Abstract: Aiming at the problems of poor flexibility in plant spacing adjustment, low degree of automation, and low success rate of transplanting in the end effector for picking seedlings of existing cactus sparse planting and transplanting equipment, a seedling picking end effector with dynamically adjustable plant spacing was designed based on the physical characteristics of cactus and the technical requirements of transplantation process, which could meet the needs of seedling sparse planting and transplanting operations between different plant spacing hole plates. According to the operation process and stress situation of sparse planting and transplanting, the overall structure of the seedling end effector was designed. The size parameters of each key component were analyzed and calculated. A composite model of seedling bowl was established in UG and Adams. A moving simulation experiment was conducted. The transplant survival rate and seedling bowl integrity were used as experimental indicators, the inclination angle, length, insertion speed, and lower diameter of the seedling needle were used as experimental factors. The experimental platform was built to conduct orthogonal and validation experiments for the automatic transplanting machine of cactus balls. The optimal parameter combination obtained through range analysis is the inclination angle of the seedling needle of 19°, the length of the seedling needle of 33 mm, the insertion speed of the seedling needle of 0.4 m/s, and the diameter of the lower end of the seedling needle of 12 mm. After transplantation, the seedling bowl integrity rate is 93.67%, and the survival rate after 7 days is 91.83%. The experimental results indicate that the end effector for picking seedlings can effectively complete seedling picking and dropping operations.

Key words: cactus, automatic transplanting machine, end effector, sparse planting and transplanting, motion simulation, range analysis

摘要： 针对现有仙人球疏植移栽设备的取苗末端执行器存在株距调整灵活性差、自动化程度低、移栽成功率不高等问题，基于仙人球的物理特性和移栽作业工艺要求，设计一种株距可动态调整的取苗末端执行器，可满足不同株距穴盘之间的幼苗疏植移栽作业。根据疏植移栽的作业流程和受力情况，设计取苗末端执行器的整体结构，分析计算确定各关键部件的尺寸参数，应用UG和Adams软件建立苗钵复合模型，并进行运动仿真试验。以移栽存活率和苗钵完整度为试验指标，以取苗针倾斜角、取苗针长度、取苗针插入速度、取苗针下端直径为试验因素，搭建仙人球自动移栽机取投苗试验平台，进行正交试验和验证试验。通过极差分析得到最优参数组合为苗针倾斜角19°、取苗针长度33 mm、取苗针插入速度0.4 m/s、取苗针下端直径12 mm，移栽后苗钵完整率为93.67%，7天后的移栽成活率为91.83%。取苗末端执行器可较好地完成取投苗作业。

关键词: 仙人球, 自动移栽机, 末端执行器, 疏植移栽, 运动仿真, 极差分析