Seedling taking end effector

Abstract

The invention discloses a seedling taking end effector, the seedling taking end effector comprises a support plate, a driving mechanism, a hand-simulated branch binding mechanism and an air suction matrix mechanism, the upper part of the support plate is provided with a vertical groove in a penetrating manner, and the lower part of the support plate is provided with a transverse groove in a penetrating manner; the hand-simulated branch bundling mechanism is used for gathering and bundling seedling branches of pot seedlings and providing main lifting force; and the air suction matrix mechanism is used for forming negative pressure on the upper surface of the matrix so as to destroy the bonding force between the matrix and the hole tray. According to the invention, negative pressure is formed above the substrate by air suction to destroy the bonding force between the substrate and the hole tray. A stem clamping mode is replaced by a mode of simulating a human hand to bundle branches and lift seedlings, so that the damage to stems is avoided, and the success rate of pot seedling transplanting can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery transplanting, in particular to a seedling taking end effector. Background Art

[0002] Transplanting is a key step in the production of many crops. Seedling transplanting has many advantages such as climate compensation, improving the survival rate of pot seedlings and increasing per mu yield. In recent years, the rapid development of factory-based plug tray seedling technology and its advancement and adaptability have put forward new requirements for the field transplanting technology of plug tray seedlings, among which higher requirements are put forward for the transplanting success rate of pot seedlings.

[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. The pot clamping method is to transplant by clamping the pot body. Transplantation requires good root packing, which puts forward special requirements for seedling cultivation agronomy and is only suitable for a small number of varieties with good root packing. The stem clamping method is to take the seedlings by clamping and pulling the stems of the seedlings in the plug tray pot. The stem clamping action is relatively simple, the seedling taking speed is fast, the seedling taking efficiency is high, and it has no direct relationship with the root packing of the pot body. There are no special requirements for seedling cultivation agronomy and the scope of use is wider. However, the stem clamping method has the following disadvantages: First, there is adhesion between the matrix and the plug tray, and the seedlings are taken by clamping and pulling the stems of the seedlings in the plug tray pot, which requires the strength and clamping strength of the stems; second, in the clamping process, it is easy to damage the epidermal cells of the stems. After planting in the soil, there are many pathogens in the soil, which can easily cause stem rot at the wound, and easily cause lodging and death.

[0004] Based on this, it is necessary to design a seedling removal end effector that can break the adhesion between the matrix and the plug tray while clamping the stem to remove the seedlings, and it is not easy to damage the stem during clamping. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a seedling removal end effector, which uses air suction to form negative pressure above the substrate to destroy the bonding force between the substrate and the plug tray. It uses a method of imitating the manual branch binding and seedling lifting method instead of the stem clamping method to avoid damage to the stem, thereby improving the success rate of pot seedling transplanting.

[0006] In order to achieve the above object, the specific scheme adopted by the present invention is: A seedling taking end effector mainly comprises: The support plate extends vertically to play a supporting role, wherein a vertical groove is provided through the upper part of the support plate, and a horizontal groove is provided through the lower part of the support plate; A driving mechanism is arranged on one side of the supporting plate; A human-hand-like branch-binding mechanism is used for clamping the stems of seedlings in a pot, the human-hand-like branch-binding mechanism comprises a branch-binding member, the rear end of the branch-binding member passes through a vertical slot and is connected to a driving mechanism, under the action of the driving mechanism, the branch-binding member can move up and down along the vertical slot, two first arc-shaped plates are arranged at intervals in the front section of the branch-binding member, a second arc-shaped plate is slidably connected between the two first arc-shaped plates, and an air bag is arranged on the inner circumference of the first arc-shaped plate and / or the second arc-shaped plate; a driving assembly is arranged on the branch-binding member, under the action of the driving assembly, the second arc-shaped plate can slide along the first arc-shaped plate and form a closed circular ring structure with the two first arc-shaped plates; The air suction matrix mechanism is used to separate the matrix from the plug tray, and includes two relatively arranged air suction matrix components, the air suction matrix components include an L-shaped connecting plate, one end of the L-shaped connecting plate is connected to the driving mechanism through a transverse groove, and the other end is connected with a half plug; under the action of the driving mechanism, the two air suction matrix components are adjusted between the separation and merging states, and when in the merged state, the two half plugs are combined to form a wedge-shaped plug structure that matches the upper part of the plug hole in the plug tray, and the half plug is connected to a first air pump through an air pipe. The air between the wedge-shaped plug structure and the matrix can be sucked away by the first air pump, forming a negative pressure above the matrix, thereby separating the matrix from the plug tray.

