穴盘育苗移栽机两指四针钳夹式取苗末端执行器  

Pincette-type End-effector Using Two Fingers and Four Pins for Picking Up Seedlings

作　　者：韩绿化[1] 毛罕平[1] 严蕾[1] 胡建平[1] 黄文岳[1] 董立立[1] 

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,镇江212013

出　　处：《农业机械学报》2015年第7期23-30,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51475216);'十二五'国家科技支撑计划资助项目(2013BAD08B03);江苏省科技支撑计划资助项目(BE2012381;BE2014373);江苏省现代农业装备与技术协同创新中心资助项目(NZXT02201402);江苏省高校优势学科建设工程资助项目(苏财教(2014)37号);江苏大学高级专业人才科研启动基金资助项目(BJDG061)

摘　　要：设计了一种穴盘育苗移栽机两指四针钳夹式夹钵取苗末端执行器。利用2根气缸机械手指伸出4根夹取针插入苗钵,气缸机械手指闭合夹取针捏紧苗钵来取苗,利用两根气缸机械手指撑开放松夹持苗钵,4根夹取针回缩脱离苗钵来放苗。根据穴盘苗自动取苗力学要求,进行了基于穴盘苗物理力学特性的夹取力设计。试制末端执行器,进行夹钵取苗效能测试。在40 mm/s提取速度下,各试验因素的夹钵脱盘力无显著性差异。取苗效能的正交试验分析发现,苗钵含水率水平高度显著影响根土破坏,入钵角度、深度以及根系等试验因素没有统计学显著性影响。当夹取针入钵角为11°,入钵深度为32 mm,苗数为4株,含水率为55%-60%时,所设计的取苗末端执行器对苗钵的夹取作用达到最小根土破坏程度。A pincette-type end-effector using two fingers and four pins for picking up seedlings was designed. When the end-effector extracts seedlings from the tray cells,its two cylinder fingers push out the four pick-up pins to penetrate into the root soil deeply,and then the pick-up pins are closed to hold the soil of the seedlings firmly for lifting. When the end-effector releases seedlings at the discharge point,its two cylinder fingers open and the pick-up pins loosen the soil of the seedlings and pull the pick-up pins back for discharging. Based on the physical and mechanical properties of plug seedlings as related to the automatic transplanting work,the mechanical design of end-effector was conducted according to the requirements of extracting seedlings. A prototype of the pincette-type end-effector was constructed and test-operated to examine whether or not its functional requirements were satisfied. As the extraction speed was 40 mm / s,there were no significant effects on the extraction force for picking up seedlings from the tray cells under various parameters. In the orthogonal experiments,it was found that the root soil moisture content exerted the greatest effect on the root damages in the pick-up process,and other factors such as penetration angle,penetration depth,and root system had no significant effects. As the penetration angle was 11°,the penetration depth was 32 mm,the number of seedlings in the cell was 4,and the root soil moisture content was 55% - 60%,the minimum root soil damages in picking up seedlings from the tray cells using the designed pincette-type end-effector can be achieved.

关 键 词：穴盘育苗 移栽机 末端执行器 钳夹式 

分 类 号：S223.92[农业科学—农业机械化工程]