葫芦科穴盘苗单人操作嫁接机器人设计与试验  

Design and Experiment of Grafting Robot Operated by One Person for Cucurbitaceous Seedlings Cultivated in Plug Trays

作　　者：褚佳[1] 张立博[1] 张铁中[1,2] 张文波[1] 王粮局[1] 刘展[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》2017年第1期7-13,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(农业)科研专项(201303014-09)

摘　　要：为提高葫芦科穴盘苗嫁接机器人的人均操作效率,在原先机器的基础上优化改进,设计了葫芦科穴盘苗单人操作嫁接机器人,并进行了效率提高的理论分析,通过分析得出,所设计的葫芦科穴盘苗单人操作嫁接机器人的人均操作效率与操作者的操作熟练度呈负相关的关系,理论上,设计的单人操作嫁接机器人人均操作效率比改进前提高1倍。通过试验得出,在种苗质量有保证的前提下,机器嫁接成功率可达95%,嫁接速度可达455株/h,实际作业的人均操作效率提高了50%以上。For the purpose of decreasing the investment of labour force in the process of vegetable grafting,a vegetable grafting robot operated by one person for Cucurbitaceous seedlings cultivated in plug trays was designed. The machine utilized the root-cutting grafting method. During working,the operator delivered respectively the stock and scion seedlings from plug trays on the left-hand and right-hand sides to seedling-providing platforms. The seedlings triggered the touching switches and then the machine completed automatically the subsequent motions of gripping,cutting,jointing,fixation and discharge controlled by PLC program. A theoretical analysis of promotion of grafting efficiency was done. In theory,the operating efficiency for one person of this robot can be promoted by 100%,compared with the old type of 2JSZ-600 II grafting robot. And the analysis suggested that with the operating qualification promoting,the efficiency would be higer. Experiment results showed that the grafting success rate of the machine could reach up 95% and its grafting speed was approximately 455 seedlings per hour. Compared with previous grafting robots whose grafting efficiency was merely 600 seedlings per hour operated by two people,the machine＇s working efficiency of per capita was improved by more than 50%. Therefore,the upgraded machine operated by one person was quite capable of developing the grafting labour efficiency.

关 键 词：嫁接机器人 葫芦科 穴盘苗 设计 试验 

分 类 号：S223.74[农业科学—农业机械化工程] S616[农业科学—农业工程]