春兰组培根茎柔性夹持手性能试验  

Experiment on Flexible Gripping Hand of Sping Orchid Tissue Culture Roots

作　　者：郑鸿燊 杨凤玺 杨旭 初麒 李国龙 龚立豪 辜松[1] Zheng Hongshen;Yang Fengxi;Yang Xu;Chu Qi;Li Guolong;Gong Lihao;Gu Song(College of Engineering,South China Agricultural University,Guangzhou 510642,China;Environmental Horticulture Institute,Guangdong Academy of Agricultural Sciences,Guangzhou 510642,China;Guangzhou Shikai Technology Co.,Ltd.,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广州510642 [2]广东省农业科学院环境园艺研究所,广州510642 [3]广州实凯机电科技有限公司,广州510642

出　　处：《农机化研究》2025年第8期220-224,共5页Journal of Agricultural Mechanization Research

基　　金：广东省现代农业产业共性关键技术研发创新团队建设项目(2022KJ131)。

摘　　要：目前,春兰组培接种作业主要以人工作业为主,存在工作效率低、劳动成本高等问题。针对春兰组培接种作业环节自动化程度低、接种效率低等现状,提出了一种利用柔性气囊夹持手捡拾春兰根茎的方法,应用于春兰组培的接种环节。选用柔爪指间距为5 mm,进行了柔性气囊夹持手捡拾性能试验,结果表明:春兰根茎捡拾成功率随着根茎直径和根茎弯曲度的增大而降低。对试验结果进行极差分析可知,根茎弯曲度对柔性气囊夹持手捡拾成功率的影响比根茎直径显著,仅依靠负压驱动气囊夹持手难以达到理想的捡拾效果。采用正压和负压顺序驱动柔性气囊夹持手,对弯曲度为0.06 mm-1和直径为4 mm的春兰根茎捡拾成功率可以达到96.6%。At present,the tissue culture inoculation of spring orchid is mainly manual,which has the problems of low efficiency and high labor cost.Aiming at the status quo of low degree of automation and low efficiency of tissue culture inoculation of spring orchid,a method of picking up rhizome of spring orchid by holding hand with flexible airbag was put forward,which was applied to inoculation of spring orchid tissue culture.In order to verify the pickup performance of flexible airbag gripper under the tissue culture inoculation of spring orchid,the pickup performance test of flexible airbag gripper was carried out.The distance between the fingers of the soft claws was equal to 5 mm,and the success rate of picking rhizome decreased with the increase of rhizome diameter and rhizome curvature.The range analysis of the test results showed that the influence of root curvature on the success rate of flexible airbag clamping hand was more significant than that of root diameter.It was difficult to achieve the ideal pickup effect by only relying on negative pressure to drive the airbag holder.By using positive pressure and negative pressure sequence to drive the air bag holder,the success rate of picking up the roots of spring orchid with curvature of 0.06 mm^(-1) and root diameter of 4 mm could reach 96.6%.

关 键 词：春兰 组培接种 柔性气囊夹持手 全面试验设计法 

分 类 号：S225.93[农业科学—农业机械化工程]