基于穴盘苗力学特性的自动取苗末端执行器设计

通过对穴盘苗进行夹苗拉拔试验、钵体摩擦试验、钵体平板压缩抗压试验，研究分析了与自动移栽相关的穴盘苗力学特性，为机构设计提供依据。对穴盘苗自动取苗进行技术设计，得到两针钳夹式取苗末端执行器自动取苗的拉拔力与钵体抗压强度、夹持角度、夹持面积、静摩擦因数等参数的关系。利用建立的夹持参数关系，结合穴盘苗力学特性试验数据，设计了一种适应穴盘苗力学特性的自动取苗末端执行器。试制了物理样机，进行了自动取苗夹持力测试。测试结果表明，夹持力测试数据与理论计算数据无显著性差别，验证了理论设计的可靠性。在所测试的含水率下，当取苗频率为30株/min时，取苗成功率达到95.16%。

Design of Automatic Picking Up Seedling End-effector Based on Mechanical Properties of Plug Seedlings

Mechanical properties of plug seedlings related to auto-transplanting were analyzed by tests of clamping seedling to pull it out, friction tests of the plug seedling bowl and the plane compression tests of the bowl, which provided the basis for mechanism design. Technical design of the auto-picking seedling was carried out in order to acquire the theoretical relationship between pulling force, compressive strength of the bowl, gripping angle, gripping size and friction coefficient for the picking seedling end-effector of two-needle gripping type. The picking seedling end-effector adapting to mechanical properties of plug seedlings was designed according to the mechanical characteristics of plug seedling by using gripping parameters relationship. Gripping forces were studied by the physical prototype testing. Test results showed that there was no significant difference between gripping force testing data and calculated data, which demonstrated the reliability of the theoretical design. When the frequency of picking seedlings was 30 plants per minute, the success rate of picking seelings in the testing moisture contents was up to 95.16%.