Study on Preventing Transplanting Manipulator from Damaging Seedlings
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摘要: 移植手抓取种苗时,从种苗正上方直接下移至抓取位置易造成高株种苗受压破损,采取先在种苗侧方下移到作业高度再水平运动到抓取位置的运动轨迹可避免该情况发生,进而降低移植手对种苗的株高要求。但移植手水平运动至作业位置过程中,易与种苗伸展开的枝叶发生碰撞,导致枝叶折断,针对这一问题,设计一种可利用正压气流对种苗枝叶进行导向,进而防苗损伤的四齿伸缩式移植手。通过对正压气流管路的流体仿真分析,确定正压气流管路为2条,中心距离为15 mm。以红掌为移植对象,进行了移植手防苗损伤作业性能正交试验,确定移植手作业参数。即正压气流管路进口压力为0.4 MPa、管路内径为8 mm、移植手水平移动速度为0.04 m/s时,移植手对红掌种苗防损伤成功率为98%。Abstract: When the transplanting manipulator grabs the seedlings,moving directly from the top of the seedlings to the grabbing position will easily cause damage to the tall seedlings.The problem can be avoided by transplanting manipulator moving down to the working height from seedling side and then horizontally moving to the grab position,this method can reduce the plant height requirements for transplantation.However,during the movement of the transplanting manipulator to the working position,it is easy to collide with the seedlings,resulting in damage to the seedlings.Aiming at this problem,this paper designs a four-tooth telescopic transplanting manipulator that can use positive pressure air flow to guide seedlings and prevent damage to seedlings,Through the fluid simulation analysis of the positive pressure airflow pipeline,it is determined that two positive pressure airflow pipelines are required,and the center distance is 15 mm.An orthogonal experimental to avoid transplanting manipulator damaging seedlings was carried out,experimental results showed that when the positive pressure air flow pipeline inlet pressure was 0.4 MPa,the pipeline inner diameter was 8 mm,and the transplanting manipulator horizontal moving speed was 0.04 m/s.The success rate of preventing anthurium seedlings damage was 98%.
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Keywords:
- transplanting manipulator /
- positive pressure airflow /
- seedlings /
- guidance
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