A plantlet taking end effector

Abstract

The application discloses a seedling taking end effector, which comprises a support plate, a driving mechanism, a human hand imitating branch bundling mechanism and a air suction matrix mechanism. A vertical groove is formed in the upper part of the support plate, and a horizontal groove is formed in the lower part of the support plate. The human hand imitating branch bundling mechanism is used for bundling and lifting the seedling branches of the pot seedlings and providing the main lifting force. The air suction matrix mechanism is used for forming a negative pressure on the upper surface of the matrix, so as to destroy the bonding force between the matrix and the plug. The application adopts the air suction to form a negative pressure above the matrix, so as to destroy the bonding force between the matrix and the plug. The human hand imitating branch bundling and seedling lifting mode is adopted to replace the stem clamping mode, so that the damage to the stems is avoided, and the success rate of the pot seedling transplanting is 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-acre yield. In recent years, the rapid development of factory-based tray seedling technology and its advancement and adaptability have put forward new requirements for tray seedling field transplanting technology, among which higher requirements are put forward for the success rate of transplanting pot seedlings.

[0003] During the transplanting process, there are two ways for the end effector to remove seedlings: stem clamping and pot clamping. The pot clamping method involves transplanting by clamping the pot body. This requires good root packing, which places special demands on seedling cultivation techniques and is only suitable for a small number of varieties with good root packing. The stem clamping method involves removing seedlings by clamping and pulling the stems of the seedlings in the plug tray. The stem clamping action is relatively simple, and the seedling removal speed is fast and efficient. It is not directly related to the root packing quality of the pot body, and does not require special requirements for seedling cultivation techniques, so it has a wider range of applications. However, the stem clamping method has the following disadvantages: First, there is adhesion between the substrate and the plug tray, and the seedling removal relies on clamping and pulling the stems of the seedlings in the plug tray, which requires both stem strength and clamping force. Second, the clamping process can easily damage the epidermal cells of the stem. After planting in the soil, the soil is filled with a large number of pathogens, which can easily cause stem rot at the wound, leading to 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] To address the shortcomings of the existing technology, the present invention provides a seedling removal end effector that uses air suction to create negative pressure above the substrate, thereby breaking the adhesion between the substrate and the plug tray. This device mimics the manual method of binding branches and lifting seedlings, replacing the stem clamping method to avoid stem damage, thereby improving the success rate of potted seedling transplanting.

[0006] In order to achieve the above object, the specific scheme adopted by the present invention is:

[0007] A seedling removal end effector mainly comprises:

[0008] The support plate extends vertically and plays a supporting role. The upper part of the support plate is provided with a vertical groove, and the lower part of the support plate is provided with a horizontal groove;

[0009] A driving mechanism is provided on one side of the supporting plate;

[0010] A human-hand-like branch-binding mechanism is used to clamp the stems of seedlings in pots. The human-hand-like branch-binding mechanism includes a branch-binding member, the rear end of which is connected to a drive mechanism through a vertical slot. Under the action of the drive mechanism, the branch-binding member can move up and down along the vertical slot. Two first curved plates are provided at an upper and lower intervals on the front section of the branch-binding member. A second curved plate is slidably connected between the two first curved plates. An air bag is provided on the inner circumference of the first curved plate and / or the second curved plate. The branch-binding member is provided with a drive assembly. Under the action of the drive assembly, the second curved plate can slide along the first curved plate and form a closed circular ring structure with the two first curved plates.

[0011] The air suction matrix mechanism is used to separate the matrix from the plug tray, and includes two oppositely arranged air suction matrix components, the air suction matrix components including an L-shaped connecting plate, one end of the L-shaped connecting plate is connected to the driving mechanism through the transverse groove, and the other end is connected to a half plug; under the action of the driving mechanism, the two air suction matrix components are adjusted between the separation and merging states. 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. The half plug is connected to a first air pump through an air pipe. The first air pump can remove the air between the wedge-shaped plug structure and the matrix, forming a negative pressure above the matrix, thereby separating the matrix from the plug tray.

