CAJ | 학술논문

钵苗移栽是温室穴盘育苗生产中的重要环节。为实现穴盘钵苗智能化移栽作业，设计了一种高速钵苗移栽机器人。该机器人主要由穴盘定位输送系统和平动二自由度钵苗移栽系统构成，基于准确定位抓取、快速移动栽植的作业要求和系统工作原理，以PLC为核心，结合传感器和伺服控制技术对移栽机器人运动控制系统进行了设计。控制系统首先基于穴盘钵苗位置坐标信息，规划出取苗爪移栽路径；然后根据并联机构运动学逆解模型，对并联机构两主动关节伺服驱动电机的转动规律进行控制，并通过系统间的运动协调，实现钵苗从高密度盘到低密度盘或营养钵的连续高速移栽作业。以育苗期28天、钵体含水率为60％左右的黄瓜苗为对象，在移栽动平台最大加速度为45m/s2、移栽频率为45次/min的条件下，进行128孔穴盘到50孔穴盘的连续钵苗移栽运行试验。试验表明，该钵苗移栽机器人控制系统设计合理，系统间运动协调可靠，移栽成功率平均达91．4％，单爪移栽速率可达2700株/h，满足了自动化移栽作业要求。
발묘이재시온실혈반육묘생산중적중요배절。위실현혈반발묘지능화이재작업，설계료일충고속발묘이재궤기인。해궤기인주요유혈반정위수송계통화평동이자유도발묘이재계통구성，기우준학정위조취、쾌속이동재식적작업요구화계통공작원리，이PLC위핵심，결합전감기화사복공제기술대이재궤기인운동공제계통진행료설계。공제계통수선기우혈반발묘위치좌표신식，규화출취묘조이재로경；연후근거병련궤구운동학역해모형，대병련궤구량주동관절사복구동전궤적전동규률진행공제，병통과계통간적운동협조，실현발묘종고밀도반도저밀도반혹영양발적련속고속이재작업。이육묘기28천、발체함수솔위60％좌우적황과묘위대상，재이재동평태최대가속도위45m/s2、이재빈솔위45차/min적조건하，진행128공혈반도50공혈반적련속발묘이재운행시험。시험표명，해발묘이재궤기인공제계통설계합리，계통간운동협조가고，이재성공솔평균체91．4％，단조이재속솔가체2700주/h，만족료자동화이재작업요구。
In the greenhouse bedding plant industry , the transplanting of seedlings from high-density tray to low-density tray or pot for further growth is an essential operation .To improve the automation and efficiency of plug seedlings trans-planting in greenhouse , a high-speed plug seedling transplanting robot was designed by utilizing a 2-DOF translational parallel mechanism with a pneumatic manipulator and trays conveying unit .Based on the requirements of plug seedling transplanting and the working principle of robot , its control system was designed by adopting the technologies of PLC , sensors and servo control .According to the coordinates of seedlings and the inverse kinematics model of 2-DOF parallel mechanism , the manipulator was driven by parallel mechanism to fetch and plant seedlings following planned paths .Un-der the coordination of units , the seedling transplanting from high-density to low-density tray or pot was conducted con-tinuously .When the maximum acceleration of moving platform was 45 m/s2 and the transplanting frequency was 45 times/min, tested for 28-day cucumber seedlings , with 60%moisture content , from the 128-hole trays to the 50-hole trays. Tests showed that the control system design of transplanting robot was reasonable and reliable , the average success trans-planting rate was up to 91.4%and the transplanting speed of single manipulator was 2700 seedlings/h.It meets the re-quirements of automatic transplanting .