种苗负压夹持手的设计与试验  

Design and Test of Seedlings Negative Pressure Adsorption Hands

作　　者：贾冬冬[1] 辜松[2] 杨艳丽[2] 李恺[2] 迟媛[1] 李元强[1] 

机构地区：[1]东北农业大学工程学院,哈尔滨150030 [2]华南农业大学工程学院,广州510642

出　　处：《农机化研究》2013年第9期198-201,共4页Journal of Agricultural Mechanization Research

基　　金：高等学校博士学科点专项科研基金项目(20124404110004)

摘　　要：种苗生产机器人夹持手普遍采用尺寸定位方式来夹持幼苗,幼苗个体差异常导致部分幼苗夹伤、部分夹持不良,影响作业质量,即使在夹口处贴附缓冲材料,但缓冲作用有限,无法实现柔性把持;力定位方式夹持手虽能实现柔性把持,但其机构复杂、成本较高、可靠性差。因此,本研究基于力定位方式,采用负压吸附技术,设计了能实现幼苗柔性夹持的负压夹持手。研究针对吸孔数和气源气压两个因素对幼苗胚轴方向把持力的影响进行了相关试验。试验结果表明:当吸孔数一定时,幼苗胚轴方向的把持力随着气压值的增大而增大;当气源气压不变时,幼苗胚轴方向的夹持力随着吸孔数的增多而减小。Seedling producing robots commonly use size positioning type to grip seedlings,however diversity of seedlings would result in irregular griping and impact on quality of operations,even though buffer material is attached to gripper,it is limited to improve the irregular griping.The force positioning grippers are complicated and unstable,which could grip seedling flexibly.In this research,basing on force positioning,a negative pressure adsorption hands was developed.This research investigated the effect of the number of suction holes and air pressure on seedling embryonic axis direction gripping force.The results indicate that ： when the number of suction holes is constant,the seedling embryonic axis direction gripping force is increased with air pressure value;when the air source pressure is constant,the seedling embryonic axis direction gripping force is reduced with the increase in the number of suction holes.

关 键 词：种苗生产机器人 夹持手 尺寸定位 力定位 柔性把持 负压吸附 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]