穴盘苗温室多末端移栽机运动定位装置设计与试验

摘要

To improve the automation and efficiency of tray seedlings multi-ending transplanter in greenhouse , amotion control device was designed. In order to achieve multiple end effectors move at equal intervals, the dispersion device was analyzed and calculated for mechanics based on requirements of joint operation for multiple end effectors. The whole sys-tem was controlled by PLC, and the position precision was detected by the linear displacement sensor. Testing results showed that in view of the 128-cell tray and 4-cell flower pot, the average step transmissions were 32. 2911mm,206. 3246mm. With one-sample t-test, it was found that there was no significant difference (atα=0. 05) in the step transmissions be-tween the testing value and the designed value, which demonstrated the reliability of automatic seedlings-picking device.%为了提高穴盘苗温室移栽机械的自动化程度和移栽效率，对温室穴盘苗多末端移栽机运动定位装置进行了设计。基于多末端执行器联合作业的要求，对其分散装置进行力学分析计算，以实现多个末端执行器等间距移动。对系统进行移位检测试验，检测移栽过程中位置精度，结果表明：128穴盘、4孔花盆自动取苗移位平均值分别为32.2911、206.3246mm；通过单样本 t 检验发现，在0.05显著性水平下，实测取苗移位间隔与设计的穴孔间隔无显著性差异，验证了所设计自动取苗移位装置的可靠性。