[0007] Furthermore, the driving mechanism includes a first motor, a driving gear, a vertical rack, a U-shaped steel, and a guide plate, and two guide plates are provided; wherein, the output shaft of the first motor is connected to the driving gear, the driving gear is meshed with the vertical rack, the top end of the vertical rack is fixedly connected to the branch binding member, and the bottom end is provided with a U-shaped steel; the two ends of the U-shaped steel are respectively connected to the corresponding guide plates, and the bottom end of the guide plate is hinged to the corresponding L-shaped connecting plate.

[0008] Furthermore, the airbag is connected to the second air pump through an air tube.

[0009] Furthermore, the first air pump and the second air pump are both arranged on a support plate.

[0010] Furthermore, sliding grooves are provided on the opposite sides of the two first arc-shaped plates, and the upper and lower ends of the second arc-shaped plate are clamped in the corresponding sliding grooves.

[0011] Furthermore, the driving assembly includes a second motor, a gear set that can rotate under the action of the second motor, and an arc-shaped rack installed on the outer peripheral surface of the second arc-shaped plate and capable of meshing with the gear set.

[0012] Furthermore, semicircular grooves are provided on the opposite sides of the two half plugs, and flexible wrapping members for wrapping the seedlings in the pot are provided in the semicircular grooves.

[0013] Furthermore, the flexible wrapping piece is made of silicone material.

[0014] Beneficial effects: (1) To address the problem of stem clamping causing damage to stem cells, the present invention has designed a branch-binding mechanism that imitates human hands, replacing the stem-binding method with a stem-binding mechanism. During the rising process of the mechanism, the airbag located on the inner side of the arc plate is inflated to imitate the process of human hands gripping, thereby applying force to the branches of the seedlings in the pot, thereby avoiding damage to the stems.

[0015] (2) The present invention designs an air suction matrix mechanism, which uses air suction to form negative pressure above the matrix to destroy the bonding force between the matrix and the plug tray. An air plug is inserted into the upper part of the plug tray hole to form a closed environment between the bottom surface of the air plug and the upper surface of the matrix. The air in the closed environment formed by the two is then sucked away to form a negative pressure, thereby destroying the bonding force between the matrix and the plug tray, thereby avoiding direct contact with the matrix to destroy the matrix.

[0016] (3) The present invention adopts a combination of manual branch binding and air suction to remove seedlings. First, the adhesion between the matrix and the plug tray is destroyed by air suction, and then the seedlings are lifted by imitating the manual branch binding method. The two forces compensate each other, making the seedling removal more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is one of the structural schematic diagrams of the seedling removal end effector.

[0018] Figure 2 This is the second structural diagram of the seedling taking end effector.

[0019] Figure 3 This is the rear view of the seedling removal end effector.

[0020] Figure 4 This is a schematic diagram of a human hand-binding mechanism.

[0021] Figure 5 Schematic diagram of the air-absorbed matrix assembly.

[0022] Figure 6 This is the state diagram of the seedling-taking end effector when in use.

