【作者】 闫俊杰；

【导师】 张铁中；

【作者基本信息】 中国农业大学 ， 农业机械化工程， 2004， 硕士

【摘要】 目前在蔬菜种植业中，由于营养钵育苗移栽时对苗无损伤，所以有取代传统穴盘育苗的趋势。为了满足营养钵育苗方式日益普遍的现状，在原有蔬菜嫁接机器人研究的基础上进行大量的实验和创新，研制出了营养钵苗自动嫁接机器人。该机器人针对的是采用营养钵育苗的葫芦科蔬菜，实现了砧木苗在营养钵内无需拔苗即可直接的操作，有助于嫁接后苗的恢复，在生产中具有较高的实用价值。 本课题对机器人的机械结构做了大量的设计和优化，研究设计的营养钵苗自动落苗装置使钵苗嫁接真正实现了全自动化作业。改进了搬运、切削、扶苗和送夹装置，提高了作业精度和嫁接成功率，而且使机器人的体积小巧、结构巧妙，具有较高的自动化和智能化水平。 营养钵苗嫁接机器人的控制部分采用双CPU的控制系统，由51系列的单片机来实现。它的特点是实现了多个动作同时进行并相互协调的并行操作，在保证作业质量的前提下，尽可能的缩短了嫁接周期，从而有效地提高了机器人的作业速度和实时性。该控制系统克服了营养钵苗嫁接速度慢的问题。基于双CPU的控制系统的嫁接机器人样机研制成功后，对其进行了作业试验，试验结果表明：作业质量高、速度快、工作稳定性较好，且操作简单。它的嫁接速度可达到360～480棵／小时，与单处理器的控制系统相比，效率提高了将近1倍。更多还原

【Abstract】 Because the bowl seeding has no harm to the stock when transplanted, therefore it is used widely and tends to replace the hole seeding. In order to apply to the current increasing numbers for nutritional bowl seedling of vegetables, the automatic grafting robot for nutritional bowl seedling of vegetables is created on the basic of lots of study and creations of old grafting machine for vegetables. The applicative crops is the cucurbitaceous vegetables which seedling in nutritional bowl. It solves a difficult problem in vegetables’ grafting, therefore, has high value for use in vegetable production.This design completes and optimized the mechanical structure, and increases the sets for sending seedling, and outputting seedling. Besides it improves the sets for transferring, cutting and sending clamp, and raises the working precision and the rate of grafting success. This grafting robot realizes the automatization of the total operation.The grafting robot for nutritional bowl seedling of vegetables adopts control system of dual CPU, which composes of MSC-51. Each sets can not only work at same time but coincide with each other. Therefore, the working speed and stability are improved greatly. It has made a good base for popularizing later for solving the problem of low speed.更多还原