CN114391346A - Pot seedling picking and supplementing end effector and picking and supplementing method thereof - Google Patents
Pot seedling picking and supplementing end effector and picking and supplementing method thereof Download PDFInfo
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- CN114391346A CN114391346A CN202210033570.5A CN202210033570A CN114391346A CN 114391346 A CN114391346 A CN 114391346A CN 202210033570 A CN202210033570 A CN 202210033570A CN 114391346 A CN114391346 A CN 114391346A
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- seedling
- supplementing
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- linear guide
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- 230000001502 supplementing effect Effects 0.000 title claims abstract description 97
- 239000012636 effector Substances 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000000758 substrate Substances 0.000 claims description 28
- 239000011159 matrix material Substances 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000011084 recovery Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 4
- 239000013589 supplement Substances 0.000 claims description 3
- 239000002689 soil Substances 0.000 description 5
- 238000005452 bending Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000035784 germination Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
Abstract
The invention discloses a pot seedling picking and supplementing end effector and a pot seedling picking and supplementing method. The invention can realize automatic picking and supplementing of the pot seedlings, greatly improves the working efficiency and reduces the labor intensity, in addition, the invention can simultaneously complete the extension and the retraction of four groups of seedling supplementing shovels by one air cylinder, and compared with a plurality of air cylinders which respectively control a single group of seedling supplementing shovels, the synchronism among the seedling supplementing shovels is better.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a pot seedling picking and supplementing end effector and a pot seedling picking and supplementing method.
Background
The processes of filling, sowing, accelerating germination and the like of plug seedling can be completed by using machinery, so that the plug seedling machine is suitable for large-scale production, can reduce the labor intensity of farmers, and becomes an important part in modern agriculture nowadays.
However, in the plug seedling process, due to the fact that the quality of the seeds is different, each plug hole is relatively independent, and the growth conditions of seedlings in the plug are different, three conditions of normal seedlings, inferior seedlings and no seedlings occur, and the subsequent row mechanical transplanting needs normal seedlings in each plug hole, so that the inferior seedlings need to be removed, and the normal seedlings need to be supplemented for the inferior seedling plug holes and the no-seedling plug holes. If the process is manually completed, the labor intensity of farmers can be greatly increased, and the foreign pot seedling picking and supplementing end effector cannot be born by domestic farmers due to the overhigh price.
Therefore, in order to solve the problems of low working efficiency and high labor intensity of manual seedling picking and supplementing, the pot seedling picking and supplementing end effector has the advantages of good soil wrapping property, simple structure and the like.
Disclosure of Invention
The invention mainly aims to provide a pot seedling picking and supplementing end effector and a pot seedling picking and supplementing method, so that the defects of the prior art are overcome.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps: an end effector for picking and replenishing pot seedlings comprises:
a machine frame, a plurality of guide rails and a plurality of guide rails,
the driving piece is fixed on the rack;
the straight slot frame is fixed on the rack, is connected with the driving piece and is driven by the driving piece to reciprocate downwards along a first direction;
the seedling supplementing device comprises a rack, at least four groups of sliding assemblies distributed around the rack, wherein every two groups of sliding assemblies are arranged oppositely, each group of sliding assemblies comprises a sliding block and a linear guide rail matched with the sliding block, the sliding block is fixed on the rack, the lower end of the sliding block is inwards inclined in a first direction, the linear guide rail is matched with the sliding block, a seedling supplementing shovel is fixed at one end of the linear guide rail, and the other end of the linear guide rail is connected with a straight groove frame in a sliding mode and reciprocates inside and outside the straight groove frame;
the straight slot frame is driven by the driving piece to move downwards along a first direction, four linear guide rails connected with the straight slot frame are driven to slide downwards along respective sliding blocks in a slant direction while moving, four seedling supplementing shovels connected with one ends of the four linear guide rails gather inwards to form a wrapping space for wrapping a substrate, and the other ends of the four linear guide rails slide inwards along the straight slot frame; on the contrary, the straight slot frame moves upwards along the first direction under the driving of the driving piece, the four linear guide rails connected with the straight slot frame are driven to slide upwards along respective sliding blocks in a slant mode while moving, the four seedling supplementing shovels connected with one ends of the four linear guide rails are opened outwards, and the other ends of the four linear guide rails slide outwards along the straight slot frame.
