面向立柱栽培的移栽机器人设计与协调运动仿真

针对新型螺旋栽培立柱结构进行了配套移栽机器人系统的设计。通过几何与静力学分析,确定了插针式末端执行器的驱动电磁铁选型与机构参数。通过立柱的穴盘苗机器人移栽协调运动仿真,确定了机械手结构参数与系统优化布局,得到了多执行元件协调运动时序关系并建立了移栽协调运动流程。样机试验结果表明,机械手平均水平与竖直定位误差分别为2.24 m和0.63 m,移栽成功率为94.7%。立柱1.2 m高度范围的移栽作业效率为750株/h,末端执行器取苗时间仅为0.2 s,能够满足立柱自动化移栽作业的要求。

Design and Coordinated Motion Simulation of Transplanting Robot for Column Cultivation

A transplanting robot aiming at the new spiral culture column was developed. The electromagnet type and structure parameters of the double-needle electromagnet driven end effector were decided with geometrical and force-balance analyses. The coordinated motion simulations of plug tray seedling transplanting robot for column cultivation were carried out on a virtual prototype to find out the optimal structure parameters of the manipulator, the optimal layout of the system and the time sequence of coordinated motions of different components. And the flow diagram of coordinated motion was constructed. Tests of the real prototype indicate that the horizontal and vertical positioning errors of the manipulator are 2.24 and 0.63mm, respectively, and the success rate of transplanting achieves 94.7%. The working efficiency of transplanting to columns no higher than 1.2m achieves 750 hills per hour, and the seedling picking-up time is only 0.2s, which can meet the practical requirements of automatic transplanting of column cultivation.