[0023] In the figure, 1, support plate, 101, vertical groove, 102, horizontal groove, 2, human hand-like branch binding mechanism, 201, branch binding member, 2011, first arc plate, 202, second arc plate, 203, air bag, 204, arc rack, 205, gear set, 206, second motor, 3, air pipe, 4, air suction matrix assembly, 401, L-shaped connecting plate, 402, half plug, 403, flexible wrapping member, 5, first air pump, 6, second air pump, 7, vertical rack, 8, driving gear, 9, U-shaped steel, 10, guide plate, 11, hole tray, 12, seedling in pot. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it is necessary to understand that the terms "upper" and "lower" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0026] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0027] The present invention provides a seedling removal end effector, please refer to Figures 1 to 5 The seedling removal end effector includes a support plate 1, a human hand branch binding mechanism 2, an air suction matrix mechanism, a driving mechanism and auxiliary components. The human hand branch binding mechanism 2 is used to gather and bind the branches of the seedlings 12 in the pot and provide the main lifting force; the air suction matrix mechanism is used to form a negative pressure on the upper surface of the matrix, thereby destroying the bonding force between the matrix and the plug tray 11; the driving mechanism is used to drive the operation of the human hand branch binding mechanism 2 and the air suction matrix mechanism; the auxiliary components are used to ensure the normal operation of each component of the end effector. Each component is described in detail below.

[0028] The support plate 1 extends vertically, and a vertical slot 101 is provided through the upper part of the support plate 1, and a horizontal slot 102 is provided through the lower part of the support plate 1. The support plate 1 can be connected to the pitch changing device through a pitch changing slider (i.e., a component at the top of the support plate).

[0029] A driving mechanism is installed on one side of the support plate 1, and the driving mechanism includes two guide plates 10, a U-shaped steel 9, a first motor (not shown in the figure), a driving gear 8 and a vertical rack 7; wherein the driving gear 8 is meshed with the vertical rack 7, the top of the vertical rack 7 is fixedly connected to the human hand branch binding mechanism 2, and the bottom end is penetrated with a U-shaped steel 9, the two ends of the U-shaped steel 9 are respectively connected to the corresponding guide plates 10, and the bottom end of the guide plate 10 is hinged to the air suction matrix mechanism. The driving gear 8 is connected to the output shaft of the first motor. Under the action of the first motor, the human hand branch binding mechanism 2 moves vertically along the vertical groove 101, and the air suction matrix mechanism moves horizontally along the horizontal groove 102.

[0030] The upper part of the support plate 1 is provided with a human-hand-like branch binding mechanism 2, which includes a branch binding member 201, a second curved plate 202, an airbag 203, and a driving assembly. The rear end of the branch binding member 201 passes through the vertical slot 101 and is connected to the driving mechanism. Under the action of the driving mechanism, the branch binding member 201 can move up and down along the vertical slot 101. Two first curved plates 2011 are arranged at intervals in the front section of the branch binding member 201, and a second curved plate 202 is slidably connected between the two first curved plates 2011. An airbag 203 is arranged on the inner circumference of the first curved plate 2011 and / or the second curved plate 202; the branch binding member 201 is provided with a driving assembly, and under the action of the driving assembly, the second curved plate 202 can slide along the first curved plate 2011 and form a closed circular ring structure with the two first curved plates 2011. In the initial position, the second curved plate 202 is located between the two first curved plates 2011.

[0031] Specifically, the driving assembly includes a second motor 206, a gear set 205 that can rotate under the action of the second motor 206, and an arc-shaped rack 204 installed on the outer peripheral surface of the second arc-shaped plate 202 and capable of meshing with the gear set 205. The second motor 206 is installed on the upper surface of the branch binding member 201, and the second motor 206 is connected to the gear set 205, and the gear set 205 meshes with the arc-shaped gear 204, so as to drive the second arc-shaped plate 202 to slide relative to the first arc-shaped plate 2011.

[0032] It should be noted that the airbag 203 is connected to the second air pump 6 through the trachea 3, and the inflation and deflation of the airbag 203 can be controlled by the second air pump 6. Specifically, the airbag 203 is made of rubber material, which has the characteristics of good softness and good air tightness. The use of rubber with good softness will not damage the branches of the pot seedling 12 during the process of imitating the squeezing of human hands when the airbag 203 is inflated.