In a preferred embodiment, the rack comprises a driving part mounting plate, a slider fixing plate and a plurality of supporting columns, wherein the driving part mounting plate and the slider fixing plate are horizontally arranged and vertically distributed, the plurality of supporting columns are vertically arranged, one end of each supporting column is connected with the driving part mounting plate, and the other end of each supporting column is connected with the slider fixing plate.
In a preferred embodiment, the end effector further comprises a mechanical arm adapter plate, one end of the mechanical arm adapter plate is connected with the mechanical arm, and the other end of the mechanical arm adapter plate is connected with the driving piece.
In a preferred embodiment, the slider fixing plate is uniformly provided with four slider fixing portions along the circumferential direction, the slider fixing portions are formed by bending downward from the end portions of the slider fixing plate, and the lower ends of the slider fixing portions are arranged in an inclined manner.
In a preferred embodiment, four guide rail connecting portions are uniformly arranged on the straight slot frame along the circumferential direction, each guide rail connecting portion is provided with a sliding slot extending along the inner and outer directions, and one end of each linear guide rail is slidably connected with the corresponding sliding slot through a hinge block.
In a preferred embodiment, the wrapping space is an inverted cone-shaped space, and the inclination angle of the seedling supplementing shovel is the same as that of the side wall of the hole to be inserted.
The invention discloses a seedling removing and supplementing method of a pot seedling removing and supplementing end effector, which comprises the following steps:
s100, moving the seedling removing and supplementing end effector to the position above a poor seedling hole or a seedling hole without a seedling hole under the action of a mechanical arm;
s200, the driving piece drives the straight groove frame to move downwards along a first direction, four linear guide rails connected with the straight groove frame are driven to slide downwards along respective sliding blocks in an inclined mode while moving, four seedling supplementing shovels connected with one ends of the four linear guide rails are obliquely inserted into a substrate of a poor seedling or a non-seedling hole along the side face of the hole, and the substrate is gathered inwards to wrap the substrate while inserting;
s300, the tail end of the mechanical arm with the seedling picking and supplementing end actuator moves upwards, the matrix is taken out, and the matrix is moved to the position above a matrix recovery position;
s400, the driving piece drives the straight groove frame to move upwards along a first direction, four linear guide rails connected with the straight groove frame are driven to slide upwards along respective sliding blocks in a slant direction while moving, four seedling supplementing shovels connected with one ends of the four linear guide rails are opened outwards, and the taken-out substrate falls into a substrate recovery position;
s500, moving the tail end of the mechanical arm with the seedling removing and supplementing end actuator to the position above a normal seedling hole of the seedling replacing and supplementing tray, executing according to the steps S200-S300, and taking out the replaced and supplemented seedling;
s600, the tail end of the mechanical arm with the seedling picking and supplementing end actuator moves to the position above the hole for taking out the substrate, the seedling picking and supplementing end actuator moves downwards until the seedling supplementing shovel approaches the bottom of the hole, and the replacement seedling is placed into the hole according to the execution of the S400.
In a preferred embodiment, before S100, the method further includes: and identifying whether normal seedlings, bad seedlings or no seedlings exist in each hole through manual or intelligent vision, skipping the hole to remove and supplement the seedlings if the normal seedlings exist in the hole, and removing and supplementing the seedlings if the bad seedlings or no seedlings exist in the hole.
In a preferred embodiment, before S100, the method further includes: and resetting the driving member.
In a preferred embodiment, in S200, four seedling supplementing shovels are in an inverted cone shape to wrap the substrate.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides the pot seedling picking and supplementing end effector which is simple in structure and low in cost, automatic picking and supplementing of pot seedlings can be realized through combination with the mechanical arm, working efficiency is greatly improved, labor intensity is reduced, in addition, the invention can simultaneously complete extension and retraction of four groups of seedling supplementing shovels through one air cylinder, and compared with a plurality of air cylinders, the single group of seedling supplementing shovels are respectively controlled, and the synchronism among the seedling supplementing shovels is better.
