Inserting and clamping type non-injury seedling sampling end effector for bowl seedlings

The invention relates to an inserting and clamping type seedling sampling end effector, in particularly to the structural design of a non-injury seedling sampling end effector for bowl seedlings. Theend effector is mostly used for full-automatic transplanting machines and industrialized automatic seedling transplanting. The end effector is composed of a grabbing module and a power module. The endeffector has the advantage of self-adaptively grabbing different types of bowl seedlings, the bowl seedlings can be precisely grabbed, injures to bowl seedlings in the working process are reduced, and the end effector has the advantages of being high in response speed and working efficiency. 本发明涉及一种插夹式取苗末端执行器，具体涉及针对钵体苗的无伤取苗末端执行器的结构设计，多用于全自动移栽机及工厂化自动移苗。该末端执行器由抓取模块及动力模块组成。该发明具有针对不同类型钵体苗的自适应抓取的特点，对钵体苗能够实现精准抓取，减少工作过程中对于钵体苗的损伤，而且具有响应速度快、工作效率高的优点。