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CN-121986635-A - End effector suitable for pot seedling transplanting

CN121986635ACN 121986635 ACN121986635 ACN 121986635ACN-121986635-A

Abstract

The application relates to an end effector suitable for pot seedling transplanting, which comprises a vertical moving mechanism, a horizontal moving mechanism arranged on the vertical moving mechanism and two clamping arms arranged on the horizontal moving mechanism, wherein the vertical moving mechanism is used for driving the horizontal moving mechanism to move up and down, the horizontal moving mechanism is used for simultaneously driving the two clamping arms to be close to or far away from each other, the tail end of the clamping arm is provided with a rotating mechanism, the rotating mechanism is provided with a contact pin assembly, and the rotating mechanism is used for driving the contact pin assembly to rotate. The application can solve the problems that the existing end effector has poor adaptability, is difficult to be compatible with plug trays with different specifications, clamps and clamps the substrate which is easy to damage due to rigid contact, lacks accurate positioning adjustment capability and has complicated resetting flow.

Inventors

  • LI MINGYONG
  • GUO KAINING
  • JIN XIN
  • WU HONGXIN
  • LI BAOMING
  • CAI YIHAO
  • LIU YUETONG
  • CHEN KAIKANG
  • ZHANG WEIPENG

Assignees

  • 河南科技大学

Dates

Publication Date
20260508
Application Date
20260212

Claims (10)