2. According to the invention, through the matching of the driving piece, the straight groove frame and the sliding assembly, the seedling supplementing shovel is driven to realize the taking out and putting in of the substrates in the hole, the seedling supplementing shovel is obliquely arranged, the inclination angle is matched with the inclination angle of the inner side wall of the hole, the wrapping property on soil is good, and the substrates with poor seedlings or without seedling holes can be taken out relatively completely.
3. In the control, the seedling supplementing shovel can extend out only by giving a high level to an electromagnetic valve of an electric control element of the air cylinder; the low level is provided for the electromagnetic valve, so that the seedling supplementing shovel can be retracted, and the realization is simpler.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a bowl seedling picking and supplementing end effector;
FIG. 2 is a perspective view of a straight slot frame;
FIG. 3 is a perspective view of a hinge block;
FIG. 4 is a perspective view of a slider fixing plate;
FIG. 5 is a perspective view of the seedling pick-up shovel;
FIG. 6 is a perspective view of the robot arm adapter plate;
FIG. 7 is a perspective view of the cylinder mounting plate;
FIG. 8 is one of the schematic three-dimensional structures of the pot seedling picking and supplementing end effector (with the supplementing shovel extended) of the present invention;
fig. 9 is one of the three-dimensional structures of the pot seedling picking and supplementing end effector (when the supplementing shovel is retracted) of the invention.
Reference numerals:
1. arm keysets, 2, the driving piece, 3, the driving piece mounting panel, 31, the driving piece fixed orifices, 32, support column fixed orifices, 4, the support column, 5, straight flute frame, 51, the cylinder fixed part, 52, guide rail connecting portion, 521, spout, 6, articulated piece, 7, slider fixed plate, 71, slider fixed part, 72, support column fixed part, 8, linear guide, 9, the filling shovel, 10, the slider, 11, the parcel space.
Detailed Description
The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.
As shown in fig. 1, 8 and 9, an end effector for picking and replenishing seedlings of pot seedlings disclosed by the embodiment of the invention comprises a mechanical arm adapter plate 1, a frame, a driving part 2 fixed on the frame, a straight groove frame 5 and four sets of sliding assemblies. As shown in fig. 6, the mechanical arm adapter plate 1 is used to connect the entire seedling picking and supplementing end effector to a mechanical arm (not shown), so that the pot seedling picking and supplementing end effector can be mounted on the mechanical arm, and the mechanical arm controls the entire movement of the seedling picking and supplementing end effector. Specifically, one end and the arm flange adaptation of arm keysets 1, the other end links to each other with driving piece 2. In this embodiment, the driving member 2 is a cylinder.
In this embodiment, the frame specifically includes a driving member mounting plate 3, a slider fixing plate 7 and a plurality of support columns 4, where the driving member mounting plate 3 is used to mount the driving member 2, and specifically, as shown in fig. 7, a driving member fixing hole 31 is provided in the middle of the driving member mounting plate, and support column fixing holes 32 are provided around the driving member mounting plate, and the driving member 2 is fixed on the cylinder mounting plate 3 by a cup head bolt (not shown), and is preferably mounted in the middle of the driving member mounting plate 3, but may not be limited to the middle.
The slider fixing plate 7 is located below the driving member mounting plate 3 and is arranged in parallel with the driving member mounting plate 3, as shown in fig. 4, four slider fixing portions 71 are evenly arranged on the periphery of the slider fixing plate 7 along the circumferential direction, each slider fixing portion 71 is formed by bending the end portion of the slider fixing plate 7 downwards, the lower ends of the slider fixing portions are arranged in an inclined mode, the inclination angles of the four slider fixing portions 71 are the same, and therefore four sets of sliding assemblies can be arranged in an inverted cone shape. In addition, four supporting column fixing portions 72 are further uniformly provided around the slider fixing plate 7 along the circumferential direction, and the supporting column fixing portions 72 and the slider fixing portions 71 are provided at intervals.
