褚佳,张立博,张铁中,张文波,王粮局,刘展.葫芦科穴盘苗单人操作嫁接机器人设计与试验[J].农业机械学报,2017,48(1):7-13.
CHU Jia,ZHANG Libo,ZHANG Tiezhong,ZHANG Wenbo,WANG Liangju,LIU Zhan.Design and Experiment of Grafting Robot Operated by One Person for Cucurbitaceous Seedlings Cultivated in Plug Trays[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(1):7-13.
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葫芦科穴盘苗单人操作嫁接机器人设计与试验   [下载全文]
Design and Experiment of Grafting Robot Operated by One Person for Cucurbitaceous Seedlings Cultivated in Plug Trays   [Download Pdf][in English]
投稿时间:2016-05-19  
DOI:10.6041/j.issn.1000-1298.2017.01.002
中文关键词:  嫁接机器人  葫芦科  穴盘苗  设计  试验
基金项目:国家高技术研究发展计划(863计划)项目(2012AA10A506—2)和公益性行业(农业)科研专项(201303014—09)
作者单位
褚佳 中国农业大学 
张立博 中国农业大学 
张铁中 中国农业大学 
张文波 中国农业大学 
王粮局 中国农业大学 
刘展 中国农业大学 
中文摘要:为提高葫芦科穴盘苗嫁接机器人的人均操作效率,在原先机器的基础上优化改进,设计了葫芦科穴盘苗单人操作嫁接机器人,并进行了效率提高的理论分析,通过分析得出,所设计的葫芦科穴盘苗单人操作嫁接机器人的人均操作效率与操作者的操作熟练度呈负相关的关系,理论上,设计的单人操作嫁接机器人人均操作效率比改进前提高1倍。通过试验得出,在种苗质量有保证的前提下,机器嫁接成功率可达95%,嫁接速度可达455株/h,实际作业的人均操作效率提高了50%以上。
CHU Jia  ZHANG Libo  ZHANG Tiezhong  ZHANG Wenbo  WANG Liangju  LIU Zhan
China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University and China Agricultural University
Key Words:grafting robot  Cucurbitaceous seedlings  plug trays  design  experiment
Abstract:For the purpose of decreasing the investment of labour force in the process of vegetable grafting, a vegetable grafting robot operated by one person for Cucurbitaceous seedlings cultivated in plug trays was designed. The machine utilized the root-cutting grafting method. During working, the operator delivered respectively the stock and scion seedlings from plug trays on the left-hand and right-hand sides to seedling-providing platforms. The seedlings triggered the touching switches and then the machine completed automatically the subsequent motions of gripping, cutting, jointing, fixation and discharge controlled by PLC program. A theoretical analysis of promotion of grafting efficiency was done. In theory, the operating efficiency for one person of this robot can be promoted by 100%, compared with the old type of 2JSZ—600II grafting robot. And the analysis suggested that with the operating qualification promoting, the efficiency would be higher. Experiment results showed that the grafting success rate of the machine could reach up 95% and its grafting speed was approximately 455 seedlings per hour. Compared with previous grafting robots whose grafting efficiency was merely 600 seedlings per hour operated by two people, the machine’s working efficiency of per capita was improved by more than 50%. Therefore, the upgraded machine operated by one person was quite capable of developing the grafting labour efficiency.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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