The invention discloses a pin type plug
seedling transplanting end
effector, which belongs to the field of
agricultural machinery. The pin type plug
seedling transplanting end
effector consists of a shell back plate, an
electromagnet, an
electromagnet push rod, two horizontal in-groove slide blocks, two swing link slide blocks, two swing links, two slide bushings, two pins, two upper bolt and nuts and two lower bolts and nuts, wherein the
electromagnet is electrified to drive the electromagnet push rod to extend out so as to drive the swing links to swing; and the pins extend out towards the
diagonal lower side along a straight line determined by the
fixed slide bushings through sliding of the swing link slide blocks so as to be plugged into plug holes to pick up a
seedling. When a seedling heap is clamped by the pin type plug seedling
transplanting end
effector to reach a seedling placement position, the pin type plug seedling transplanting end effector descends to
plant the seedling heap into soil, the electromagnet is powered off, and the spring in the electromagnet drives the electromagnet push rod to automatically reset, so that the two pins are driven to retract into the slide bushings in reverse directions, and the seedling heap is pressed by the bottom ends of the slide bushings; and thus, the seedling heap is prevented from being brought out again by
friction force when the sliding pins retract to guarantee the quality of
transplantation. The movement direction of the pins of the pin type plug seedling transplanting end effector is fixed, so that good force transfer characteristic is guaranteed, and the pins are inserted into the soil smoothly; the angle for inserting the pins into the soil and the clamping opening are adjustable, so that good universality is achieved; and thus, smooth
insertion for picking up and placing the seedlings during
transplantation of various plug seedlings is realized with a simple structure.