Many spinal branchs post 4 are all vertical setting, and one end passes through support column fixed orifices 32 and driving piece mounting panel 3 fixed connection on the driving piece mounting panel 3, and the other end and the support column fixed part 72 looks fixed connection on the slider fixed plate 7. In this embodiment, 4 support columns 4 are provided, and the 4 support columns 4 are connected with the driving member mounting plate 3 and the slider fixing plate 7 to form a cage.
The straight slot frame 5 is located between the driving member mounting plate 3 and the slider fixing plate 7, is connected to the driving member 2, and is specifically connected to a piston rod (not shown) of the driving member 2, and moves up and down under the driving action of the piston rod of the driving member 2. Specifically, in this embodiment, the straight slot frame 5 is a cross straight slot frame, as shown in fig. 2, it specifically includes a cylinder fixing portion 51 and four guide rail connecting portions 52 formed by extending the end portion of the cylinder fixing portion 51 outwards, and the four guide rail connecting portions 52 are uniformly distributed around the cylinder fixing portion 51 along the circumferential direction, so that the guide rail connecting portions 52 are distributed in a cross shape, and a supporting column 4 is distributed between every two adjacent guide rail connecting portions 52. Wherein the cylinder fixing part 51 is used for connecting with the driving part 2, and the guide rail connecting part 52 is used for connecting with the sliding component. Each rail connecting portion 52 is formed with a sliding slot 521 extending in the inward-outward direction for slidably connecting the sliding member. The straight slot frame 5 moves up and down in a cage formed by the frame under the driving of the driving piece 2.
Four sets of sliding assemblies are evenly distributed along the circumferential direction in the first direction. Specifically, in the present embodiment, four sets of sliding assemblies are disposed opposite to each other, and each set of sliding assemblies includes a sliding block 10 and a linear guide 8 engaged with the sliding block 10, wherein each sliding block 10 is fixed on the sliding block fixing portion 71 corresponding to the sliding block fixing plate 7, and because the lower end of the sliding block fixing portion 71 is inclined inward in the first direction, the lower end of the sliding block 10 is also inclined inward in the first direction.
The linear guide 8 is matched with the sliding block 10 and can move up and down in a reciprocating manner along the sliding block 10 in an inclined manner, in the embodiment, a seedling supplementing shovel 9 is fixed at one end of the linear guide 8, the structure of the seedling supplementing shovel 9 is shown in fig. 5, and the other end of the seedling supplementing shovel is connected with the straight groove frame 5 in a sliding manner through a hinge block 6 and moves inside and outside along the straight groove frame 5 in a reciprocating manner. Specifically, as shown in fig. 3, one end of the hinge block 6 passes through the sliding slot 521 of the straight slot frame 5 through a set screw, and can slide back and forth in the sliding slot 521. In this embodiment, because of that one end that four linear guide 8 connect the filling shovel 9 all is the leanin setting for four linear guide 8 are the back taper and arrange, make four linear guide 8 can slide from top to bottom along certain inclination. Correspondingly, the four seedling supplementing shovels 9 are fixed on the linear guide rail 8 and can also form an inverted cone-shaped wrapping space 11, the angle of each seedling supplementing shovel 9 is the same as the included angle of the side surface and the bottom surface of a hole (not shown), and the seedling supplementing shovels and the linear guide rail 8 move at a certain angle together to ensure good wrapping performance on soil. Compared with the existing seedling needles, the seedling supplementing shovel 9 has better wrapping performance on soil, and the soil is not easy to loosen when seedlings with underdeveloped root systems are transplanted. In specific implementation, the seedling supplementing shovel 9 can extend out by giving a high level to an electromagnetic valve (not shown) of an electric control element of the air cylinder; the low level is provided for the electromagnetic valve, so that the seedling supplementing shovel 9 can be retracted, and the realization is simpler.
