植物工厂栽培板自动搬运装置设计及试验

针对植物工厂采用多层栽培架培育果蔬、人工工作难度较大及自动化水平不高的问题,开发了植物工厂栽培板自动搬运物流系统装置。该系统采用一种带吊环的栽培板,导轨和机械手安装位移传感器,通过PLC实时采集位移传感器发出的脉冲信息控制导轨和机械手进行坐标定位,完成叉板和放板动作。对搬运机构进行了定位误差试验,通过F检验证明速度对试验误差有显著影响,同时根据试验结果预测了搬运的最佳速度区间范围。

Design and Experiment on the Cultivation Plate Auto Transportation Device of Plant Factory

In view of the problem that the plant factory use shelves cultivating fruits and vegetables ,the manual work is difficult and the automation is in low level ,so the plate transplanting harvesting handling logistics system of plant factory is developed .The system uses a cultivation plate with the rings , a displacement sensor is installed on guide rails and me-chanical hand , through the PLC get pulse information of displacement sensor at the real -time ,control coordinate positio-ning of the guide rail and the manipulator , so that it can fork and place .The positioning error test was carried out on the moving mechanism , and the F test proved that the speed have a significant effect on the test error .At the same time , the best velocity range of the handling was predicted according to the test results .