温室剔补苗并联机器人设计与试验分析  

The Influence of Design and experimental analysis of a parallel robot for picking and healing seedlings in greenhouse

作　　者：王南竹 朱梦岚 莫吾乙 朱志燃 杨启志[1] WANG Nanzhu;ZHU Menglan;MO Wuyi;ZHU Zhiran;YANG Qizhi(School of Agricultural Equipment Engineering,Jiangsu Univeisity,Zhenjiang 212013,China)

机构地区：[1]江苏大学农业工程学院,江苏镇江212013

出　　处：《农业装备技术》2023年第6期20-25,共6页Agricultural Equipment & Technology

基　　金：国家自然基金项目(51475216,51675239);“十二五”农村领域国家科技计划课题合作项目(2013BAD08B03-1);江苏省自然基金项目(BK20161344);江苏省六大人才高峰资助项目(ZBZZ-022);江苏省高校优势学科建设工程资助项目(苏财教(2014)37号);镇江市农业科技支撑资助项目(NY2014031)。

摘　　要：我国目前对剔补苗机械化的研究很少,为了提高剔补苗机械化完成度,需要对目前具备的剔补苗移栽机进行完善,设计一款高速、高频、高精度的剔补苗并联机器人。对3条支链进行结构尺寸、材料选择上的优化,在拐点处设计适合作业要求圆弧形过渡,可以减少因惯性带来的冲击。对末端执行器的运动进行合理的轨迹规划,提高移栽稳定性。机器人的材料主要选取为:静平台、支链电机座和驱动臂材料选用经过调质处理后的45号钢,支链球铰结构材料选用7075铝合金,支链的连杆结构材料选用碳纤维杆;根据对幼苗固定生长周期的多盘穴盘苗进行统计分析,若幼苗固定生长期的茎粗在范围之外,判定为不健康幼苗,茎粗为0时,为缺苗;选用PLC控制器控制伺服电机驱动主动臂动作,进而控制电磁阀和末端执行器动作。通过对控制系统的优化,促进整个并联移栽机构的工作性能,提高剔补苗、移栽苗的工作效率。At present,there is little research on mechanization of culling seedlings in China,in order to improve the mechanization of culling seedlings,it is necessary to improve the current transplanting machine for culling seedlings,and design a high-speed,high-frequency,high-precision parallel robot for culling seedlings.The structure size and material selection of the three branch chains are optimized,and the circular arc transition is designed at the inflection point to suit the operation requirements,which can reduce the impact caused by inertia.Reasonable trajectory planning of the movement of the end effector to improve the stability of transplanting.The materials of the robot were mainly selected:NO.4 steel after quenching and tempering treatment for static platform,branched chain motor base and drive arm material,7075 aluminum alloy for branched chain ball hinge structural material,and carbon fiber rod for the connecting rod structure material of the branched chain;According to the statistical analysis of multi-disc seedlings with fixed growth cycle of seedlings,if the stem thickness of the seedling fixed growth period is outside the range,it is judged to be an unhealthy seedling,and when the stem thickness is 0,it is a missing seedling;Select PLC controller to control the servo motor to drive the active arm action,and then control the solenoid valve and end effector action.Through the optimization of the control system,the working performance of the whole parallel transplanting mechanism is promoted,and the work efficiency of removing and transplanting seedlings is improved.

关 键 词：温室剔补苗机器人 并联机构 轨迹规划 图像识别 试验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S223[自动化与计算机技术—控制科学与工程]