穴盘苗仿生取喂机械手的设计与试验

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Abstract：Aimingattheproblemsoflowsucsateofseedlingtaking，highrateofseedinginjuryandcomplicatedstructureof transplantingandseedlingtakingorganzations，thispaperdesignedakindfimitationhumanhandheldseedlingayofmanpulator anddescribedthestructureandoperationprincipleofthedevice.Themechanicalcharacteristictestwascaredoutwith6Odayold chilipeppersedingsastheresearchobjecttoobtainthebasicparametersforthedesigoftemanipulatorstructure.Combiedwith the mechanical characteristics ofthe hole plate seedlings andthe requirements ofplanting agronomy，the end parameters L1， （204号 L2，L3， （20 θ and β of the manipulator were determined to be 15mm 65mm 15mm 150∘ and 120∘ ，respectively. The statics analysis of the manipulator showed that the minimum lifting force and the reset spring force were 3.34N and 6.5N respectively，which providesthebasisfrtheselectionoftheresetspringThesoftwaresimulationandfieldexperimentsofthemanipulatorshowedthat the success rate of taking seedlings were 97.6% 96.8% 95.4% and 93.8% ，respectively， when the seedling picking frequency were operated at 4O， 6O， 90 and 120 plants/min. The highest rate of injuring seedlings was 3.1% ，which met the requirements of taking andfeeding seedlings，and verified thecorectnessoftheresearch methodand the feasibilityofthe manipulator.

Key Words： Seedling taking device; Mechanical properties; Manipulator; Experiment

doi：10.13620/j.cnki.issn1007-7782.2025.02.003

中图分类号：S223.9 文献标识码：A

0引言

世界蔬菜产量约六成来自中国，目前我国蔬菜栽种多以人手工从苗盘取苗，通过半自动移栽装备完成膜上栽种，该模式劳动成本投人大。（剩余5659字）