苗木嫁接并联破砧装置设计与运动控制研究  

Design and motion control research on parallel rootstock cutting device for seedlings grafting

作　　者：于博 李娜[1] 刘磊 高松岩 YU Bo;LI Na;LIU Lei;GAO Songyan(College of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding 071001,China)

机构地区：[1]河北农业大学机电工程学院,河北保定071001

出　　处：《河北农业大学学报》2022年第6期115-121,共7页Journal of Hebei Agricultural University

基　　金：国家重点研发计划项目(2018YFD0700600)。

摘　　要：本文针对果树苗木田间机械化嫁接中工作空间受限、需多轨迹变换且切削力大等问题,设计1种苗木嫁接并联破砧装置。首先,结合改进型“劈接法”破砧作业所需自由度,基于螺旋理论建立破砧装置基础运动螺旋系,并推导约束螺旋系,从而确定装置的基本构型。采用振动式锯切机作为切刀实现振动减阻。其次,基于矢量法建立运动学逆解方程,结合破砧农艺过程进行运动轨迹规划,并利用ADAMS虚拟样机仿真验证装置运动学逆解的正确性。最后,对不同生长情况的苗木进行样机试验,其中苗木高度不同时破砧成功率为96%,直径不同时破砧成功率为94%,生长方向不同时破砧成功率为92%,经计算样机平均破砧成功率为94%。试验表明该装置可完成受限空间内多轨迹破砧作业,可为田间机械化嫁接装置的研发提供参考。This paper presents a parallel rootstock cutting device for the mechanized grafting of fruit tree seedlings in the field,which has the issues of limited working space,multi-track transformation and large cutting force.Firstly,combined with the freedom required by rootstock cutting operation of the improved“split grafting method”,the basic motion screw system of rootstock cutting device was established based on the screw theory,and the constraint screw system was deduced to determine the basic configuration of the device.Vibration sawing machine was used as cutting tool to reduce cutting force.Secondly,the inverse kinematics equation is established based on the vector method.Combined with the rootstock cutting agronomic process,the motion trajectory planning was carried out,and the correctness of the inverse kinematics solution of the device was verified by ADAMS virtual prototype.Finally,the prototype experiment was carried out on the seedlings with different growth conditions,among which the success rate of root stockcutting is 96% at different height,94% at different diameter,92% at different growth direction,and the average success rate of rootstock cutting is 94%.The experimental results showed that the device can complete multitrack rootstockcutting operation in limited space,which provides a reference for the research and development of mechanized grafting device in the field.

关 键 词：苗木嫁接 破砧装置 并联机构 运动控制 

分 类 号：S223.1[农业科学—农业机械化工程]