苗木嫁接机器人切削机构模拟试验

Simulation test on plantlet-cutting mechanism of grafting robot

为研究满足苗木嫁接机要求的切削机构,设计了半旋转切削机构并优化其结构参数。选取桃、李、柑橘、葡萄和板栗五种嫁接幼苗作为试验对象,在模拟切削试验装置上进行了切削模拟试验。试验结果检验该半旋转切削机构的可行性及分析得出了影响切削阻力试验指标和切削成功率试验指标的主、次试验因素。研究表明影响苗木切削的因素:苗木平均直径、转速、滑切角分别与切削阻力和切削成功率的相关性。综合得出,该半旋转切削机构是可行的;苗木直径、转速和滑切角分别较大地影响切削阻力和切削成功率,苗木直径是主要影响因素,实行工厂化育苗来有效保证苗木直径大小和均匀性;转速调节范围50～60r/min,滑切角调整略大于30°。

To develop a satisfying plantlet-cutting mechanism of grafting machine, the authors designed a half-rotating cutting mechanism, optimized structural parameters and developed a simulation cutting test device, then made a cutting test by using five kinds of seedlings including peach, plum, orange, grape and chestnut based on the test device. The results testified the feasibility of the cutting mechanism and showed the sequences of test factors according to the influence on cutting resistance and cutting-out rate. The correlation between cutting resistance and the three factors including seedling average diameter, rotation speed and slide cutting angle, and also the correlation between cutting-out rate and the same three factors were discovered. In conclusion, the half-rotating cutting mechanism is feasible. The three factors including seedling average diameter, rotation speed and slide cutting angle make great influences on cutting resistance and cutting-out rate respectively. It is necessary to make seedlings nursery plants to provide the well-proportioned diameter seedlings, and the rotation speed limit is 50 - 60 r/min and slide cutting angle is adjusted to a little above 30° .