  1. 1. The end effector suitable for pot seedling transplanting is characterized by comprising a vertical moving mechanism, a horizontal moving mechanism arranged on the vertical moving mechanism and two clamping arms (5) arranged on the horizontal moving mechanism, wherein the vertical moving mechanism is used for driving the horizontal moving mechanism to move up and down, the horizontal moving mechanism is used for simultaneously driving the two clamping arms (5) to be close to or far away from each other, the tail end of the clamping arm (5) is provided with a rotating mechanism, the rotating mechanism is provided with a contact pin assembly (6), and the rotating mechanism is used for driving the contact pin assembly (6) to rotate; The pin assembly (6) comprises a clamping jaw shell (602), a clamping jaw support (610) arranged at the lower end of the clamping jaw shell (602) and pins (607) arranged on the clamping jaw support (610) in a sliding manner along the vertical direction, wherein the upper ends of the pins (607) are connected with the clamping jaw shell (602) through elastic pieces, shovel hooks (606) are arranged on the clamping jaw support (610) and positioned on two sides of the pins (607), hook portions (6061) are arranged at the lower ends of the shovel hooks (606), hook grooves (60731) capable of being hooked with the hook portions (6061) are formed in the pins (607), the shovel hooks (606) are movably connected with the clamping jaw support (610) through rotating pieces, and reset pieces are arranged on the rotating pieces; The shovel hooks (606) are in a hooking state and an unfolding state, when in the hooking state, the hook parts (6061) are hooked with the hook grooves (60731), the two shovel hooks (606) are V-shaped, when in the unfolding state, the hook parts (6061) are separated from the hook grooves (60731), and the two shovel hooks (606) are splayed; A switching component is arranged in the clamping jaw shell (602) and is used for enabling the shovel hook (606) to be switched from an unfolding state to a hooking state; When the contact pin (607) is inserted into the plug matrix, the hook part (6061) is separated from the hook groove (60731), and the reset piece is used for changing the shovel hook (606) from the hooking state to the unfolding state.
  2. 2. The end effector for pot seedling transplanting according to claim 1, wherein the vertical moving mechanism comprises a mounting plate and a cylinder (2) arranged on the mounting plate, a supporting plate is arranged at the end part of a piston rod of the cylinder (2), and the horizontal moving mechanism is arranged at the lower end of the supporting plate.
  3. 3. The end effector suitable for pot seedling transplanting according to claim 2, characterized in that the horizontal moving mechanism comprises a total support (101), a U-shaped frame (103) arranged at the lower end of the total support (101) and a U-shaped seat (107) arranged at the front end of the total support (101), a connecting plate (102) connected with a supporting plate is arranged at the rear end of the total support (101), a double-shaft motor (1) is arranged on the total support (101), two output shafts of the double-shaft motor (1) are respectively provided with a lead screw (4), the lead screws (4) are rotationally connected with the U-shaped seat (107), the screw threads of the two lead screws (4) are opposite in rotation direction, the lead screws (4) penetrate through the clamping arms (5) and are in threaded fit with the clamping arms (5), guide rails (104) are arranged on the U-shaped seat (107), and sliding blocks (105) connected with the clamping arms (5) are slidingly arranged on the guide rails (104).
  4. 4. The end effector for pot seedling transplanting according to claim 1, wherein the rotating mechanism comprises a first steering engine (503), a clamping jaw housing (602) is arranged at the end part of an output shaft of the first steering engine (503), and a first cover plate (601) is arranged at the upper end of the clamping jaw housing (602).
  5. 5. The end effector for pot seedling transplanting according to claim 1, wherein the upper end of the pin (607) is provided with a horizontal part, the upper end of the horizontal part and the pin (607) are in a 7-shaped structure, the upper end of the horizontal part is provided with a sleeve (6074), the bottom of the clamping jaw shell (602) is provided with a sinking groove (6021) which is in sliding fit with the sleeve (6074), the inner bottom of the sinking groove (6021) is provided with a central column (6022), and the elastic piece comprises a spring (609) arranged between the central column (6022) and the inner bottom of the sleeve (6074).
  6. 6. The end effector suitable for pot seedling transplanting according to claim 5, characterized in that the clamping jaw support (610) comprises a positioning plate (6101), a connecting rod (6102) arranged at the upper end of the positioning plate (6101) and a guide rod (6103) arranged at the lower end of the positioning plate (6101), the connecting rod (6102) is connected with the clamping jaw shell (602), the shovel hook (606) is arranged on the positioning plate (6101), a guide part (6071) is arranged on the contact pin (607), the guide rod (6103) penetrates the guide part (6071) in a sliding manner, a moving part perpendicular to the guide part is arranged at the end of the guide rod, the moving part is arranged in an L shape with the guide rod (6103), and a moving groove (6072) in sliding fit with the moving part is arranged on the contact pin (607).
  7. 7. The end effector for pot seedling transplanting according to claim 6, wherein the pin (607) is provided with a holding cavity (6073), the left side and the right side of the holding cavity (6073) are of an opening structure, the opening structure is used for enabling the hook part (6061) to enter and exit the holding cavity (6073), and the hook groove (60731) is formed in the inner top of the holding cavity (6073).
  8. 8. The end effector suitable for pot seedling transplanting according to claim 7, wherein the rotating member comprises a rotating shaft (6062) arranged on a shovel hook (606), the rotating shaft (6062) is rotationally connected with a positioning plate (6101), the resetting member comprises a torsion spring (608) sleeved outside the rotating shaft (6062), the torsion spring (608) comprises a spring body and spring arms arranged at two ends of the spring body, counter bores matched with the spring body are respectively arranged on the shovel hook (606) and the positioning plate (6101), limit grooves matched with the spring arms are respectively arranged on the shovel hook (606) and the positioning plate (6101), and the limit grooves and the counter bores on the shovel hook (606) or the positioning plate (6101) are communicated.
  9. 9. The end effector suitable for pot seedling transplanting according to claim 1, wherein the switching assembly comprises a driving motor (603) arranged on the outer side of the clamping jaw shell (602) and a rack (605) arranged in the clamping jaw shell (602), an output shaft of the driving motor (603) stretches into the clamping jaw shell (602) and is provided with a gear (604) at the end, the gear (604) is meshed with the rack (605), the lower end of the rack (605) penetrates through the bottom of the clamping jaw shell (602) in a sliding mode, a trapezoid plate (6051) is arranged at the end of the lower end of the rack, the trapezoid plate (6051) is located between two shovel hooks (606), the large end of the trapezoid plate (6051) faces downwards, the small end of the trapezoid plate is connected with the rack (605), and in an unfolding state, the trapezoid plate (6051) can be propped against the inner sides of the two shovel hooks (606).
  10. 10. The end effector suitable for pot seedling transplanting according to claim 3, wherein the overall support (101) is provided with a camera support (3), the camera support (3) is provided with a camera (301), the camera support (3) comprises a horizontal installation part (302) and an inclined part (303) connected with the horizontal installation part (302), the inclined part (303) is arranged in an upward inclined mode, the camera (301) is arranged on the inclined part (303), and the end effector further comprises a control unit, and the control unit is respectively connected with the vertical moving mechanism, the horizontal moving mechanism, the rotating mechanism, the switching assembly and the camera (301).

