杜仲嫁接机器人矩阵式切削系统设计与试验分析  

Design and test analysis of matrix cutting system of eucommia ulmoides grafting robot

作　　者：李鹏举 毛鹏军 耿乾 方骞 张家瑞 黄传鹏 LI Peng-ju;MAO Peng-jun;GENG Qian;FANG Qian;ZHANG Jia-rui;HUANG Chuan-peng(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang 471003,China;Gansu Academy of Mechanical Sciences Co.,Ltd.,Gansu 730000,China;College ofAgricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]甘肃省机械科学研究院有限责任公司,甘肃兰州730000 [3]河南科技大学农业装备工程学院,河南洛阳471003

出　　处：《工程设计学报》2020年第6期744-752,共9页Chinese Journal of Engineering Design

基　　金：河南省重大科技专项资助项目(181100110100);河南省高校科技创新团队支持计划资助项目(19IRTSTHN021)。

摘　　要：杜仲具有很高的经济和药用价值,育苗时采用嫁接方法能够提高幼苗的成活率,从而获得具有较高药用价值的品种。但目前缺乏杜仲自动嫁接设备,育苗时多采用人工嫁接方法。针对人工嫁接作业存在劳动强度大以及长期工作时切削速度、嫁接成功率不稳定等问题,基于对杜仲人工嫁接技术的研究,设计了一种杜仲嫁接机器人矩阵式切削系统,以提高切削速度和嫁接成功率。首先,基于机械设计原理,对杜仲嫁接机器人矩阵式切削系统的结构组成和工作流程进行了分析。然后,通过对砧木切削方式的分析,基于压切方式设计了矩阵式切削系统的切削机构和夹持机构,其一次可完成4行4列杜仲砧木苗的切削;同时,基于传统PLC(programmable logic controller,可编程逻辑控制器),对矩阵式切削系统的控制系统进行设计,其具有手动控制和自动控制两种模式。最后,利用设计的杜仲嫁接机器人矩阵式切削系统进行切削试验,并与人工切削方法进行对比。试验结果表明:杜仲嫁接机器人矩阵式切削系统运行稳定、可靠,能够实现手动控制和自动控制;在杜仲砧木苗大小合适的前提下,其切削速度可达517株/h,是人工切削速度的1.1倍,平均切削成功率可达92.58%,切削效果稳定,这在一定程度上提高了杜仲的嫁接成功率;操作人员的操作越熟练,该系统的切削成功率越高。研究结果可为嫁接机器人在植物切削、嫁接中的应用提供理论依据。Eucommia ulmoides is of high economic and medicinal value.Using grafting method can improve the survival rate of seedlings when cultivating,so as to obtain varieties with high medicinal value.However,due to the lack of automatic grafting equipment for eucommia ulmoides,the manual grafting method is mostly used when cultivating.Aiming at the problems of high labor intensity and unstable cutting speed and grafting success rate during long-term work in manual grafting,based on the research of eucommia ulmoides manual grafting technology,a matrix cutting system of eucommia ulmoides grafting robot was designed to improve the cutting rate and the grafting success rate.Firstly,the structure composition and working flow of the matrix cutting system of eucommia ulmoides grafting robot were analyzed based on the principle of mechanical design.Then,according to the analysis of the cutting method for the rootstock,the cutting mechanism and the clamping mechanism of the matrix cutting system were designed based on the pressure cutting method,which could complete the cutting of four rows and four rows of eucommia ulmoides rootstock seedlings at one time.At the same time,based on the traditional PLC(programmable logic controller),the control system of the matrix cutting system was designed,which had two modes of manual control and automatic control.Finally,the designed matrix cutting system of eucommia ulmoides grafting robot was used to carry out cutting tests and compared with the manual cutting method.The test results showed that the matrix cutting system of eucommia ulmoides grafting robot was stable and reliable,and could realize the manual control and the automatic control.Under the premise of the suitable size of eucommia ulmoides rootstock seedlings,its cutting speed could reach 517 plants/h,which was 1.1 times of the manual cutting speed;its average cutting success rate could reach 92.58%and the cutting effect was stable,which improved the grafting rate of eucommia ulmoides under a certain extent;the operator was more

关 键 词：杜仲 嫁接机器人 矩阵式切削系统 结构设计 试验分析 

分 类 号：TH122[机械工程—机械设计及理论] S221[农业科学—农业机械化工程]