T型开合槽型辅推机械式取苗末端执行器设计
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摘要
设计了一种以夹紧取苗、张开推苗为工作模式的单驱动机械多针钳夹式取苗末端执行器,利用一个机械动力控制机械手指开合进行夹钵取苗,并驱动推苗环随动推钵放苗。应用解析法,确定了取苗末端执行器的夹持机构和推苗机构结构参数关系。试制末端执行器,将其安装在凸轮-连杆-滑槽组合式取苗机构上,以番茄穴盘苗为对象,进行对穴夹钵取苗性能测试。当取苗末端执行器对苗钵的夹取深度为30mm、夹取角度为12°、夹持力度为3N时,在40株/min取苗工作频率下,该取苗末端执行器自动取苗平均成功率为92.13%,取苗效果满意。
A new pincette-type end-effector in picking up seedlings was designed.It is the mechanical separator system with a work mode of penetrating,grasping,pushing and discharging a seedling.By means of designing different dimensions of the T-type block for moving the pick-up pins open,the end-effector can meet the requirements of picking up seedlings in the different tray cells.The structure parameters of grasping and pushing mechanism were established with the analytical method.A prototype of the pincette-type end-effector was constructed and test-operated to examine whether or not its functional requirements were satisfied.Taking 32-day-old tomato seedlings in the 128-cell trays as the objectives,the orthogonal experiments were conducted.As the penetration depth was 30 mm,the penetration depth was 12°,and the grasping force was 3 N,the average success ratio in picking up seedlings was up to 92.13%,of which the quality of extracting seedlings was satisfactory.
A new pincette-type end-effector in picking up seedlings was designed.It is the mechanical separator system with a work mode of penetrating,grasping,pushing and discharging a seedling.By means of designing different dimensions of the T-type block for moving the pick-up pins open,the end-effector can meet the requirements of picking up seedlings in the different tray cells.The structure parameters of grasping and pushing mechanism were established with the analytical method.A prototype of the pincette-type end-effector was constructed and test-operated to examine whether or not its functional requirements were satisfied.Taking 32-day-old tomato seedlings in the 128-cell trays as the objectives,the orthogonal experiments were conducted.As the penetration depth was 30 mm,the penetration depth was 12°,and the grasping force was 3 N,the average success ratio in picking up seedlings was up to 92.13%,of which the quality of extracting seedlings was satisfactory.
引文
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[2]陈科,杨学军,颜华,等.基于Matlab的全自动移栽机取苗机构设计与参数优化[J].农业机械学报,2013,44(增刊1):24-26,32.
[3]赵雄,陈建能,杨茂祥,等.二阶自由非圆齿轮行星系钵苗移栽机取苗机构[J].农业机械学报,2014,45(4):123-127.
[4]张丽华,邱丽春,田素博,等.指针夹紧式穴盘苗移栽爪设计[J].沈阳农业大学学报,2010,41(2):235-237.
[5]孙国祥,汪小旵,何国敏,等.穴盘苗移栽机末端执行器设计与虚拟样机分析[J].农业机械学报,2010,41(10):47-53.
[6]韩绿化,毛罕平,严蕾,等.穴盘育苗移栽机两指四针钳夹式取苗末端执行器[J].农业机械学报,2015,46(7):23-30.
[7]Ting K C,Giacomelli G A,Shen S J.Robot workcell for transplanting of seedlings partⅡ-End-effector development[J].Transactions of the ASAE,1990,33(3):1013-1017.
[8]缪小花,毛罕平,胡建平,等.一种自动移栽机取苗末端执行器:中国,ZL201210549570.7[P].[2012-10-05].
[9]孙磊.新型穴盘苗旱地自动移栽机关键部件的设计与试验研究[D].镇江:江苏大学,2012.
[10]Choi W C,Kim D C,Ryu H L,et al.Development of a seedling pick-up device for vegetable transplanters[J].Transactions of the ASAE,2002,45(1):13-19.