蔬菜嫁接机器人研制与试验

Development and experiment of vegetable grafting robot

在中国,蔬菜嫁接仍以人工作业为主,为解决人工嫁接存在的作业效率低、成活率低、质量难以保证等问题,该文基于瓜、茄苗通用的"贴接法"嫁接技术,采用双工位上苗方式设计搬运装置、切削装置、上苗及送夹装置,利用虚拟样机技术构建瓜、茄类蔬菜嫁接机器人。经试验得出:切刀旋转半径为68mm,切刀转速为120r/min时,秧苗切削成功率98%,满足嫁接技术要求;嫁接速度为884株/h,嫁接成功率为95.7%,成活率为96.8%。因此,蔬菜嫁接机器人可有效解决人工嫁接存在的问题,取代人工嫁接作业。

In china, vegetable grafting was done mostly by manual work. To solve the problems such as low efficiency, low survival rate and low quality, according to the splice grafting process of gourd and solanaceous seedlings, with double feeding location of seedlings, transporting device, cutting device, seedling-fixing device and clip-delivering device were determined and a prototype model of vegetable grafting robot was constructed based on simulation design in this article. Mechanism analysis and experiment showed that when the cutting knife rotation radius was 68mm and the cutting speed was 120 r/min, the success rate of seedling cutting was 98% which could meet the need of grafting technique. The grafting rate reached 884 plants per hour, grafting success rate was 95.7% and survival ratio was 96.8%. Therefore, grafting robot can resolve existing problem of artificial grafting take place of manual work.