子叶期钵苗补苗末端执行器设计与试验

针对穴盘育苗由于受种子质量和育苗环境因素等影响导致空穴多的问题,为消除穴盘苗空穴,该文研制了蔬菜子叶期钵体苗补苗末端执行器。以72孔标准穴盘培育的子叶期番茄钵体苗为移取对象,以育苗基质配比与含水率、苗龄为因素,以子叶期钵体苗补苗末端执行器从穴孔取出基质的取净率为指标,进行了正交试验,结果表明:幼苗苗龄、基质配比对基质取净率影响显著,基质含水率对基质取净率影响不显著,对常见的基质配比、适宜基质含水率、苗龄16-26 d的穴盘苗基本均能完整、无损地取出,基质取净率最大的较优组合苗龄为26 d、基质配比2∶2∶1、基质含水率74.1%;对苗龄26 d、基质配比2∶2∶1、基质平均含水率75.5%的番茄钵体苗进行取苗、补苗试验,取出无苗基质和钵体苗的成功率均为100%,补苗成功率为100%,为子叶期蔬菜钵体苗补苗提供了性能优良的末端执行器。

Design and experiment on pot-seedling supplementing end-effector for vegetables in cotyledon phase

Abstract: The seeds cannot fully sprout owing to the seed quality and environmental differences. So it is difficult to provide seedling pots without empty seedling holes for automatic transplanting. In order to reduce the number of seedling shortage and the manual labor intensity of seedling supplement, and to improve transplanting quality, a method for supplementing seedlings in cotyledon phase was presented in the paper. According to the delicate seedling, undeveloped root system and the unconsolidated substrate in pot, a new type of end-effector for supplementing pot-seedling in cotyledon phase with 4 seedling shovels was designed. The 4 angular seedling shovels were synchronously driven up and down by stepper motor moving the X-shaped press rod. They can shape enveloping surface when they are inserted into the lower limit position of the whole pot and surrounded the seedlings from the 4 sides of seedling substrates during seedling. And then the pot seedling was taken out from seedling hole and transplanted to the target hole. The seedling supplementing was finished while the pot seedling was left in the target pot hole and the seedling spades lifted it up along the inclined guide. The 3 factor and 3 level orthogonal tests were conducted respectively with the Zheza809 tomato pot seedlings in cotyledon phase with the seedling age of 16, 21 and 26 d cultivated in standard seedling tray with 72 holes. In the test, the velocities of inserting and taking out of matrix for the shovels were measured by speedtro-50 laser velometer, and the average velocities were 29.85 and 31.12 m/s respectively. The mixture ratio of peat, vermiculite and perlite in nursery matrix, the moisture content of the substrate and the seedling age were chosen as factors. The matrix net rate, which is the percentage of the weight of pot seedling taken out from the pot holes by the end-effector in the total mass of the pot seedling in the pot hole, was set as index. The results indicate that the net rate of taking out the free substrate without seedlings or the pot seedlings in cotyledon phase is affected significantly by the pot seedling age and the mixture ratio of peat, vermiculite and perlite in nursery matrix. The net rate increases with the seedling age, which reaches the highest value at the end of cotyledon phase and the mixture ratio of peat, vermiculite and perlite in nursery matrix of 2:2:1. The effect of matrix water content from 67.1% to 79.2% on the net rate is not significant, while the net rate keeps a high value owing to good cohesive force and plasticity of the substrate when the moisture content of the substrate is 74.1%. When the growth age is 26 d, the mixture ratio of peat, vermiculite and perlite in nursery matrix is 2:2:1 and the moisture content of the substrate is 74.1%, the average net rate reaches the maximum of 89.5% and the shape and volume of the seedling pot keep complete. To further verify the optimal combination obtained by the test, the experiments of seedling taking out and supplementing were carried out with tomato pot seedlings with the age of 26 d, the mixture ratio of peat, vermiculite and perlite in nursery matrix of 2:2:1 and suitable substrate moisture content. The results show that the success rates for the free substrate without seedlings and pot seedlings are both 100%, which can take out the pot seedlings in cotyledon phase with crisp plant and loose matrix as a whole and fill them into target hole on the seedling pot completely.