The operation principle of the pot seedling picking and supplementing end effector provided by the embodiment of the invention is as follows: the pot seedling picking and supplementing end effector is connected with the mechanical arm through the mechanical arm adapter plate 1. Before the start of the operation a resetting operation is performed to ensure that the piston rod of the driver 2 is in a retracted state. When the seedlings are picked and supplemented, the pot seedling picking and supplementing end actuator moves to the position above the poor seedling/no-seedling hole under the action of the mechanical arm, firstly, the piston rod of the driving piece 2 extends out to drive the straight groove frame 5 to move downwards, the four hinging blocks 6 arranged on the straight groove frame 5 push the four linear guide rails 8 to slide downwards in an inverted cone shape, and the four seedling supplementing shovels 9 are obliquely inserted into a matrix of the poor seedling/no-seedling hole along the side surfaces of the hole to wrap the matrix in an inverted trapezoid shape. And then the tail end of the mechanical arm drives the pot seedling picking and supplementing end actuator to integrally move upwards to realize the taking out of the matrix. Secondly, the tail end of the mechanical arm moves to the position above the substrate recovery position, the piston rod of the driving part 2 is retracted to drive the straight groove frame 5 to move upwards, the four hinged blocks 6 arranged on the straight groove frame 5 pull the four linear guide rails 8 to slide upwards in an inverted cone shape, the distance between the four seedling supplementing shovels 9 is increased, and the poor seedling/non-seedling substrate falls into the substrate recovery position. The tail end of the mechanical arm moves to the position above a normal seedling hole of the alternate seedling tray, the alternate seedling is taken out according to the method for taking out the poor seedling/no seedling substrate, then the tail end of the mechanical arm moves the pot seedling picking and supplementing end actuator to the position above the hole where the poor seedling/no seedling substrate is taken out before, the mechanical arm vertically descends until the seedling supplementing shovel 9 approaches the bottom of the hole, the piston rod of the air cylinder 2 is retracted, the alternate seedling and the substrate are placed into the hole, and the picking and supplementing work of the poor seedling or no seedling hole is completed.
The invention discloses a seedling removing and supplementing method of a pot seedling removing and supplementing end effector, which comprises the following steps:
s100, moving the seedling removing and supplementing end effector to the position above a poor seedling hole or a seedling hole without a seedling hole under the action of a mechanical arm;
s200, driving the straight groove frame 5 to move downwards along a first direction by the driving part 2, driving four linear guide rails 8 connected with the straight groove frame to slide downwards along respective slide blocks 10 in an inclined mode while moving, inserting four seedling supplementing shovels 9 connected with one ends of the four linear guide rails 8 into a substrate of a hole with inferior seedlings or without seedlings in an inclined mode along the side faces of the hole, and gathering inwards to wrap the substrate while inserting;
s300, the tail end of the mechanical arm with the seedling picking and supplementing end actuator moves upwards, the matrix is taken out, and the matrix is moved to the position above a matrix recovery position;
s400, the driving piece 2 drives the straight groove frame 5 to move upwards along a first direction, the four linear guide rails 8 connected with the straight groove frame are driven to slide upwards along respective sliding blocks 10 in an inclined mode while moving, the four seedling supplementing shovels 9 connected with one ends of the four linear guide rails 8 are opened outwards, and the taken-out substrate falls into a substrate recovery position;
s500, moving the tail end of the mechanical arm with the seedling removing and supplementing end actuator to the position above a normal seedling hole of the seedling replacing and supplementing tray, executing according to the steps S200-S300, and taking out the replaced and supplemented seedling;
s600, the tail end of the mechanical arm with the seedling picking and supplementing end actuator moves to the position above the hole for taking out the matrix, the seedling picking and supplementing end actuator moves downwards until the seedling supplementing shovel 9 approaches the bottom of the hole, and the replacement seedling is placed into the hole according to the execution of the S400.
