Design and experiment of fork robot for trays in industrialized seedling production

At present, the movable container is widely used in industrialized seedling production. The cultivation objects in the container are mainly plug seedlings. The operation of trays in and out of the container is frequent in production, and the automatic equipment can automatically input the tray into the container. However, due to the factors such as the position deviation of trays caused by container transportation, there is little research on the equipment of trays automatic output container at home and abroad, At present, most of the production is done manually, which is the key node to improve the comprehensive efficiency of automatic production of seedlings. In this paper, the overall design of the fork robot for trays is carried out to realize the two-way transportation of the tray in the container and the conveyor line; The design of the key mechanism fork is studied and the experimental on the displacement range of the fork picking trays is carried out. The results show that, When the level values of vertical displacement were less than 4 mm, and the level values of horizontal displacement were less than 10mm, the picking success ratios of forks were 100%. The vertical displacement of forks has a stronger influence on picking success ratio of seedling tray compared with the horizontal displacement of forks, and the rounding of fork end plays a role in correcting deviation.