设施农业组培筐深位抓取装置设计与试验

Design and Experiment of Deep-position Grabbing Device of Tissue Culture Basket in Facility Agriculture

针对现有设施农业栽培架单层存放深度浅,利用率不高,搬运需要大量劳动力等问题,设计了一种设施农业组培筐抓取装置。通过建立三维模型,初步确定方案可行性;基于接触动力学模型和非线性连续碰撞理论,提出了抓持过程中碰撞力的计算方法;对卡爪与物件的碰撞力进行动力学建模,通过ADAMS运动仿真,对搬运装置进行参数优化设计。最后搭建实验平台,通过试验表明,该抓取装置能够实现栽培架上的组培筐搬运,同时得到优化后的运动规律。

For the problems such as shallow storage depth, low utilization rate and large amount of labor force required for the existing facility agricultural cultivation frame, a kind of facility agriculture deep - position grabbing device is designed. Through the estabhshment of three - dimensional modal, the feasibility of the program is preliminary determined. Based on the contact dynamics model and the nonlinear continuous collision theory, the calculation method of the collision force during the grasping process is proposed. The dynamics modeling of the impact force between the claw and the object is carried out and the parameters of the handling device are optimized by ADAMS simulation. Finally, the experimental platform is established, the experiments show that the grabbing device can carry the tissue culture baskets on the cultivating rack, and get the optimized movement rule.