茄子钵苗移栽机取苗机构设计与试验  

Design and experiment of the picking component of eggplant bowl seedling transplanter

作　　者：海文博 李浩铭 董奥辉 杨洋 张冰倩 袁志华[1] Hai Wenbo;Li Haoming;Dong Aohui;Yang Yang;Zhang Bingqian;Yuan Zhihua(School of Mechanical and Electrical Engineering,Henan Agricultural University,Zhengzhou,450002,China)

机构地区：[1]河南农业大学机电工程学院,郑州市450002

出　　处：《中国农机化学报》2025年第1期30-35,共6页Journal of Chinese Agricultural Mechanization

基　　金：河南省科技攻关项目(232102110296,222102110322)。

摘　　要：为解决当前蔬菜苗移栽机取苗速率低、基质易破碎等问题,设计一种夹茎式取苗机构。该取苗机构主要由Delta机器人、分距机构、取苗夹组成。利用电子万能试验机测试得到茄子钵苗拔取载荷随拔取速度的增大而增大,茎秆挤压强度随距离根部越远而越小。利用ADAMS软件对取苗机构进行运动仿真,得到动平台位移、速度和加速度曲线,速度平稳无突变,速度和加速度均符合并联机器人要求。试验结果表明:随着取苗速度的增加,漏夹、多夹以及茎秆损伤的茄子钵苗数量逐渐增多,当取苗速率为80株/min,取苗成功率最高为96.1%。为保证取苗成功率的同时提高取苗速率,选取取苗速率为96株/min,此时取苗成功率为93.8%。结果可为全自动取苗机构研究提供参考。In order to solve the problems such as low seedling picking rate and easily broken substrate of the current vegetable seedling transplanter,a kind of stem-clamping seedling picking mechanism was designed.The seedling picking mechanism was mainly composed of Delta robot,spacing mechanism and seedling picking clips.The results showed that the pulling load increased with the increase of pulling speed,and the stem extrusion strength decreased with the increase of distance from the root by electronic universal testing machine for eggplant seedling.The movement of the seedling picking mechanism was simulated by ADAMS software,and the displacement,velocity and acceleration curves of the moving platform were obtained.The velocity was stable without sudden change,and both the velocity and acceleration met the specified values of the parallel robot.The results of seeding tested showed that with the increase of seedling picking speed,the number of eggplant pot seedlings with missing clips,multiple clips and stem damage gradually increased.And,the success rate of taking seedlings was the highest up to 96.1%when the rate of seedling extraction was 80 plants/min.In order to improve the seedling picking rate and ensure the success rate of seedling picking,the selected seedling picking speed was 96 plants/min,and the success rate of seedling picking was 93.8%.The research results can provide reference for the research of automatic seedling picking mechanism.

关 键 词：移栽机 钵苗 取苗机构 分距机构 Delta机器人 自动取苗装置 运动仿真 

分 类 号：S223.9[农业科学—农业机械化工程] S617[农业科学—农业工程]