Adjustable Seedling Pick-Up End Effector for Transplanting
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Solution Overview
Problem
Existing seedling pick-up and dropping end effectors lack adaptability and flexibility, leading to potential damage to seedlings during transplanting, as they are not adjustable to accommodate various plug tray specifications and require precise control of dropping speed, which is often not met by fixed mechanical fingers and external devices.
Innovation Solution
An adjustable seedling pick-up end effector utilizing an eccentric slider-rocker mechanism with a clamping pin mechanism, adjustable slotted holes, and a locking device, allowing active opening and closing to accommodate different seedling sizes and angles, ensuring safe and flexible seedling handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If fixed mechanical fingers are used for seedling grasping, then the structure is simple, but the adaptability to various plug tray specifications is poor
Solution Approach 1:
The patent applies the dynamics principle by making the mechanical fingers adjustable through slotted holes and locking devices, allowing the fingers to change their position and configuration dynamically. This enables the same end effector to adapt to different plug tray specifications (72 cells, 105 cells, 128 cells) while maintaining a relatively simple overall structure. The fingers can be repositioned along the slotted holes to accommodate various cell sizes and arrangements.
2Ease of operation
If tightening spring action is used for grasping, then the structure is simple, but the active grasping function is lacking
Solution Approach 1:
The patent replaces the passive tightening spring mechanism with an active hydraulic or pneumatic cylinder system. This substitution provides active control over the grasping action, allowing precise control of the clamping force and timing. The cylinder-driven mechanism enables the fingers to actively close and open for grasping and releasing seedlings, rather than relying solely on spring tension and gravity.
3Reliability
If external devices are used for seedling pick-up action, then the grasping function can be achieved, but the control precision and coordination with pick-up mechanism is difficult
Solution Approach 1:
The patent merges the end effector with the seedling pick-up mechanism by integrating the cylinder-driven finger system directly into the pick-up assembly. This combination ensures that the grasping action is tightly coordinated with the pick-up mechanism's motion, eliminating timing and synchronization issues that would arise from separate external devices. The integrated design allows the fingers to open and close in precise coordination with the pick-up mechanism's approach and withdrawal.
4Adaptability or versatility
If fixed clamping pins are used, then the structure is simple, but the flexibility for different seedling sizes is poor
Solution Approach 1:
The patent applies dynamics by making the clamping pins movable along the mechanical fingers through slotted holes. The pins can be repositioned to different locations on the fingers and locked in place using locking devices. This dynamic configuration allows the clamping pins to accommodate different seedling sizes and shapes, providing flexibility while maintaining a relatively simple adjustment mechanism based on pre-drilled slots and locking elements.
Data Source
AI summary
An adjustable seedling pick-up end effector for automatically transplanting plug seedlings is provided includes two clamping fingers installed symmetrically along a direction of a center line, support frames respectively connected adjustably to the clamping fingers, and a mechanical arm fixedly connected to the support frames. The mechanical arm is constructed to drive a clamping pin mechanism to execute actions of prying, grabbing, and quickly releasing the plug seedlings, and the adjustment of the opening degree and the clamping angle of the clamping pin mechanism is realized by adopting the adjustably connected support frames. The end effector can be actively opened and closed to grab and release the plug seedlings, provide a larger space to accommodate the plug seedlings so as not to damage the seedlings, and adjust the opening degree and the clamping angle, which can meet the seedling pick-up requirements for automatic transplanting of plug seedlings of various specifications.