葫芦科营养钵苗单人操作嫁接机器人设计与试验

基于葫芦科营养钵苗的“贴接法”嫁接技术,设计了由穗木夹持搬运机构、穗木切削机构、砧木夹持搬运机构、砧木旋切机构、嫁接夹自动排列输送机构、嫁接钵苗自动排列摆放机构组成的葫芦科营养钵苗单人操作嫁接机器人。通过试验得出,该机器人的理论嫁接速度可达440株/h,实际操作嫁接速度达到285株/h,嫁接成功率为92%,与同类型的双人操作营养钵苗嫁接机相比,人均作业效率提高36%。增加了嫁接钵苗的后续自动排列摆放机构,提高了嫁接生产自动化程度。

Design and Experiment of Vegetable Grafting Robot Operated by One-person for Cucurbitaceous Seedlings Cultivated in Humus Pots

To improve the grafting rate and automation of grafting robot used currently in seedling production, a high efficiency vegetable grafting robot operated by one person for cucurbitaceous seedlings cultivated in humus pots was designed based on splice grafting method. The machine consisted of six units, i.e., a scion gripping and transporting unit, a scion straight cutting unit, a stock gripping and transporting unit, a stock rolling cutting unit, a clip auto arranging and sending unit and a grafted seeding bowl auto arranging unit. Experiments were conducted in laboratory and field. Results showed that the success rate of grafting was 92% and the practical grafting rate was 285 plants per hour (with the theoretical grafting rate of 440 plants per hour). Under the same success rate of grafting, the grafting rate of this machine was 36% higher than the grafting machine for cucurbitaceous seedlings cultivated in humus pots operated by two persons.