双断根嫁接机自动搬运与回栽装置设计与试验  

Design and Experiment of Automatic Carrying and Replanting Device for Both-root-cut Grafting Machine

作　　者：童俊华[1,2] 喻擎苍 泮金辉 杨太玮[1] 丁煜华 TONG Junhua YU Qingcang PAN Jinhui YANG Taiwei DING Yuhua(Faculty of Mechanical Engineering and Automation, Zhejiang Sci- Tech University, Hangzhou 310018, China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China)

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018 [2]浙江省种植装备技术重点实验室,杭州310018

出　　处：《农业机械学报》2017年第10期59-66,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51375460);杭州市农业科研攻关项目(20140432B15);机械工程浙江省高校重中之重学科优秀青年人才培养基金项目(ZSTUME01B11)

摘　　要：为提高嫁接流程的自动化程度,设计了一种适用于双断根嫁接机的自动搬运及回栽装置,以解决嫁接后嫁接苗依靠人工搬运、回栽作业的问题。阐述了搬运及回栽装置工作原理,并对关键机构进行了仿真和运动学分析。通过嫁接苗贴接夹紧区域统计和嫁接苗搬运试验,确定搬运机构对嫁接苗的最佳夹持位置;当机构夹持嫁接苗夹子下端搬运,搬运成功率可达94%,平均耗时为2.5 s/株。通过镇压三因素三水平正交试验,确定嫁接苗镇压效果最优条件;当打孔孔径10 mm、打孔深度15 mm、镇压块形状为对分锥面镇压时,嫁接苗回栽试验成功率可达92%,平均耗时为4 s/株,满足目前全自动嫁接机的嫁接速度要求。试验表明,设计的嫁接苗自动搬运及回栽装置与嫁接机配套使用,可提高嫁接流程的自动化程度。Both-root-cut grafting is a new method in seedlings grafting, which can result in a greater production in a longer harvesting period. In order to improve the automation level of grafting process, especially the current situation of grafted seedlings relying on manual carrying and artificial replanting, a mechanism of automatically carrying and replanting both-root-cut grafted seedlings was developed. The working principle of newly designed handling and replanting was introduced. The simulation and kinematic analysis of key mechanisms were carried out. Experiments of grafting seedling area statistics and automatic carrying seedlings were conducted in laboratory, the results showed that the success rate of carrying seedlings was up to 94% and the average time of carrying was 2.5 s, while the clamping mechanism was located at the lower end of the clip. Pressing experiment of three levels and three factors was designed to deal with the following conditions ： the drilling hole diameter, the depth of punch and the suppression scheme of the grafted seedlings. While the hole diameter, the depth of drilling, and the pressing block was 10 mm, 15 mm, and a cylinder with lower surface separately, the effect of experiments was the best. Under this condition, the comprehensive success rate of grafted seedlings was up to 92% , and the average time of replanting was 2. 5 s. The experimental results showed that the automatic carrying device and the replanting device can be well matched with the grafting machine. And they can improve the automation level of the grafting process.

关 键 词：双断根嫁接机 搬运 回栽 镇压 夹持 

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]