柑橘育苗袋自动开袋装钵机设计与试验

Design and Experiment of Automatic Bag‑opening and Potting Machine for Citrus Nursery Containers

摘要:

为解决柑橘育苗钵人工装填方式成本高、作业效率低等问题，本研究设计了一种基于多机构协同的柑橘育苗袋自动开袋装钵机，包含真空吸附自动开袋、机械手撑袋和振动下料结构设计。确定了储袋机构、取袋?开袋装置、撑袋机械手、下料机构等部件的结构和关键参数。通过取袋?开袋和下料一致性正交试验，确定了影响开袋成功率和装填一致性的主要因素，最优参数组合为Ⅰ型软硅胶吸盘、吸盘吸附时间2 s、吸附压力-90 kPa、营养土含水率8%~13%、料仓营养土剩余量40%~70%、振动器气压力0.3 MPa，此时，育苗袋平均装填量为1 800 g，平均开袋装填时间为30 s，开袋装填成功率88.5%，实现了自动开袋装填120枚/h，开袋效率高，装填均匀，能够满足柑橘容器育苗开袋装填工作需求。研究结果可为柑橘育苗自动化机械开发应用提供理论依据和设计参考。

Abstract:

Aiming to address the issues of high cost and low operational efficiency associated with manual filling of citrus seedling pots, an automatic bag?opening and pot?filling machine for citrus seedling bags was designed based on multi?mechanism cooperation. The design included vacuum adsorption for automatic bag opening, a manipulator for holding the bag open, and vibration?assisted filling. The structures and key parameters of components such as the bag storage mechanism, bag?taking and opening device, bag?holding manipulator, and filling mechanism were determined. Through orthogonal experiments on bag?taking/opening and filling consistency, the main factors influencing the success rate of bag opening and filling uniformity were identified. The optimal parameter combination was as follows: type?I soft silicone suction cup, adsorption time of 2 s, adsorption pressure of -90 kPa, nutrient soil moisture content of 8%~13%, remaining nutrient soil in the hopper of 40%~70%, and vibrator air pressure of 0.3 MPa. Under these conditions, the average filling amount per seedling bag was 1 800 g, the average time for bag opening and filling was 30 s, and the success rate of bag opening and filling reached 88.5%. This achieved an automatic bag?opening and filling capacity of 120 bags per hour, with high bag?opening efficiency and uniform filling, meeting the requirements for bag?opening and filling operations in citrus container seedling cultivation. The research results can provide theoretical basis and design references for the future development and application of automated machinery for citrus seedling cultivation.