茄果类全自动嫁接机接穗取苗装置设计与优化试验

Design and Experiment of Scion Picking Device for Fully Automatic Grafting Machine

摘要:

现有茄果类蔬菜嫁接机多为半自动型，受种苗生长形态差异显著的影响，自动上苗环节难以实现。本文根据茄果类蔬菜成排全自动嫁接机的工作要求，设计了一种接穗自动取苗装置。该装置采用柔性夹持手，对种苗生长形态具有较强的适应性，能够实现接穗穴盘自动供给、夹持、切削以及转移，实现了嫁接作业中接穗取苗自动化，从而推动嫁接机从半自动向全自动作业升级。为了验证接穗取苗装置的工作性能，以嫁接期辣椒苗为对象，以取苗成功率为试验指标，弹性片厚度、夹持手结构、接穗生长偏移量为因素，开展了接穗取苗三因素三水平正交试验，试验结果表明，三因素对取苗成功率的影响程度从大到小依次为：夹持手结构、生长偏移量、弹性片厚度。最佳组合为弹性片厚度0.3mm、夹持手结构Ⅲ型和生长偏移量0~14mm。在最优组合条件下进行接穗取苗测试，以3个穴盘苗共150株接穗为取苗对象，经过试验验证，取苗成功率为98.7%，达到嫁接机接穗取苗作业性能要求。

Abstract:

Most of the existing solanaceous vegetable grafting machines are semi-automatic models. Due to the significant differences in the growth morphology of seedlings, the automatic seedling picking process is difficult to achieve. Based on the working requirements of the fully automatic row grafting equipment for solanaceous vegetables, an automatic scion seedling picking device was designed. This device adopted flexible gripper hands, which had strong adaptability to the growth form of seedlings. It can automatically supply, clamp, cut and transfer the scion trays, achieving the automation of seedling extraction for grafting operations, thereby promoting the upgrading of the grafting machine from semi-automatic to fully automatic operation. In order to verify the working performance of the scion picking device, taking chili seedlings in the grafting period as the object, the success rate of picking as the test index, and the thickness of the elastic piece, the structure of the clamping hand, and the scion growth offset as factors, a three-factor and three-level orthogonal test for scion picking was carried out. The test results showed that the influence degrees of the three factors on the success rate of picking, from large to small, were as follows: gripper structure, growth offset, and elastic piece thickness. The optimal combination was gripper structure Ⅲ, growth offset of 0~14mm, and elastic piece thickness of 0.3mm. The scion picking test was conducted under the optimal combination conditions. A total of 150 scions from three tray seedlings were selected as the seedlings, after experimental verification, the success rate of picking was 98.7%, meeting the performance requirements of the scion picking operation of the grafting machine.