蔬菜嫁接机秧苗夹持机构的设计与试验

Design and Test for Clamping Mechanism Vegetable Grafting Robot

针对以育苗穴盘为单元进行每行六株秧苗自动嫁接作业中夹持定位精确率差、损伤率高等问题,设计了用于自动嫁接装备的秧苗夹持机构。该机构主要由整行秧苗纵向夹紧装置和单株秧苗横向夹持定位装置组成,因而分别设计了两部件的结构方案并确定了结构参数,可实现对穴盘内每行六株嫁接秧苗准确定位夹持,为精确秧苗切削和嫁接提供准备。以茄子、番茄、辣椒3种典型茄科蔬菜为对象进行了夹持试验,结果表明:茄子、番茄和辣椒的平均夹持损伤率分别为2.5%、3.3%、1.5%,平均夹持合格率分别为97.6%、96.5%、99.0%,测试指标均达到了设计要求。

To improve the vegetable seedlings clamping accuracy and to reduce damage rate of the vegetable seedlings for the vegetable grafting robot which operates a row seedlings together in a plug tray,a type of clamping mechanism which is used for vegetable grafting robot was designed. It is mainly composed of a longitudinal clamping device for one whole row seedlings and a lateral clamping device for single seedling. The mechanical structural scheme and structural parameters of the two devices were designed separately. The a row of vegetable seedlings in a plug tray can be clamped accurately by the clamping mechanism to get ready for seedlings cutting and grafting accurately. Clamping tests for three vegetable seedlings of eggplant,tomato and pepper were carried out. The test results show that,the average clamping damage rate of the eggplant,tomato and pepper are 2. 5%,3. 3%,1. 5% respectively,and the average clamping pass rate of them are 97. 6%,96. 5% and 99. 0%. All the test indices meet the design requirements.