Low-plug-damage and piercing-type seedling-picking end effector

By using a fishhook-like pot-type low-damage piercing end effector for seedling extraction, the problem of damage to seedlings and substrate caused by stem clamping and pot clamping seedling extraction methods has been solved, achieving efficient and stable seedling extraction that is adaptable to different substrate conditions.

WO2026123984A1PCT designated stage Publication Date: 2026-06-18HENAN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
HENAN UNIV OF SCI & TECH
Filing Date
2025-10-28
Publication Date
2026-06-18

AI Technical Summary

⚠Technical Problem

Existing methods of seedling extraction using stem clamping and pot clamping are prone to damaging seedlings or destroying the substrate, and are difficult to adapt to different seedling shapes, affecting the success rate of seedling extraction and root development.

⚗Method used

The low-damage piercing seedling extraction end effector with a fishhook-like pot body uses a probe slide and flexible connector to achieve hook-piercing seedling extraction without clamping by utilizing the linear groove and deformation part in the probe slide. The probe is bent by pneumatic push to adapt to different substrate depths and widths.

🎯Benefits of technology

It reduces damage to the substrate and seedlings, improves the stability and adaptability of seedling extraction, has a simple structure, strong applicability, avoids complex control precision requirements, and is suitable for various substrate conditions.

✦ Generated by Eureka AI based on patent content.

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    Figure CN2025130465_18062026_PF_FP_ABST
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Abstract

A low-plug-damage and piercing-type seedling-picking end effector, comprising probe sliding seats, seedling-picking probes sliding in the probe sliding seats, and flexible connecting members. Each probe sliding seat is provided with a linear slide groove, wherein one slide direction of the linear slide groove serves as an actuation direction; each seedling-picking probe comprises a straight-traveling portion and a deformable portion which are in sliding fit with the corresponding linear slide groove, wherein a free end of the deformable portion serves as a piercing end; when the deformable portion slides in the actuation direction, at least part of the deformable portion can protrude out of the corresponding probe sliding seat to pierce a cultivation medium; two ends of each flexible connecting member are respectively a driven end and a position-limiting end, wherein the driven end of the flexible connecting member is connected to the corresponding deformable portion; and each probe sliding seat is provided with a limiting mechanism, wherein the limiting mechanism can limit sliding of the position-limiting end in the actuation direction, so as to switch the corresponding flexible connecting member from a slack state to a tensioned state. The end effector performs hooking within a substrate in a fishhook-like form, does not require plug-clamping, has good stability and adaptability during transplanting, eliminates the need for adjustment, and is convenient to use.
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