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基于穴盤苗力學(xué)特性的自動取苗末端執(zhí)行器設(shè)計(jì)
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國家重點(diǎn)基礎(chǔ)研究發(fā)展計(jì)劃（973計(jì)劃）資助項(xiàng)目（2010CB735707）、“十二五”國家科技支撐計(jì)劃資助項(xiàng)目（2013BAD08B03）、江蘇省科技支撐計(jì)劃資助項(xiàng)目（BE2012381）,、江蘇高校優(yōu)勢學(xué)科建設(shè)工程資助項(xiàng)目(蘇財(cái)教（2011）8號),、江蘇省2012年度普通高校研究生科研創(chuàng)新計(jì)劃資助項(xiàng)目（CXZZ12_0662）和江蘇大學(xué)第11批大學(xué)生科研立項(xiàng)資助項(xiàng)目（11A192）


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

    通過對穴盤苗進(jìn)行夾苗拉拔試驗(yàn)、缽體摩擦試驗(yàn)、缽體平板壓縮抗壓試驗(yàn)，研究分析了與自動移栽相關(guān)的穴盤苗力學(xué)特性,，為機(jī)構(gòu)設(shè)計(jì)提供依據(jù),。對穴盤苗自動取苗進(jìn)行技術(shù)設(shè)計(jì),，得到兩針鉗夾式取苗末端執(zhí)行器自動取苗的拉拔力與缽體抗壓強(qiáng)度、夾持角度,、夾持面積,、靜摩擦因數(shù)等參數(shù)的關(guān)系。利用建立的夾持參數(shù)關(guān)系,，結(jié)合穴盤苗力學(xué)特性試驗(yàn)數(shù)據(jù),，設(shè)計(jì)了一種適應(yīng)穴盤苗力學(xué)特性的自動取苗末端執(zhí)行器。試制了物理樣機(jī),，進(jìn)行了自動取苗夾持力測試,。測試結(jié)果表明，夾持力測試數(shù)據(jù)與理論計(jì)算數(shù)據(jù)無顯著性差別,，驗(yàn)證了理論設(shè)計(jì)的可靠性,。在所測試的含水率下，當(dāng)取苗頻率為30株/min時,，取苗成功率達(dá)到95.16%,。

    Abstract:

    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%.

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韓綠化,毛罕平,繆小花,胡建平,楊學(xué)軍.基于穴盤苗力學(xué)特性的自動取苗末端執(zhí)行器設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(11):260-265. Han Lühua, Mao Hanping, Miao Xiaohua, Hu Jianping, Yang Xuejun. Design of Automatic Picking Up Seedling End-effector Based on Mechanical Properties of Plug Seedlings[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):260-265.

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  • 在線發(fā)布日期: 2013-11-07
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