rod of the lifting cylinder 1 extends, pushing the cylinder mounting plate 3 and other parts such as the flexible shaft cylinder 2 mounted on it to descend, so that the lower end face of the flexible shaft guide seat 10 is close to the upper surface of the cavity hole.

[0057] 3) The piston rod of the flexible shaft cylinder 3 extends, pushing the flexible shaft 11 to be inserted into the matrix of the cavity along the inner wall of the cavity, thus wrapping the matrix.

[0058] 4) The piston rod of the lifting cylinder 1 retracts, driving the cylinder mounting plate 3 and other parts such as the flexible shaft cylinder 2 mounted on it to rise, and taking the seedling out of the hole.

[0059] 5) Under the drive of the transplanting robot, the flexible shaft envelope-type end effector and the seedling clump held by the flexible shaft 11 move to the position directly above the planting point.

[0060] 6) The piston rod of the lifting cylinder 1 extends, pushing the cylinder mounting plate 3 and other parts such as the flexible shaft cylinder 2 mounted on it to descend, and driving the seedlings clamped by the flexible shaft 11 to descend into the hole of the seedling tray.

[0061] 7) The piston rod of the flexible shaft cylinder 2 retracts, which drives the flexible shaft 11 to retract, causing the seedling to separate from the flexible shaft 11.

[0062] 8) The piston rod of the lifting cylinder 1 retracts, driving the cylinder mounting plate 3 and other parts such as the flexible shaft cylinder 2 mounted on it to rise, so that the end effector separates from the cavity plate.

[0063] 9) The flexible shaft envelope end effector, driven by the transplanting robot, moves to the next seedling picking point and begins the next work cycle following steps 1) to 9).

[0064] If the flexible shaft envelope end effector is used for seedling removal, in step 1), the flexible shaft envelope end effector moves to the location of the inferior seedlings, and in step 5), the flexible shaft envelope end effector moves to the location where the inferior seedlings are discarded, and the piston rod of the flexible shaft cylinder 2 retracts to discard the inferior seedlings.

[0065] The lifting cylinder 1 of this invention drives the flexible shaft mechanism and the telescopic guide mechanism to move up and down. The flexible shaft cylinder 2 drives the flexible shaft 11 to deform under the action of the flexible shaft guide seat 10, moving downward along the inner wall of the planting tray holes to achieve an enveloping gripping action for the seedlings. This invention, through the flexible shafts 11 forming a flexible shaft enveloping gripper, can achieve as much enveloping as possible of loose seedling substrate, completing the gripping of the seedling substrate. It has the advantages of simple structure, small space occupation, good gripping effect on loose substrate, and easy integration of multiple grippers.

[0066] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A flexible shaft envelope-type end effector, characterized in that, include: The flexible shaft mechanism is used to envelop and grip the seedling substrate and to pick up or place the seedling substrate into the planting tray. The flexible shaft mechanism includes several flexible shafts (11) for enveloping and gripping the seedling substrate in all directions, and also includes a flexible shaft guide seat (10). When the seedling substrate is picked up, the flexible shaft guide seat (10) guides the insertion direction of each flexible shaft (11) to change, so that each flexible shaft (11) is inserted into the seedling substrate along the inner wall of the hole of the planting tray, and presses the seedling substrate when placing the seedling substrate, thereby separating the seedling substrate from each flexible shaft (11). The telescopic guide mechanism is used to extend and guide the flexible shaft mechanism during the process of enveloping and gripping the seedling substrate. A lifting mechanism used for the overall lifting of the guide mechanism and the flexible shaft mechanism; The telescopic guide mechanism includes a flexible shaft cylinder (2), four guide seat connecting rods (4), a floating joint (5), a flexible shaft cylinder connecting plate (6), a floating joint nut (7), and two flexible shaft mounting seat connecting rods (8). The flexible shaft mechanism includes a flexible shaft mounting base (9), a flexible shaft guide seat (10), and several flexible shafts (11). The flexible shaft mounting base (9) and the flexible shaft guide seat (10) are arranged horizontally from top to bottom. The lower ends of the two flexible shaft mounting base connecting rods (8) are symmetrically connected to the upper end face of the flexible shaft mounting base (9). The lower ends of the four guide seat connecting rods (4) of the guide mechanism are symmetrically passed through the four corners of the flexible shaft mounting base (9) and then connected to the four corners of the flexible shaft guide seat (10). The flexible shaft mounting base (9) is provided with several vertical flexible shaft mounting through holes evenly spaced along its circumference. The upper end of each flexible shaft (11) is connected to one of its own flexible shaft mounting through holes. The flexible shaft guide seat (10) is provided with several inclined flexible shaft guide through holes evenly spaced along its circumference. The lower part of each flexible shaft (11) passes through one of its own directly below flexible shaft guide through holes. The lower end of each flexible shaft (11) is a free end. The upper and lower ports of each flexible shaft guide through hole in the flexible shaft guide seat (10) are far away from and close to the center of the flexible shaft guide seat (10) respectively, thus forming an inclined through hole. The inclination angle of each flexible shaft guide through hole is consistent with the angle of the inner wall of the planting tray hole. The number of each flexible shaft guide through hole in the flexible shaft guide seat (10) is consistent with the number of each flexible shaft mounting through hole in the flexible shaft mounting seat (9).

