多肉植物移栽机末端执行器优化设计与试验

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中图分类号：S223.99 文献标识码：A 文章编号：2095-5553（2025）08-0014-08

Abstract：Aiming at the problems of loweficiency，highcost and low succesrate of succulent plant transplants，a dynamicadjustableendefectorforplant spacing wasdesigned.Basedonthe transplanting processofsucculent plants，the overall structureof the sedlingend effector was determined，andthekeycomponents weredevelopedand designed.The fuzzy PID control was applied toadjust the spacing of the sedling fingers for improving the positioning accuracy of the seedling fingers.Thesuessrateofseedling harvesting and theintegrityof theseedling bowl were takenasexperimental indicators，theworking air pressure，substrate moisture contentand'sedling harvesting frequencywere takenas experimental factors，a transplanting experimental platform was established for suculent plant automatic transplants，and the orthogonal testof thining and transplanting was carredout.Theexperimental results showed thatthe frequency of picking seedlings was 61 plants/min，the working pressure was 0.22MPa ，and the substrate moisture content was 58% ： The success rate of picking and feeding seedlings was 94.41% ，and the substrate integrity rate was 93.66% .The end effector of seedlings can effectively complete the picking and feeding operation.

Keywords：succulent plants；end efector；seedling picking and feding device;transplanting equipment；fuzzy PIDcontrol

0 引言

在工作效率低、劳动强度大和成本高等问题，严重阻碍了多肉植物产业的发展。（剩余11213字）