小型蔬菜移栽机械手的设计与试验

Small Vegetable Transplanting Manipulator Design and Research

为避免蔬菜人工移栽存在的株距、行距和深浅度不均等问题,根据国家标准GB/T 5262-2008及蔬菜移栽农艺要求,设计了一种能够与吊篮-鸭嘴式移栽机结合的移栽机械手。根据现有的蔬菜育苗钵盘外形尺寸及茄科蔬菜的育苗农艺要求,并结合吊篮-鸭嘴式移栽机的结构,确定了移栽机械手的设计方案,设计了移栽机械手的整体结构及尺寸,并对移栽机械手关键部件进行有限元分析。结果表明:机械手指最大变形量为0.106mm,所受最大应力为6 5.5 MPa;大臂最大变形量为4.7 1 4×1 0^(-6)mm,所受最大应力为0.0 2 1 MPa;小臂最大变形量为9.476×10^(-6)mm,所受最大应力为0.0 2 2 6 MPa。试验结果表明:所设计的小型蔬菜移栽机械手能够在一定程度上解放劳动力,降低温室大棚内蔬菜移栽工作的劳动强度,可为以后全自动蔬菜移栽机的发展提供数据与理论参考。

In order to avoid the problem of plant spacing, spacing and unevenness in the process of transplanting vegetables, the results showed that the quality of transplanting, the yield and the survival rate of the latter were significantly reduced. In this paper, according to the national standard GB / T 5262-2008 and Vegetable Transplanting Agronomy requires the design of a transplanting robot capable of combining with a basket-duck-type transplanting machine. According to the existing vegetable seedling size and the nursery and agronomic requirements of Solanaceae vegetables and combined with the structure of the basket-duck-type transplanting machine to determine the design of transplanting manipulator, the overall structure and size of the transplanted manipulator, The analysis results are as follows: the maximum deformation of the mechanical finger is 0.106mm, the maximum stress is 65.5MPa, the maximum deformation of the boom is 4.714 ×10^-6 mm, the maximum stress is the maximum stress of the manipulator. 0.021MPa, the maximum deformation of the arm is 9.476×10^-6 mm, the maximum stress is 0.022 6MPa. The results show that the small vegetable transplanting manipulator designed in this paper can reduce the labor force to a certain extent, reduce the labor intensity of vegetable transplanting in greenhouse, and provide data and theory for the development of automatic vegetable transplanting machine The reference.