[0033] The first air pump 5 and the second air pump 6 can be arranged on the transplanter or directly on the support plate 1 .

[0034] The air suction matrix mechanism is installed at the lower part of the mounting plate 1, and the air suction matrix mechanism includes two air suction matrix components 4 symmetrically arranged along the axis of the support plate 1, and the air suction matrix component 4 includes an L-shaped connecting plate 401, one end of the L-shaped connecting plate 401 passes through the transverse groove 102 and is connected to the driving mechanism, and the other end is connected with a half plug 402; under the action of the driving mechanism, the two air suction matrix components 4 are adjusted between the two states of separation and merging. When in the merged state, the two half plugs 402 are combined to form a wedge-shaped plug structure that matches the upper part of the hole of the hole plate. The half plug 402 is connected to the first air pump 5 through the air pipe 3. The air between the wedge-shaped plug structure and the matrix can be sucked away by the first air pump 5, forming a negative pressure above the matrix, thereby separating the matrix from the hole plate 11.

[0035] Preferably, each air plug 402 has a semicircular groove inside, and the flexible wrapping member 403 is filled in the semicircular groove, and the flexible wrapping member 403 contacts the stem of the pot seedling 12 to form a closed environment. Each half plug 402 is provided with an air extraction hole for connecting the air pipe 3 to extract the air between the wedge-shaped plug structure and the substrate.

[0036] Specifically, the material of the flexible wrapping member 703 is selected from silica gel, which has good softness, adsorption and resilience. When the air plug is combined to clamp the pot seedling 12, the flexible wrapping member can wrap the pot seedling 12 to form a closed environment.

[0037] Specifically, the inclination angle of the outer contour of the air plug 402 is the same as the inclination angle of the hole of the plug tray, so that it can be smoothly inserted into the hole of the plug tray without leaving any gap when it is lowered and inserted into the hole of the plug tray, thus forming a closed environment.

[0038] Please refer to Figure 6The method of using the seedling removal end effector is as follows: (1) the driving gear 8 is meshed with the vertical rack 7. Under the drive of the first motor, as the vertical rack 7 moves upward, the guide plate 10 is driven by the U-shaped steel 9, and the two L-shaped connecting plates 401 are driven by the guide plate 10 to move relative to each other along the transverse groove 102 of the mounting plate 2 until the two half plugs 402 form a wedge-shaped plug structure; (2) the seedling removal end effector is lowered as a whole, and the wedge-shaped plug structure is plugged into the upper part of the hole in the hole tray. The second air pump 5 draws air outward through the air pipe 3, forming a negative pressure environment in the space between the bottom of the wedge-shaped plug structure and the surface of the substrate. Due to the pressure difference, the atmospheric pressure forms an upward pressure on the substrate through the water leakage hole at the bottom of the hole tray, thereby destroying the bonding force between the substrate and the hole tray; (3) at this time, the human hand-simulated branch binding mechanism 3 is located near the branches of the seedling 12 in the pot, and the second motor 206 is driven by the gear group 2 05 drives the arc rack 204 to rotate, so that the second arc plate 202 and the air bag 203 rotate along the slide groove of the first arc plate 2011, forming a closed ring with the first arc plate 2011, and wrapping the seedling 12; the second air pump 6 starts to supply air to the air bag 203 through the air pipe 3, so that the air bag 203 swells, exerts pressure on the branches, and clamps the seedling 12 like a person holding a seedling; (4) the seedling end effector moves as a whole to transplant the seedling 12 into the soil. After the seedling 12 is placed straight, the air bag 203 is deflated by the second air pump 6, and the second motor 206 drives the arc rack 204 to rotate through the gear set 205, so that the second arc plate 202 rotates to the position between the two first arc plates 2011; the first motor drives the driving gear 8 to rotate, controls the vertical rack 7 to move downward, and the two air suction matrix components 4 are separated, that is, the transplanting of the seedling 12 is completed.