Description

End effector suitable for pot seedling transplanting Technical Field The invention relates to the technical field of agricultural seedling transplanting machinery, in particular to an end effector suitable for pot seedling transplanting. Background The end effector is used as a core functional component of the transplanting machine, is adaptive to compatibility, a matrix and plant damage control level and a structural integration level, directly determines transplanting operation quality, production efficiency and a plant later survival rate, and is a key link for restricting the upgrading of the large-scale seedling transplanting machine. The traditional end effector mostly adopts fixed structural design, lacks the self-adaptation adjustment ability to different specification plug and matrix characteristic. The traditional end effector is difficult to accurately match the gradient of a planting hole and the difference of gap widths, the problems of offset of an inserting position, interference with the inner wall of a hole tray and the like easily occur in the operation process, the inserting damage rate is high, the problems of matrix breakage, root system scratch and the like easily caused by loose matrixes or special-shaped gradient hole trays are solved, the follow-up growth and development of plants are seriously affected, the traditional end effector is mainly dependent on a single mechanical action to complete a transplanting process, the cooperative closed-loop control of visual positioning and mechanical action is lacked, the inserting precision is dependent on manual preset and adjustment, the operation gesture cannot be dynamically adjusted according to the hole tray parameters detected in real time, and the technical bottlenecks of insufficient suitability and high damage rate are further aggravated. In the prior art, part of improved end effectors try to optimize a clamping structure or an inserting mechanism or add a single-dimension adjusting function, but an integrated design system of visual adaptation, angle adjustment and mechanical deformation is not formed yet, so that accurate linkage control of visual detection and mechanical action cannot be realized, and technical contradictions of multi-specification compatible adaptation, low-damage operation and the like are difficult to solve simultaneously through multi-module cooperative adjustment. The prior art scheme can not meet the core requirements of multi-specification compatibility, low damage, high efficiency and automatic closed loop in a large-scale seedling transplanting scene. Disclosure of Invention In view of the above, the invention aims to provide an end effector suitable for pot seedling transplanting, so as to solve the problems that the existing end effector has poor adaptability, is difficult to be compatible with plug trays of different specifications, is easy to clamp and pick up a substrate damaged by rigid contact, lacks accurate positioning and adjusting capability and has complicated resetting flow. The end effector suitable for pot seedling transplanting comprises a vertical moving mechanism, a horizontal moving mechanism arranged on the vertical moving mechanism and two clamping arms arranged on the horizontal moving mechanism, wherein the vertical moving mechanism is used for driving the horizontal moving mechanism to move up and down, the horizontal moving mechanism is used for simultaneously driving the two clamping arms to be close to or far away from each other, the tail end of the clamping arm is provided with a rotating mechanism, the rotating mechanism is provided with a contact pin assembly, and the rotating mechanism is used for driving the contact pin assembly to rotate; the needle inserting assembly comprises a clamping jaw shell, a clamping jaw support arranged at the lower end of the clamping jaw shell and a needle inserting in the clamping jaw support in a sliding mode along the vertical direction, the upper end of the needle inserting is connected with the clamping jaw shell through an elastic piece, a shovel hook is arranged on the clamping jaw support and located on two sides of the needle inserting, a hook portion is arranged at the lower end of the shovel hook, a hook groove capable of being hooked with the hook portion is formed in the needle inserting, the shovel hook is movably connected with the clamping jaw support through a rotating piece, a reset piece is arranged on the rotating piece, the shovel hook is in a hooking state and an unfolding state, when in the hooking state, the hook portion is hooked with the hook groove, the two shovel hooks are in a V shape, when in the unfolding state, the hook portion is separated from the hook groove, the two shovel hooks are splayed, a switching assembly is arranged in the clamping jaw shell and used for enabling the shovel hook to be switched from the unfolding state to the hooking state, when the needle inserting into a plug substrate, the hook