Angle and speed determination of slide rail to convey hydroponic lettuce for robotic harvesting

摘要

For robotic harvesting and packaging of hydroponic lettuce, a stereoscopic conveying system was developed to transport the hydroponic lettuce from planting bed to thejiarvester. To reduce conveying friction, planting plate was placed on a horizontal rail. The delivery of hydroponic lettud was completed by toggle mechanism, landing mechanism and slide rail. Inclination angle and the speed of the slid rail affect the sliding stability of planting plate during conveying. An orthogonal experiment was thus carried out to determine the inclination angle of the slide rail and the speed of the slide rail when the planting plate transitioned to the harvesting platform. The influence of the inclination angle and the speed of the slide rail were analyzed. Theresults of the orthogonal experiment shown that the dominant primary and secondary order affecting the stability of the planting plate was the inclination angle of the slide rail, the speed of the planting plate, and the vertical height between the sliderail and the harvesting platform. When the inclination angle is 32°, the speed of the planting plate is 0.1 m/s, and the vertical height between the slid rail and the harvesting platform is 5 cm, the sliding stability of the planting plate was optimal.The result of experiment shown that the handling speed of the device had a significant advantage faster than manual handling.