2. The flexible shaft envelope-type end effector according to claim 1, characterized in that: The cylinder body of the flexible shaft cylinder (2) is mounted on the lifting mechanism and located directly above the four guide seat connecting rods (4). The four guide seat connecting rods (4) are vertically spaced and symmetrically mounted on the bottom surface of the lifting mechanism. The top ends of the four guide seat connecting rods (4) are connected to the bottom surface of the lifting mechanism, and the bottom ends of the four guide seat connecting rods (4) are connected to the upper part of the flexible shaft mechanism. The floating joint (5), the flexible shaft cylinder connecting plate (6), the floating joint nut (7), and the two flexible shaft mounting seat connecting rods (8) are mounted directly below the lifting mechanism and located above the four guide seat connecting rods (4). Between them, the upper and lower parts of the floating joint (5) are provided with external threads. The piston rod of the flexible shaft cylinder (2) is vertically downward and its end thread is connected to the external thread of the upper part of the floating joint (5). The flexible shaft cylinder connecting plate (6) is arranged horizontally. The lower part of the floating joint (5) passes through the through hole provided at the center of the flexible shaft cylinder connecting plate (6). The external thread of the lower part of the floating joint (5) is threadedly connected to the floating joint nut (7). The flexible shaft cylinder connecting plate (6) is connected to the top surface of the flexible shaft mechanism through two flexible shaft mounting base connecting rods (8) arranged vertically at intervals on its bottom end face.

3. The flexible shaft envelope-type end effector according to claim 2, characterized in that: The floating joint (5) is a stepped rod shape. The diameter of the upper and lower parts of the floating joint (5) is smaller than the diameter of the middle part. The diameter of the lower part of the floating joint (5) is equal to the diameter of the central through hole of the flexible shaft cylinder connecting plate (6). The middle part of the floating joint (5) is located directly above the central through hole of the flexible shaft cylinder connecting plate (6).

4. The flexible shaft envelope-type end effector according to claim 3, characterized in that: The number of flexible shafts (11) is greater when the seedling substrate is loose and less when the seedling substrate is compact.

5. The flexible shaft envelope-type end effector according to claim 4, characterized in that: The flexible shaft (11) is made of universal steel wire drive flexible shaft, brake line steel wire rope or stainless steel wire, or glass fiber or carbon fiber material.

6. The flexible shaft envelope-type end effector according to claim 5, characterized in that: The lifting mechanism includes a lifting cylinder (1) and a cylinder mounting plate (3). The cylinder mounting plate (3) is arranged horizontally. The cylinder body of the lifting cylinder (1) is installed at a fixed position. The movable part of the lifting cylinder (1) is connected to one side of the top surface of the cylinder mounting plate (3) and can drive the cylinder mounting plate (3) to move up and down. The cylinder body of the flexible shaft cylinder (2) is installed on the other side of the top surface of the cylinder mounting plate (3). The piston rod of the flexible shaft cylinder (2) passes vertically downward through the cylinder mounting plate (3) and is threaded to the upper end of the floating joint (5). The upper ends of the four guide seat connecting rods (4) are symmetrically connected to the bottom surface of the cylinder mounting plate (3).

7. The gripping and placement method of the flexible shaft envelope end effector according to claim 6, characterized in that, include: When the flexible shaft envelope-type end effector is about to grab the seedling substrate, the lifting cylinder (1) retracts, driving the entire flexible shaft mechanism to rise. The flexible shaft cylinder (2) drives the flexible shaft cylinder connecting plate (6) to move upward, thereby driving the flexible shaft mounting seat (9) and each flexible shaft (11) to move upward in sequence through the two flexible shaft mounting seat connecting rods (8) until the lower end of each flexible shaft (11) is located in one of the flexible shaft guide through holes in the flexible shaft guide seat (10) or flush with the lower end face of the through hole. When one of the holes in the planting tray containing the seedling substrate moves to directly below the center position of the lower end of each flexible shaft (11), the lifting cylinder (1) extends to control the cylinder installation. The plate (3) moves vertically, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move as a whole to the top of the hole. The flexible shaft cylinder (2) drives the flexible shaft cylinder connecting plate (6) to move downward. Each flexible shaft (11) bends and deforms along each flexible shaft guide hole of the flexible shaft guide seat (10). Each flexible shaft (11) always moves downward along the inner wall of the hole, eventually forming a space consistent with the shape of the inner wall of the hole. Each flexible shaft (11) wraps the seedling substrate. The lifting cylinder (1) controls the cylinder mounting plate (3) to move vertically, thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move upward as a whole. Finally, the wrapped seedling substrate is fully enclosed and taken out of the hole. When the flexible shaft envelope type end effector is to be placed with seedling substrate, it first clamps a seedling substrate, and then moves one of the empty holes in the planting tray to the center position of the lower end of each flexible shaft (11). The cylinder mounting plate (3) is controlled to move vertically by the lifting cylinder (1), thereby driving the flexible shaft mechanism and the telescopic guide mechanism to move towards the hole until the lower end of each flexible shaft (11) is located at the bottom of the inner wall of the hole. The flexible shaft cylinder connecting plate (6) is driven to move upward by the flexible shaft cylinder (2), so that the lower end of each flexible shaft (11) moves upward until it is completely separated from the clamped seedling substrate. During the movement of each flexible shaft (11), the flexible shaft guide seat (10) is always pressed against the top surface of the seedling substrate until the seedling substrate is completely placed into the hole. Then, the flexible shaft mechanism and the telescopic guide mechanism are driven to move upward away from the hole by the lifting cylinder (1), thus completing the placement of the seedling substrate.

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