马铃薯组培苗自动取苗机构设计与试验

Design and Experiment of Picking Seedling Machinery for Potato Tissue Culture Seedlings

根据马铃薯组培苗的特点及其培养环境,设计了一套将整瓶马铃薯组培苗一次性无损伤全部取出的取苗机构。该取苗机构包括母瓶机械手和取苗手爪,取苗手爪伸入培养基从根部夹持住组培苗并保持静止不动,母瓶机械手夹住母瓶后退,实现培养瓶和培养苗的相对运动,最终使组培苗的大部分茎秆伸出瓶外,而培养基卡在瓶口处,便于后续苗株的顺利剪切。分析并确定了取苗机构的关键参数。为了明确2对取苗爪片间距离k、每个培养瓶中组培苗数量n、母瓶机械手速度v、培养瓶摆动频率f等因素对取苗效果的影响,以取苗后培养基的倾斜程度为测试指标进行了正交试验。试验结果表明：2对爪片间距离k是影响取苗后培养基倾斜度的主要因素,而每个培养瓶中组培苗数量n、母瓶机械手速度v和培养瓶摆动频率f没有显著性影响;当2对爪片间距离为26 mm,每瓶苗数为45～55株,母瓶速度为25 mm/s,摆动频率为2 Hz时,取苗后培养基倾斜度最小,取苗效果最好。

According to the characteristics of potato tissue culture seedlings and their culture environments,a picking seedling machinery which can pick seedlings out of bottle without damage in one time was designed. It included a manipulator of mother bottle and a seedling grasper. The seedling grasper was used for holding the root of potato seedlings stationarily,meanwhile the manipulator moved backward with the mother bottle. The potato seedlings and the bottle moved relatively and then most part of the seedlings＇ stems were out of the bottle,which provided good basis for the next operation in the automated micropropagation. The key parameters of picking seedling machinery were analyzed. In order to find the effect of the distance between the two pairs of claws,the number of each bottle,speed of manipulator and the swing frequency of mother bottle on the result of picking seedlings,orthogonal experiments were done. The index was inclination of culture medium after picking seedlings. The result showed that the distance between the two pairs of claws exerted the greatest effect on the inclination of culture medium,and other factors such as the number of each bottle,speed of manipulator and the swing frequency of mother bottle had no significant effects. As the distance between the two pairs of claws was26 mm,the number of potato seedlings in each bottle was 45 ～ 55,the speed of manipulator was25 mm / s,and swing frequency of mother bottle was 2 Hz,the minimum inclination of culture medium can be obtained by using the designed seedling mechanism for potato tissue culture seedlings.