Wherein, before S100, further comprising: the driver 2 is reset ensuring that the piston rod of the driver 2 is in a retracted state. And identifying whether normal seedlings, bad seedlings or no seedlings exist in each hole through manual or intelligent vision, skipping the holes to remove and supplement the seedlings if the normal seedlings exist in the holes, and performing the operations of removing and supplementing the seedlings if the bad seedlings or no seedlings exist in the holes, namely executing the steps S100-S600.
The aspects, embodiments, features and examples of the present invention should be considered as illustrative in all respects and not intended to be limiting of the invention, the scope of which is defined only by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.
Claims (10)
1. The utility model provides a seedling end effector is mended to alms bowl seedling picking which characterized in that includes:
a machine frame, a plurality of guide rails and a plurality of guide rails,
the driving piece is fixed on the rack;
the straight slot frame is fixed on the rack, is connected with the driving piece and is driven by the driving piece to reciprocate downwards along a first direction;
the seedling supplementing device comprises a rack, at least four groups of sliding assemblies distributed around the rack, wherein every two groups of sliding assemblies are arranged oppositely, each group of sliding assemblies comprises a sliding block and a linear guide rail matched with the sliding block, the sliding block is fixed on the rack, the lower end of the sliding block is inwards inclined in a first direction, the linear guide rail is matched with the sliding block, a seedling supplementing shovel is fixed at one end of the linear guide rail, and the other end of the linear guide rail is connected with a straight groove frame in a sliding mode and reciprocates inside and outside the straight groove frame;
the straight slot frame is driven by the driving piece to move downwards along a first direction, four linear guide rails connected with the straight slot frame are driven to slide downwards along respective sliding blocks in a slant direction while moving, four seedling supplementing shovels connected with one ends of the four linear guide rails gather inwards to form a wrapping space for wrapping a substrate, and the other ends of the four linear guide rails slide inwards along the straight slot frame; on the contrary, the straight slot frame moves upwards along the first direction under the driving of the driving piece, the four linear guide rails connected with the straight slot frame are driven to slide upwards along respective sliding blocks in a slant mode while moving, the four seedling supplementing shovels connected with one ends of the four linear guide rails are opened outwards, and the other ends of the four linear guide rails slide outwards along the straight slot frame.
2. The pot seedling picking and filling end effector as claimed in claim 1, wherein: the frame includes driving piece mounting panel, slider fixed plate and many support columns, the equal level of driving piece mounting panel and slider fixed plate sets up and distributes from top to bottom between the two.
3. The pot seedling picking and filling end effector as claimed in claim 2, wherein: the driving piece mounting panel is connected to the vertical setting of many support columns and one end, and the slider fixed plate is connected to the other end.
4. The pot seedling picking and filling end effector as claimed in claim 1, wherein: the slider fixed plate is evenly provided with four slider fixed parts along circumference, the slider fixed part is from the tip of slider fixed plate bends down and forms and its lower extreme leanin sets up.
5. The pot seedling picking and filling end effector as claimed in claim 1, wherein: the straight slot frame evenly is provided with four guide rail connecting portions along circumference, every set up a spout that extends along inside and outside direction on the guide rail connecting portion, linear guide's one end through a articulated piece with correspond spout sliding connection.
6. The pot seedling picking and filling end effector as claimed in claim 1, wherein: the parcel space is the back taper space, just the inclination of filling with the seedlings shovel is the same with the inclination of the cave hole lateral wall of treating stretching into.
