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首页> 外文期刊>Applied Engineering in Agriculture >DESIGN AND TESTS OF A MULTI-PIN FLEXIBLE SEEDLING PICK-UP GRIPPER FOR AUTOMATIC TRANSPLANTING
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DESIGN AND TESTS OF A MULTI-PIN FLEXIBLE SEEDLING PICK-UP GRIPPER FOR AUTOMATIC TRANSPLANTING

机译：用于自动移植的多针柔性幼苗拾取夹具的设计和测试

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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.
机译：开发并评估了用于自动移植的多针柔性幼苗拾取夹具。具有四下颌卡盘的夹具主要由具有四个手指，四个叉框架，四缸手指和几个连接/支撑件的平行型空气夹具组成。空气夹具移动以打开和关闭气缸手指，并且缸体各自具有柔性销抓握并释放幼苗。当拾取夹具从磨损细胞提取幼苗时，它的四个圆柱形手指推出四个拾取引脚，以渗透到根土中，然后关闭，然后使拾取引脚牢固地保持根部土壤以进行升降。当拾取夹具释放幼苗时，其手指打开，使拾取引脚松开根土，然后拉回放电。设计电气和气动控制系统以协调每个动作的执行。在一系列插头幼苗Franspranting参数和条件下测试附着在机器人操纵器上的拾取夹具。结果表明，渗透深度，幼苗物种和工作压力和幼苗物种的相互作用显着影响了成功的自动粉碎。总体而言，发现自动移植中的幼苗完整性比率高达93.37％。为了使装置在粉碎幼苗中的最佳性能，多针夹具的拾取引脚需要掌握其最大渗透深度的最大根土量。

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