温室并联移栽机器人设计与试验

Design and Experiment of Parallel Transplanting Robot in Greenhouse

针对目前温室穴盘苗移栽作业存在的人工成本高、移栽作业效率低及国外移栽机不能适应我国温室穴盘苗移栽需求等问题,从移栽需求入手,制定了框架结构、并联机器人及输送装置3部分的设计方案,设计了一款结合自动化输送装置的并联移栽机器人,其具有刚度大、精度高及累积误差小的特点。同时,进行了将128孔穴盘黄瓜苗移栽至72孔穴盘中的移栽试验,结果表明:该温室并联移栽机器人在移栽加速度高于20mm/s^2时,移栽钵苗合格率明显降低。

In view of problems of high artificial cost,low transplanting efficiency and inability of foreign transplanting machines to adapt to the demand for transplanting seedlings in greenhouse of our country,the design schemes of three parts of frame structure,parallel robot and conveying device were designed.The parallel transplanting robot with automatic conveying device has the advantages of high rigidity,high precision and small cumulative error.The transplanting experiment on the transplant of 128 cucumber seedlings to the 72 holes tray to verify that the rate of transplanting seedlings was significantly lower when transplanting accelerated speed achieved higher than 20 mm/s^2.