7. The pot seedling picking and supplementing end effector based on any one of claims 1 to 6, characterized in that the method comprises the following steps:
s100, moving the seedling removing and supplementing end effector to the position above a poor seedling hole or a seedling hole without a seedling hole under the action of a mechanical arm;
s200, the driving piece drives the straight groove frame to move downwards along a first direction, four linear guide rails connected with the straight groove frame are driven to slide downwards along respective sliding blocks in an inclined mode while moving, four seedling supplementing shovels connected with one ends of the four linear guide rails are obliquely inserted into a substrate of a poor seedling or a non-seedling hole along the side face of the hole, and the substrate is gathered inwards to wrap the substrate while inserting;
s300, the tail end of the mechanical arm with the seedling picking and supplementing end actuator moves upwards, the matrix is taken out, and the matrix is moved to the position above a matrix recovery position;
s400, the driving piece drives the straight groove frame to move upwards along a first direction, four linear guide rails connected with the straight groove frame are driven to slide upwards along respective sliding blocks in a slant direction while moving, four seedling supplementing shovels connected with one ends of the four linear guide rails are opened outwards, and the taken-out substrate falls into a substrate recovery position;
s500, moving the tail end of the mechanical arm with the seedling removing and supplementing end actuator to the position above a normal seedling hole of the seedling replacing and supplementing tray, executing according to the steps S200-S300, and taking out the replaced and supplemented seedling;
s600, the tail end of the mechanical arm with the seedling picking and supplementing end actuator moves to the position above the hole for taking out the substrate, the seedling picking and supplementing end actuator moves downwards until the seedling supplementing shovel approaches the bottom of the hole, and the replacement seedling is placed into the hole according to the execution of the S400.
8. The method for picking and filling seedlings according to claim 7, wherein before S100, the method further comprises: and identifying whether normal seedlings, bad seedlings or no seedlings exist in each hole through manual or intelligent vision, skipping the hole to remove and supplement the seedlings if the normal seedlings exist in the hole, and removing and supplementing the seedlings if the bad seedlings or no seedlings exist in the hole.
9. The method for picking and filling seedlings according to claim 7, wherein before S100, the method further comprises: and resetting the driving member.
10. The method for picking and filling seedling according to claim 7, wherein in S200, four seedling filling shovels are in an inverted cone shape to wrap the substrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210033570.5A CN114391346A (en) | 2022-01-12 | 2022-01-12 | Pot seedling picking and supplementing end effector and picking and supplementing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210033570.5A CN114391346A (en) | 2022-01-12 | 2022-01-12 | Pot seedling picking and supplementing end effector and picking and supplementing method thereof |
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| CN114391346A true CN114391346A (en) | 2022-04-26 |
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| CN202210033570.5A Pending CN114391346A (en) | 2022-01-12 | 2022-01-12 | Pot seedling picking and supplementing end effector and picking and supplementing method thereof |
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| JP2000262113A (en) * | 1999-03-19 | 2000-09-26 | Circle Iron Work Co Ltd | Seedling cartridge and apparatus for nipping and arranging seedling for cartridge |
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| CN106358818A (en) * | 2016-08-22 | 2017-02-01 | 浙江大学 | Special wrapping type seedling-replanting mechanical claw for plug-seedlings in cotyledon stage and seedling-replanting method |
| CN109220114A (en) * | 2018-10-11 | 2019-01-18 | 浙江大学 | A kind of cotyledon period Plug seedling is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings |
| CN113812243A (en) * | 2021-10-25 | 2021-12-21 | 无锡悦田农业机械科技有限公司 | Seedling taking mechanism of automatic transplanter |
-
2022
- 2022-01-12 CN CN202210033570.5A patent/CN114391346A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000262113A (en) * | 1999-03-19 | 2000-09-26 | Circle Iron Work Co Ltd | Seedling cartridge and apparatus for nipping and arranging seedling for cartridge |
| CN104782289A (en) * | 2015-04-23 | 2015-07-22 | 浙江大学 | End executor of potted vegetable seedling supply mechanical hand |
| CN106358818A (en) * | 2016-08-22 | 2017-02-01 | 浙江大学 | Special wrapping type seedling-replanting mechanical claw for plug-seedlings in cotyledon stage and seedling-replanting method |
| CN109220114A (en) * | 2018-10-11 | 2019-01-18 | 浙江大学 | A kind of cotyledon period Plug seedling is filled the gaps with seedlings end effector and its method of filling the gaps with seedlings |
| CN113812243A (en) * | 2021-10-25 | 2021-12-21 | 无锡悦田农业机械科技有限公司 | Seedling taking mechanism of automatic transplanter |
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