Development of transplanting manipulator for hydroponic leafy vegetables

被引:26
|
作者
Li, Bo [1 ]
Gu, Song [1 ,2 ]
Chu, Qi [3 ]
Yang, Yanli [3 ]
Xie, Zhongjian [1 ]
Fan, Kaijun [1 ]
Liu, Xiaogeng [1 ]
机构
[1] South China Agr Univ, Coll Engn, Guangzhou 510642, Guangdong, Peoples R China
[2] South China Agr Univ, Key Lab Key Technol Agr Machine & Equipment, Minist Educ, Guangzhou 510642, Guangdong, Peoples R China
[3] Guangzhou Sky Mech & Elect Technol Co Ltd, Guangzhou 510642, Guangdong, Peoples R China
关键词
transplanting robot; transplant manipulator; steel fingers; hydroponic leafy vegetable plug-seedlings; high-speed photography; guidance constraints; shrinkage; ROBOT WORKCELL; SEEDLINGS; DEVICE; DESIGN;
D O I
10.25165/j.ijabe.20191206.5050
中图分类号
S2 [农业工程];
学科分类号
0828 ;
摘要
The production of hydroponic leafy vegetable plug-seedlings uses coco-peat as culture substrate in South China. Coco-peat has lowered density than peat-moss, and the friction between substrate block and pickup tool is small. So, it is hard to pick up in mechanism transplantation. In order to increase the friction, the existing transplanting manipulator had relatively complex structures. To simplify the structure of transplanting manipulator and improve the stability of picking up substrate block, four stainless steel fingers with rectangular cross-section were used in this research. A vertical driving was used to realize the coupling effect that could insert and shrink at the same time, by applying different combination of constraints to the steel fingers. This could increase friction between the steel fingers and the substrate block, and then enhance the stability of the substrate block. Different combinations of constraints were applied to the rectangular stainless steel fingers (3 mmx0.8 mm). The working videos of steel fingers were taken by high-speed photography. High-speed motioned analysis software was used to acquire and analyze traces of steel fingers movements. When the length which top end of the steel fingers moved outward (M) is equal to 1.5 mm, the length which guiding part widened (N) is equal to 1 mm, the shrinking distance of steel fingers is 4.2 mm. In this research, 16-day hydroponic leafy vegetable plug-seedlings were used for performance, which cultivated with coco-peat substrate with the moisture in the substrate at 81%. The transplanting manipulator was attached to a Denso robotic arm to conduct transplanting performance test. When the shrinking distance of steel fingers increased from 0 mm to 3.2 mm and the inserting angle decreased from 80 degrees to 77 degrees, the lifting force of substrate block increased by 118% from 1.45 N to 3.16 N. However, excessive shrinkage stirred the substrate block, which would reduce the friction between the substrate block and pickup parts and lowered the lifting force of pickup part in the substrate block. The experimental results also demonstrated that when the shrinking distance of the steel fingers reached 3.2 mm and the root distribution rate reached 46%, the success rate of transplantation was 80%. When the leafy vegetable plug-seedlings root distribution rate reached 92%, the success rate of transplantation was 96.67%. The degree of root distribution rate was positively correlated with the transplantation success rate. Therefore, in order to ensure an acceptable success rate of transplantation, the root distribution rate of leafy vegetable plug-seedlings should be at least 90%. This study provides a technical reference for developing simplified transplanting manipulator that can be used to transplant the hydroponic leafy vegetable plug-seedlings with coco-peat as the culture substrate.
引用
收藏
页码:38 / 44
页数:7
相关论文
共 50 条
  • [41] Alternative vegetables grown in hydroponic systems
    Schröder, FG
    INTERNATIONAL SYMPOSIUM ON GROWING MEDIA AND HYDROPONICS, VOLS I AND II, 1998, (481): : 213 - 220
  • [42] Cadmium accumulation in leaves of leafy vegetables
    Baldantoni, Daniela
    Morra, Luigi
    Zaccardelli, Massimo
    Alfani, Anna
    ECOTOXICOLOGY AND ENVIRONMENTAL SAFETY, 2016, 123 : 89 - 94
  • [43] Ethnobiology of wild leafy vegetables of Sikkim
    Pradhan, Sudhan
    Tamang, Jyoti Prakash
    INDIAN JOURNAL OF TRADITIONAL KNOWLEDGE, 2015, 14 (02): : 290 - 297
  • [44] ENRICHMENT OF SOME LEAFY VEGETABLES WITH MAGNESIUM
    Przybysz, Arkadiusz
    Wrochna, Mariola
    Malecka-Przybysz, Monika
    Gawronska, Helena
    Gawronski, Stanislaw W.
    JOURNAL OF ELEMENTOLOGY, 2016, 21 (03): : 797 - 809
  • [45] Hydroponics Home for Leafy Green Vegetables
    Lee, Chiwon W.
    HORTSCIENCE, 2020, 55 (09) : S28 - S28
  • [46] MECHANICAL HARVESTER FOR LEAFY GREEN VEGETABLES
    PETERSON, DL
    BROWN, GK
    SRIVASTAVA, AK
    TRANSACTIONS OF THE ASAE, 1981, 24 (02): : 312 - &
  • [47] Nitrate and nitrite in Australian leafy vegetables
    Parks, S. E.
    Huett, D. O.
    Campbell, L. C.
    Spohr, L. J.
    AUSTRALIAN JOURNAL OF AGRICULTURAL RESEARCH, 2008, 59 (07): : 632 - 638
  • [48] BLANCHING LEAFY VEGETABLES WITH ELECTROMAGNETIC ENERGY
    PONNE, CT
    BAYSAL, T
    YUKSEL, D
    JOURNAL OF FOOD SCIENCE, 1994, 59 (05) : 1037 - &
  • [49] Nutraceutical Potential of Leafy Vegetables Landraces at Microgreen, Baby, and Adult Stages of Development
    Mallor, Cristina
    Bertolin, Juan Ramon
    Paracuellos, Pablo
    Juan, Teresa
    FOODS, 2023, 12 (17)
  • [50] Diseases of leafy vegetables and herbs in Australia
    Tesoriero, L. A.
    XXIX INTERNATIONAL HORTICULTURAL CONGRESS ON HORTICULTURE: SUSTAINING LIVES, LIVELIHOODS AND LANDSCAPES (IHC2014): INTERNATIONAL SYMPOSIUM ON HIGH VALUE VEGETABLES, ROOT AND TUBER CROPS, AND EDIBLE FUNGI PRODUCTION, SUPPLY AND DEMANDS, 2016, 1123 : 109 - 115