树苗劈接嫁接机器人机械系统设计与试验

Mechanical Design and Test for a Sapling Grafting Robot Based on Cleft Method

树苗嫁接可加快优良树种繁育、改善果实品质、增强抗病和环境适应能力。但迄今为止,树苗嫁接仍然延续传统的手工方式。为此,本文根据树苗劈接嫁接工作流程,设计了一种树苗嫁接机器人机械系统。研制的树苗嫁接机器人能够实现砧木与穗木的夹持、搬运、定位、切苗、接合作业,为产品的应用奠定了基础。试验结果表明:该树苗嫁接机器人砧木切削成功率为94%,穗木切削成功率为93%,嫁接成功率为86%,可代替手工嫁接作业。

Seedlings grafting could accelerate fine species breeding,improve fruit quality,and enhance the abilities to adapt to the environment.Currently seedlings are still grafted by the traditional manual way.Therefore,according to the sapling grafting operations by hand,a sapling grafting robot was developed to realize sapling automatic grafting based on cleft method.The developed grafting robot can clip,move,position,cut,and graft sapling,which is a fundamental work for developing new products.Experiments showed that the developed sapling graft robot for the stock cutting efficiency is 94%,scion cutting efficiency is 93% and grafting efficiency is 86%.