DESIGN AND TESTS OF A MULTI-PIN FLEXIBLE SEEDLING PICK-UP GRIPPER FOR AUTOMATIC TRANSPLANTING
DESIGN AND TESTS OF A MULTI-PIN FLEXIBLE SEEDLING PICK-UP GRIPPER FOR AUTOMATIC TRANSPLANTING
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DOI：
10.13031/aea.13426
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发表时间：
2019-01-01
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.;Kumi, F.;Hu, J.
研制并评价了一种用于自动移栽的多针柔性取苗钳。四爪卡盘夹持器主要由四指并联式空气夹持器、四叉架、四缸指和若干连接/支承部件组成。空气夹持器移动以打开和关闭气缸指，气缸指各有一挠性销抓住并释放所述苗。当抓取器从磨损细胞中提取幼苗时，它的四个圆柱形手指推出四个抓取销，深入根土然后闭合，使抓取销牢固地抓住根土进行提升。当抓取器释放幼苗时，其手指张开，使抓取销松开根土，然后拉回排出。设计了一个电气和气动控制系统来协调每个动作的执行。在一系列插拔苗的参数和条件下，对附着在机械手上的插拔钳进行了测试。结果表明：穿透深度、苗种、工作压力与苗种的交互作用对自动移栽的成功有显著影响。总体而言，自动移栽的苗完整率可达93.37%。为了使该装置在移栽苗时发挥最佳性能，多针钳的取针需在其最大穿透深度处抓住最大量的根土。
A multi pin flexible seedling pick-up gripper for automatic transplanting was developed and evaluated. The gripper having a four-jaw chuck mainly consists of a parallel-type air gripper with four fingers, four fork frames, four cylinder fingers, and several connecting/supporting parts. The air gripper moves to open and close the cylinder fingers, and the cylinder fingers each having a flexible pin grasp and release the seedling. When the pick-up gripper extracts seedlings from the fray cells, its four cylindrical fingers push out four pick-up pins to penetrate deep into the root soil and then close, making the pick-up pins to firmly hold the root soil for lifting. When the pick-up gripper releases seedlings, its fingers open, making the pick-up pins loosen the root soil and then pull back for discharging. An electrical and pneumatic control system was designed to coordinate the execution of each action. The pick-up gripper attached to a robotic manipulator was tested on a range of plug seedling fransplanting parameters and conditions. The results showed that penetration depth, seedling species, and the interaction of working pressure and seedling species significantly influenced the successful automatic fransplanting. On the whole, the seedling integrity ratio in automatic transplanting was found to be up to 93.37%. For optimum performance of the device in fransplanting seedlings, the pick-up pins of the multi pin gripper need to grasp the maximum amount of root soil at their maximum penetration depth.