双排移栽机械手联动式高速移栽装置设计与试验

为了提高自动移栽机移栽效率,设计一种双排移栽机械手联动式高速移栽装置。利用安装在两个移栽臂上的双排移栽机械手交替取苗和栽苗的方法,采用联动控制方式使移栽效率翻倍。通过优化移栽机械臂和移栽机械手结构,并对其关键部件进行参数设计和运动学分析,综合考虑影响移栽成功率的关键因素,确定穴盘苗苗坨含水率、苗龄、爪针限位孔中心距为试验因素,以200穴欧石竹穴盘苗为试验对象,进行单因素试验和多因素正交试验,确定双排移栽机械手联动式高速移栽装置的最佳工作参数。试验结果表明：当穴盘苗苗坨含水率为32.6%、苗龄为46d、爪针限位孔中心距为16.7mm时,取苗成功率为94.7%,与软件计算结果94.2%接近,符合花卉、蔬菜移栽作业的技术要求。

Design and Experiment of Double Row Transplanting Manipulator Linkage High Speed Transplanting Device

In order to improve the transplanting efficiency of transplanting machine to adapt to the greenhouse, a double row of transplanting manipulator linkage type high-speed transplanting device was designed. Using the double row transplanting manipulator installed on two transplanting arms to alternately take and plant seedlings, the control mode can double the efficiency of transplanting. Through the analysis of transplanting work process, the transplanting arm and transplanting manipulators were optimized, and the key components were parametrically designed and kinematically analyzed. Finally, considering the key factors influencing the success rate of transplanting, and determining tray seedling moisture content, age of seedling and center distance of limit hole of claw needle as the experiment factors. Selecting 200 holes carnation hole tray seedling as experiment object, the single factor experiment and multifactor orthogonal experiment were carried out to explore the double row transplanting manipulator linkage type optimal working parameters of the high-speed transplanting mechanism. The experimental results showed that when the water content of the pot seedling was 32.6%, the seedling age was 46d, and the distance between the center of the limit hole of the paw needle was 16.7mm, the average value of success rate was of 94.7%, which was close to the software calculation result of 94.2%. The results could lay a foundation for the development of high-speed automatic transplanter for potted flowers which met the technical requirements of the transplanting operation of flower transplanter.