断根嫁接苗自动栽植装置设计与试验  

Design and Experiment of Automatic Planting Device for Root-cut Grafted Seedlings

作　　者：褚佳[1] 张铁中[1,2] 李军[1] 尹权[1] 张立博[1] 张文波[1] 

机构地区：[1]中国农业大学工学院,北京100083 [2]农业部土壤-机器-植物系统技术重点实验室,北京100083

出　　处：《农业机械学报》2016年第10期28-34,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)项目(2012AA10A506-2);公益性行业科研专项(201303014-09)

摘　　要：为进一步提高断根嫁接苗育苗作业的自动化程度,针对现有的瓜科蔬菜嫁接机嫁接完成后幼苗栽植一直依靠人工作业的现状,设计了断根嫁接苗自动栽植装置,包括移苗机构、插苗机构、插孔机构等关键机构,并对关键部件进行了仿真。仿真结果表明,当插苗运送气缸上升速度与插苗手爪打开速度的比值在0.22～0.55之间时,插苗手爪可以顺畅撤离穴盘,并不会对已栽植好的嫁接幼苗产生影响。并对装置栽植性能进行了试验,试验结果表明,装置的栽植成功率为92%,最长栽植时间为7 s/株,可较为理想地与相应的瓜科断根蔬菜嫁接机配套使用,满足其自动育苗的要求。Root-cutting grafting is a new method in cucurbitaceous seedlings grafting. Compared with the traditional methods, root-cutting grafting seedling grows with stronger root, resulting in a greater production in a longer harvesting period. Recently many grafting robots can work well in grafting processing. But the lack of planting grafted seedlings automatically has become a problem in the automation of industrialized nursery process. To solve this problem, a mechanism of automatically planting root-cut grafted seedlings of cucurbitaceous was developed,which included soil hole-making unit,seedling-moving unit,seedling-planting unit and other parts. It can be added to the current grafting robot,and automatically planting seedlings grafted by the robot. The soil hole-making unit can hit a hole at the center of each cell of the seedling tray filled with soil. And the seedling-moving unit can transport the grafted seedlings from the grafting area to the planting area. The seedling-planting unit was the key part of the mechanism,which can plant the seedlings automatically. Some simulations were done with the software of Solidworks. And the simulation results showed that the velocity ratio of prismatic cylinder in the seedling-planting unit to the joint cylinder in the seedling-planting unit should be between 0. 22 and0. 55. Experiments were conducted in laboratory,and the results showed that the success rate of planting seedlings was up to 92%,and the longest time of one planting was 7 s. Experiment in laboratory showed that the designed planting device can work well with the current grafting robot in an automatic and efficient way.

关 键 词：栽植装置 断根 嫁接 自动 设计 试验 

分 类 号：S223.1[农业科学—农业机械化工程] S616[农业科学—农业工程]