[0039] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any equivalent changes or modifications made according to the essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A seedling removal end effector, characterized in that: Mainly include: A support plate (1) extends vertically and plays a supporting role. The upper portion of the support plate (1) is provided with a vertical groove (101) extending therethrough, and the lower portion of the support plate (1) is provided with a horizontal groove (102) extending therethrough. A driving mechanism, arranged on one side of the supporting plate (1); A human-hand-simulated branch-binding mechanism (2) is used for clamping the stems of seedlings (12) in a pot, the human-hand-simulated branch-binding mechanism (2) comprising a branch-binding member (201), the rear end of the branch-binding member (201) passing through a vertical slot (101) and connected to a driving mechanism, and under the action of the driving mechanism, the branch-binding member (201) can move up and down along the vertical slot (101), the front section of the branch-binding member (201) is provided with two first curved plates (2011) spaced apart from each other, a second curved plate (202) is slidably connected between the two first curved plates (2011), and an air bag (203) is provided on the inner circumferential surface of the first curved plate (2011) and / or the second curved plate (202); a driving assembly is provided on the branch-binding member (201), and under the action of the driving assembly, the second curved plate (202) can slide along the first curved plate (2011) and form a closed circular ring structure with the two first curved plates (2011); The air suction matrix mechanism is used to separate a matrix from a plug tray (11), comprising two oppositely arranged air suction matrix components (4), the air suction matrix components (4) comprising an L-shaped connecting plate (401), one end of the L-shaped connecting plate (401) passing through a transverse groove (102) and connected to a driving mechanism, and the other end of the L-shaped connecting plate (401) being connected to a half plug (402); under the action of the driving mechanism, the two air suction matrix components (4) are adjusted between two states of separation and merging; when in the merged state, the two half plugs (402) are combined to form a wedge-shaped plug structure that matches the upper part of a plug hole in the plug tray (11); the half plug (402) is connected to a first air pump (5) via an air pipe (3); the air between the wedge-shaped plug structure and the matrix can be sucked away by the first air pump (5), forming a negative pressure above the matrix, thereby separating the matrix from the plug tray (11).

2. A seedling removal end effector according to claim 1, characterized in that: The driving mechanism comprises a first motor, a driving gear (8), a vertical rack (7), a U-shaped steel (9), and a guide plate (10), wherein the guide plate (10) is provided with two pieces; wherein the output shaft of the first motor is connected to the driving gear (8), the driving gear (8) is meshed with the vertical rack (7), the top end of the vertical rack (7) is fixedly connected to the branch binding member (201), and the bottom end is provided with a U-shaped steel (9); the two ends of the U-shaped steel (9) are respectively connected to the corresponding guide plate (10), and the bottom end of the guide plate (10) is hinged to the corresponding L-shaped connecting plate (401).

3. The seedling removal end effector according to claim 1, characterized in that: The air bag (203) is connected to the second air pump (6) via the air tube (3).

4. The seedling removal end effector according to claim 3, characterized in that: The first air pump (5) and the second air pump (6) are both arranged on the support plate (1).

5. The seedling removal end effector according to claim 1, characterized in that: Slide grooves are provided on opposite sides of the two first arc-shaped plates (2011), and the upper and lower ends of the second arc-shaped plate (202) are clamped in the corresponding slide grooves.

6. The seedling removal end effector according to claim 1, characterized in that: The driving assembly comprises a second motor (206), a gear set (205) that can rotate under the action of the second motor (206), and an arc-shaped rack (204) installed on the outer peripheral surface of the second arc-shaped plate (202) and capable of meshing with the gear set (205).

7. The seedling removal end effector according to claim 1, characterized in that: Semicircular grooves are provided on opposite sides of the two half plugs (402), and flexible wrapping members (403) for wrapping the seedlings (12) in the pot are provided in the semicircular grooves.

8. The seedling removal end effector according to claim 7, characterized in that: The flexible wrapping piece (403) is made of silicone.

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