变步长穴苗盘精准步进输送的研究与试验

Research and Test of Variable Step Precise Conveyer for Tray Seedling

针对目前半自动移栽机人工喂苗效率低的问题,设计了可适应不同规格穴盘的变步长穴苗盘精准步进输送装置。该装置通过输送带将穴苗盘输送到目标位置,先将苗株从穴盘中成排顶出再进行取苗投苗。装置将气液阻尼缸的往复运动转化成同步带的单向步进输送,通过PLC程序控制电磁阀,进而控制气液阻尼缸的伸缩,实现了步长可调和精准输送,提高了机具的适应性和准确性。同时,分析了一些主要参数对机构的影响,并进行了苗盘输送装置精准定位的性能试验。试验结果表明,利用气液阻尼缸驱动步进机构有较好的稳定性(>99%),但是阻尼缸运动惯性产生滞后,且滞后的脉冲数比较固定,需要在PLC程序中增加补偿模块来消除误差。

The efficiency of semi-automatic transplanter is limited by the speed of manual feeding.In order to improve the efficiency,an automatic transplanter with variable step precise conveyer for tray seedling was designed.It had an automatic feeding system to transport the tray seedling to the target location,and the seedlings were pushed out row by row by the ejector rod in the back of the tray.Finally the seedlings were taken and put into the tube of chain conveyor feeding mechanism by seedling turning manipulator.Gas-liquid damping cylinder was used in this system as power.The feeding system was controlled by PLC,which had a program can make the step variable.So the system can be appropriate for different specifications of trays.This article analyzed the major parameters of the system.And some tests were performed to observe the positioning performance of the system which pushed by gas-liquid damping cylinder.The results indicated that the variable step precise conveyer possessed good stability which was greater than 99%,but the system had some lags.And the lagging pulse number was relatively fixed,so the system required a compensation module.