[0012] Furthermore, the driving mechanism includes a first motor, a driving gear, a vertical rack, a U-shaped steel, and a guide plate, and there are two guide plates; wherein, the output shaft of the first motor is connected to the driving gear, the driving gear is engaged with the vertical rack, the top 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.

[0013] Furthermore, the airbag is connected to the second air pump through an air tube.

[0014] Furthermore, the first air pump and the second air pump are both arranged on the support plate.

[0015] Furthermore, sliding grooves are provided on 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.

[0016] 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.

[0017] Furthermore, semicircular grooves are provided on opposite sides of the two half plugs, and flexible wrapping members for wrapping the seedlings in the pot are provided in the semicircular grooves.

[0018] Furthermore, the flexible wrapping member is made of silicone material.

[0019] Beneficial effects:

[0020] (1) In order to solve the problem of stem clamping causing damage to stem cells, the present invention has designed a branch-binding mechanism that imitates human hands, which replaces the stem-binding method by imitating the human hand branch-binding and seedling-lifting method. During the rising process of the mechanism, the air bag 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 potted seedlings, thereby avoiding damage to the stems.

[0021] (2) The present invention has designed an air suction matrix mechanism, which uses air suction to create 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, forming a closed environment between the bottom surface of the air plug and the upper surface of the matrix. The air in the closed environment is then extracted to create negative pressure, destroying the bonding force between the matrix and the plug tray, avoiding direct contact with the matrix and damaging the matrix.

[0022] (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 hole tray is destroyed by air suction, and then the seedlings are lifted by imitating the manual branch binding method. The mutual compensation between the two forces makes the seedling removal more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is one of the structural diagrams of the seedling removal end effector.

[0024] Figure 2 This is the second structural diagram of the seedling removal end effector.

[0025] Figure 3 This is the rear view of the seedling removal end effector.

[0026] Figure 4 Schematic diagram of the human hand-binding mechanism.

[0027] Figure 5 Schematic diagram of the air-absorbed matrix assembly.

[0028] Figure 6 This is the state diagram of the seedling-taking end effector when in use.

[0029] In the figure, 1. support plate, 101. vertical groove, 102. horizontal groove, 2. human-hand branch-binding mechanism, 201. branch-binding member, 2011. first curved plate, 202. second curved plate, 203. airbag, 204. curved 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

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like 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 should not be understood as limiting the scope of protection of the present invention.

[0032] 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 actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0033] The present invention provides a seedling removal end effector, please refer to Figures 1 to 5 The seedling removal end effector comprises a support plate 1, a human-hand-like branch-binding mechanism 2, an air-suction matrix mechanism, a drive mechanism, and auxiliary components. The human-hand-like branch-binding mechanism 2 is used to gather and bind the branches of the seedlings 12 in the pot and provide the primary lifting force; the air-suction matrix mechanism is used to create negative pressure on the upper surface of the matrix, thereby breaking the adhesion between the matrix and the plug tray 11; the drive mechanism is used to operate the human-hand-like branch-binding mechanism 2 and the air-suction matrix mechanism; and the auxiliary components ensure the normal operation of the various components of the end effector. Each component is described in detail below.

[0034] The support plate 1 extends vertically, and has a vertical slot 101 extending through the upper portion of the support plate 1 and a horizontal slot 102 extending through the lower portion. The support plate 1 can be connected to the pitch changing device via a pitch changing slider (i.e., the component at the top of the support plate).

[0035] A drive mechanism is mounted on one side of the support plate 1. The drive mechanism comprises two guide plates 10, a U-shaped steel bar 9, a first motor (not shown), a driving gear 8, and a vertical rack 7. The driving gear 8 meshes with the vertical rack 7. The top of the vertical rack 7 is fixedly connected to the hand-like branch-binding mechanism 2, and the bottom is penetrated by the U-shaped steel bar 9. The ends of the U-shaped steel bar 9 are respectively connected to corresponding guide plates 10, and the bottom ends of the guide plates 10 are hingedly connected to the air-suction matrix mechanism. The driving gear 8 is connected to the output shaft of the first motor. Driven by the first motor, the hand-like branch-binding mechanism 2 moves vertically along the vertical slot 101, while the air-suction matrix mechanism moves horizontally along the horizontal slot 102.

