DEVELOPMENT OF A MULTI-TASK ROBOTIC TRANSPLANTING WORKCELL FOR GREENHOUSE SEEDLINGS
DEVELOPMENT OF A MULTI-TASK ROBOTIC TRANSPLANTING WORKCELL FOR GREENHOUSE SEEDLINGS
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DOI：
10.13031/aea.12462
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发表时间：
2018-01-01
影响因子：
0.9
通讯作者：
Hu, J.
中科院分区：
文献类型：
--
作者：
Han, L.;Mao, H.;Hu, J.
研制了一种多任务温室苗木移栽机器人工作单元。该工作单元主要由一个移栽系统、两个输送机、一个灌装单元和一个控制系统组成。设计了一种具有多个夹持器的移栽系统，用于自动拾取整行秧苗并将其种植。输送机设计有双排链条传动系统，可将塞盘和罐移动到多夹具的预定工作空间。填充单元设计用于在种植幼苗之前自动向生长盆填充土壤和点穴。控制系统协调上述功能单元的功能，以使用可编程逻辑控制器（PLC）实现灵活的自动化。在此基础上，构建了多任务机器人移植工作单元的原型。对系统进行了动态精度测试，评价了多爪机构满足设计和性能要求的能力。在当地育苗生产条件下的性能测试结果表明，在960株/h/抓手的效率下，移栽作业的总体成功率可达90%以上。
A multi-task robotic transplanting workcell for greenhouse seedlings was developed and evaluated. The workcell mainly consists of a transplanting system, two conveyors, a filling unit, and a control system. The transplanting system having multi-grippers was designed to automatically pick-up and plant whole rows of seedlings. The conveyors were designed with the pallet-type double-row chain transmission system which moves the plug trays and pots to the predefined working space of the multi-grippers. The filling unit was designed for automatically filling the growing pots with soil and dibbling holes prior to planting seedlings. The control system coordinates the functionality of the aforementioned function units for flexible automation using a programmable logic controller (PLC). Consequently, a prototype of the multi-task robotic transplanting workcell was constructed. The system was made to undergo dynamic accuracy test and to evaluate the ability of the multi-grippers to meet its design and performance requirements. The results of the performance test under local seedling production conditions showed that the overall success ratio in transplanting operation was up to 90% at the efficiency of 960 plants/h/gripper.