农机化研究2026，Vol.48Issue(5)：9-16,8.DOI:10.13427/j.issn.1003-188X.2026.05.002
蝴蝶兰组培苗柔性夹持手设计与试验
Design and Test of the Flexible Clamping Hand of the Phalaenopsis Tissue Culture Seedlings
摘要
Abstract
In response to the issue that existing picking mechanisms struggle to adapt to Phalaenopsis tissue culture seed-lings with complex shapes and sizes,resulting in a low success rate of picking,a method of rigid structure and flexible elastic clamping was employed to construct a flexible picking mechanism for Phalaenopsis tissue culture seedlings,and a picking and replanting experiment of Phalaenopsis tissue culture seedlings was carried out."Da La Jiao"Phalaenopsis tissue culture seedlings were taken as the operation objects.Based on the determination of the external characteristic pa-rameters,the insertion force of the culture medium and the clamping force of the seedling stems,and in accordance with the manual clamping and replanting operation process,a three-point clamping method for Phalaenopsis tissue culture seedlings was proposed.Based on the determined geometric and mechanical characteristic parameters of Phalaenopsis tis-sue culture seedlings,aiming at non-destructive and stable clamping,through the analysis of the motion trajectory of the clamping needles,the flexible clamping hand was designed.It was determined that the wire diameter of the spring for picking the seedling stems was 0.8 mm,the outer diameter was 5 mm,and the effective number of coils was 10,while the wire diameter of the spring for picking the leaf tips was 0.2 mm,the outer diameter was 2 mm,and the effective number of coils was 35.This could generate a picking force of(0.43±0.02)N for the seedling stems and(0.34±0.12)N for the leaves,satisfying the requirements of the clamping and replanting operation.The designed flexible pick-ing hand was subjected to clamping and replanting experiment to investigate its operational performance.The objective function was the success rate of replanting,and the influencing factors were the driving speed,the clamping buffer time,and the replanting buffer time.The experimental results indicated that when the driving speed was 800 mm/s,the clam-ping buffer time was 1 s,and the replanting buffer time was 0.9 s,the replanting efficiency could reach 837 plants/h,and the success rate of replanting reached 95.6%.The results can provide technical references for the research and de-velopment of Phalaenopsis tissue culture seedling transplanters.关键词
蝴蝶兰/组培苗移植/三点夹持/柔性夹持手/运动轨迹Key words
Phalaenopsis/tissue culture transplanting/three-point clamping/flexible clamping hand/motion trajectory分类
农业科技引用本文复制引用
李国龙,辜松,何涛,王英龙,王一驰,曾振坤,杨丹彤..蝴蝶兰组培苗柔性夹持手设计与试验[J].农机化研究,2026,48(5):9-16,8.基金项目
国家重点研发计划项目(2021YFD2000700) （2021YFD2000700）
乡村振兴战略专项——农业科技发展及资源环境保护管理项目(2023KJ131) （2023KJ131）