[0036] A human-hand-like branch-binding mechanism 2 is provided on the upper portion of the support plate 1. This mechanism comprises a branch-binding member 201, a second curved plate 202, an airbag 203, and a drive assembly. The rear end of the branch-binding member 201 passes through the vertical slot 101 and connects to the drive mechanism. Driven by the drive mechanism, the branch-binding member 201 can move up and down along the vertical slot 101. Two first curved plates 2011 are spaced apart at the front of the branch-binding member 201. A second curved plate 202 is slidably connected between the two first curved plates 2011. Airbags 203 are provided on the inner circumferences of the first curved plates 2011 and / or the second curved plates 202. The branch-binding member 201 is equipped with a drive assembly. Driven by the drive assembly, the second curved plate 202 can slide along the first curved plates 2011 and form a closed circular ring structure with the two first curved plates 2011. In its initial position, the second curved plate 202 is located between the two first curved plates 2011.

[0037] Specifically, the drive assembly includes a second motor 206, a gear set 205 that rotates under the action of the second motor 206, and an arc-shaped rack 204 mounted on the outer circumference of the second curved plate 202 and capable of meshing with the gear set 205. The second motor 206 is mounted on the upper surface of the branch binding member 201 and is connected to the gear set 205. The gear set 205 meshes with the arc-shaped gear 204, thereby driving the second curved plate 202 to slide relative to the first curved plate 2011.

[0038] It should be noted that the airbag 203 is connected to the second air pump 6 via 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, 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 potted seedlings 12 during the process of imitating human hand squeezing when the airbag 203 is inflated.

[0039] The first air pump 5 and the second air pump 6 can be arranged on the transplanter or directly on the support plate 1 .

[0040] 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 assemblies 4 symmetrically arranged along the axis of the support plate 1, and the air suction matrix assembly 4 includes an L-shaped connecting plate 401, one end of the L-shaped connecting plate 401 is connected to the driving mechanism through the transverse groove 102, and the other end is connected to a half plug 402; under the action of the driving mechanism, the two air suction matrix assemblies 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 tray. The half plug 402 is connected to the first air pump 5 through the trachea 3. The air between the wedge-shaped plug structure and the matrix can be evacuated by the first air pump 5, forming a negative pressure above the matrix, thereby separating the matrix from the hole tray 11.

[0041] Preferably, each air plug 402 has a semicircular groove inside, and the flexible wrapping member 403 is filled in the semicircular groove. The flexible wrapping member 403 contacts the stem of the potted seedling 12 to form a closed environment. Each half plug 402 has an air extraction hole for connecting to the air pipe 3 to extract the air between the wedge-shaped plug structure and the substrate.

[0042] Specifically, the material selection of the flexible wrapping member 703 is 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.

[0043] Specifically, the outer contour of the air plug 402 has an inclination angle that is the same as the inclination angle of the hole in the plug tray, so that the air plug 402 can be smoothly inserted into the hole in the plug tray without leaving any gaps when it is lowered and inserted, thereby forming a sealed environment.

[0044] 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 pumps air outward through the air pipe 3 to form 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 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 in the pot; 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, applies pressure to the branches, and clamps the seedling 12 in the pot 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 group 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, thus completing the transplanting of the seedling 12 in the pot.

[0045] The above description 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 based on the essence of the present invention should be included in the scope of protection 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) and the lower portion is provided with a horizontal groove (102). A driving mechanism is provided on one side of the support plate (1); A human hand-like branch binding mechanism (2) is used for clamping the stems of potted seedlings (12), the human hand-like 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 circumference 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 the matrix from the hole 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 the transverse groove (102) and connected to the driving mechanism, and the other end being connected to a half plug (402); under the action of the driving mechanism, the two air suction matrix components (4) are adjusted between the separation and merging states, 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 in the hole tray (11), the half plug (402) is connected to a first air pump (5) through an air pipe (3), and 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 tray (11).

2. The 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 curved plates (2011), and the upper and lower ends of the second curved 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) capable of rotating under the action of the second motor (206), and an arc-shaped rack (204) mounted 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 material.

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