摘要
自动移栽机取苗机械手是实现自动移栽机的关键,而取苗机械手的驱动是实现自动移栽的前提。为实现平行夹式取苗机械手的自动驱动,参考穴盘苗茎秆所能承受的夹持力,设计了基于双气缸驱动的摆臂3位置控制结构,使摆臂能在居中位置准确停止进行对穴取苗和放苗,在夹苗行程开始时运动迅速,还能在摆臂摆动到夹苗位时以适当的夹持力分别夹持对应位置的穴盘苗。通过计算分析,确定了l为130mm、h为130mm与长度为60mm的摆臂形成的Y字型结构,使平行夹在夹苗时具有不大于23N的夹持力,保障能够夹持取苗且不伤苗。
Pick seedling manipulator is the key part of automatic transplanter, and the drive method of pick seedling ma- nipulator is the premise for automatic transplanter. A double-cylinder 3-position driving structure is designed to let the parallel-grip-type pick seedling manipulator automatically work, the gripping force base on the plug seedlings stem with- stand test, the press is no more than 25 N. The manipulator arm can be controlled to stop in the middle position accurate- ly for pick and drop the seedling, and it is fast move to other side at the beginning of moving derived by double cylin- ders, seedlings were moderately griped at the end of moving , the gripping force is corresponding to the position of cylin- ders＇ base position, it is determine that the length of l is 130mm and h is 130mm after calculation and analysis, l , h and the arm （60mm length） formed a Y-shape structure, in this condition the gripping force is no more than 23N be- tween the parallel Clamps, so this type of pick seedlings manipulator can be use to pick seedlings and do not hurt the seedlings.
出处
《农机化研究》
北大核心
2017年第2期17-21,共5页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(51565059
50905153)
新疆维吾尔自治区高技术发展研究计划项目(201211117)
关键词
自动移栽
取苗机械手
平行夹
穴盘苗
automatic transplanting
take seedling manipulator
parallel clamps
plug seedlings
