摘要
钵苗移栽是温室穴盘育苗生产中的重要环节。为实现穴盘钵苗智能化移栽作业,设计了一种高速钵苗移栽机器人。该机器人主要由穴盘定位输送系统和平动二自由度钵苗移栽系统构成,基于准确定位抓取、快速移动栽植的作业要求和系统工作原理,以PLC为核心,结合传感器和伺服控制技术对移栽机器人运动控制系统进行了设计。控制系统首先基于穴盘钵苗位置坐标信息,规划出取苗爪移栽路径;然后根据并联机构运动学逆解模型,对并联机构两主动关节伺服驱动电机的转动规律进行控制,并通过系统间的运动协调,实现钵苗从高密度盘到低密度盘或营养钵的连续高速移栽作业。以育苗期28天、钵体含水率为60%左右的黄瓜苗为对象,在移栽动平台最大加速度为45m/s2、移栽频率为45次/min的条件下,进行128孔穴盘到50孔穴盘的连续钵苗移栽运行试验。试验表明,该钵苗移栽机器人控制系统设计合理,系统间运动协调可靠,移栽成功率平均达91.4%,单爪移栽速率可达2 700株/h,满足了自动化移栽作业要求。
In the greenhouse bedding plant industry , the transplanting of seedlings from high-density tray to low-density tray or pot for further growth is an essential operation .To improve the automation and efficiency of plug seedlings trans-planting in greenhouse , a high-speed plug seedling transplanting robot was designed by utilizing a 2-DOF translational parallel mechanism with a pneumatic manipulator and trays conveying unit .Based on the requirements of plug seedling transplanting and the working principle of robot , its control system was designed by adopting the technologies of PLC , sensors and servo control .According to the coordinates of seedlings and the inverse kinematics model of 2-DOF parallel mechanism , the manipulator was driven by parallel mechanism to fetch and plant seedlings following planned paths .Un-der the coordination of units , the seedling transplanting from high-density to low-density tray or pot was conducted con-tinuously .When the maximum acceleration of moving platform was 45 m/s2 and the transplanting frequency was 45 times/min, tested for 28-day cucumber seedlings , with 60%moisture content , from the 128-hole trays to the 50-hole trays. Tests showed that the control system design of transplanting robot was reasonable and reliable , the average success trans-planting rate was up to 91.4%and the transplanting speed of single manipulator was 2700 seedlings/h.It meets the re-quirements of automatic transplanting .
出处
《农机化研究》
北大核心
2014年第12期122-127,共6页
Journal of Agricultural Mechanization Research
基金
"十二五"国家科技支撑计划项目(2013BAD08B03)
江苏省科技支撑计划(农业)项目(BE2012381)
江苏省"青蓝工程"项目(苏教师[2010]27号)
关键词
钵苗
移栽机器人
控制系统
PLC
plug seedling
transplanting robot
control system
PLC
