Design and Tests of a Large-Opening Flexible Seedling Pick-Up Gripper with Multiple Grasping Pins

文献类型： 外文期刊

第一作者： Han, Luhua

作者： Han, Luhua;Zhang, Meijia;Wang, Yan;Ma, Guoxin;Yang, Qizhi;Liu, Yang

作者机构：

关键词： plug seedling; automatic transplanting; gripper; parameter optimization

期刊名称：AGRONOMY-BASEL （ 影响因子：3.4； 五年影响因子：3.8 ）

ISSN：

年卷期： 2025 年 15 卷 7 期

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收录情况： SCI

摘要： The pick-up gripper, as a core component of automatic transplanting systems, presents challenges in reliably grasping seedlings. In this study, a large-opening flexible seedling pick-up gripper was designed based on standard trays and seedling characteristics. Structural design and force analysis of the grasping mechanism were conducted to develop a functional prototype. As this represented the first prototype of this new gripper, multi-factor orthogonal tests and performance tests under local conditions were performed to evaluate its grasping effectiveness. It was found that the end diameter of the pick-up pin and the extraction speed for lifting plug seedlings vertically had the most significant effects, followed by the penetration depth and grasping force. The optimum grasping effectiveness was achieved when the end diameter of the pick-up pin was 1.2 mm, the penetration depth in the top straight line of the pick-up pin was 40 mm, the grasping force for squeezing root lumps was 0.4 MPa, and the extraction speed for lifting plug seedlings in a vertical direction was 900 mm/s. For typical vegetable seedlings, the average success rate in transplanting was up to 95%. Under the combined actions of penetrating, squeezing, and extracting operations, plug seedlings could be efficiently picked out for efficient transplanting.

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