穴盘苗仿生取喂机械手的设计与试验  

Design and experiment of a biomimetic taking and feeding manipulator for plug seedlings

作　　者：胡显威 蒋蓓[1] 辛宏伟 陈宏[1] 王立新[1] 韩长杰 Hu Xianwei;Jiang Bei;Xin Hongwei;Wang Lixin;Chen Hong;Han Changjie(Xinjiang Vocational University,Urumqi,830013,Xinjiang,China;College of Mechanical and Electrical Engineering,Xinjiang Agricultural University,Urumqi,830052,Xinjiang,China)

机构地区：[1]新疆职业大学,新疆乌鲁木齐830013 [2]新疆农业大学机电工程学院,新疆乌鲁木齐830052

出　　处：《新疆农机化》2025年第2期12-16,共5页Xinjiang Agricultural Mechanization

基　　金：基于数智时代的装备制造类高职专业课程教育教学模式研究(KTSZ2024102);基于Logistic回归模型的“岗课赛证”融通培养实践研究(JXHYZX2024031);“教室-机房-车间”循回教学模式的研究与探索-以《数控铣削加工》课程为例(XJZD21KYY013)。

摘　　要：针对移栽取苗机构取苗成功率低、伤苗率高及结构复杂等问题,本文设计了一种仿人手持苗方式的机械手,阐述了该装置结构组成及作业原理。以苗龄60天的辣椒苗为研究对象开展力学特性试验,获取机械手结构设计基础参数。结合穴盘苗力学特性及栽植农艺要求,确定机械手末端参数L1、L2、L3、θ和β分别为15 mm、65 mm、15mm、150°和120°。通过对机械手进行静力学分析,分析出取苗的最小提升力和复位弹簧弹力分别为3.34 N和6.5N,以此为复位弹簧选型提供依据。通过软件仿真和田间试验表明:当取苗频率以40、60、90和120株/min作业时,取苗成功率依次为97.6%、96.8%、95.4%和93.8%,伤苗率最高为3.1%,满足取喂苗要求,研究结果能够验证机械手取苗的可行性,为自动化移栽装备的研究提供参考。Aiming at the problems of low success rate of seedling taking,high rate of seedling injury and complicated structure of transplanting and seedling taking organizations,this paper designed a kind of imitation human handheld seedling way of manipulator,and described the structure and operation principle of the device.The mechanical characteristic test was carried out with 60-day-old chili pepper seedlings as the research object to obtain the basic parameters for the design of the manipulator structure.Combined with the mechanical characteristics of the hole plate seedlings and the requirements of planting agronomy,the end parameters L1,L2,L3,θandβof the manipulator were determined to be 15 mm,65 mm,15 mm,150°and 120°,respectively.The statics analysis of the manipulator showed that the minimum lifting force and the reset spring force were 3.34 N and 6.5 N respectively,which provides the basis for the selection of the reset spring.The software simulation and field experiments of the manipulator showed that the success rate of taking seedlings were 97.6%,96.8%,95.4%and 93.8%,respectively,when the seedling picking frequency were operated at 40,60,90 and 120 plants/min.The highest rate of injuring seedlings was 3.1%,which met the requirements of taking and feeding seedlings,and verified the correctness of the research method and the feasibility of the manipulator.

关 键 词：取苗装置 力学特性 机械手 试验 

分 类 号：S223.9[农业科学—农业机械化工程]