全自动草莓钵苗移栽机构优化设计与试验

Optimization Design and Experiment of Full-automatic Strawberry Potted Seedling Transplanting Mechanism

为了实现草莓钵苗机械化移栽,根据草莓种植农艺要求,提出了一种Hermite插值非圆齿轮行星轮系全自动草莓钵苗移栽机构,用一套回转机构依次完成取苗、输送、挖穴与栽植4个移栽工序,满足了草莓钵苗移栽所需的轨迹与姿态要求,保证了所取秧苗和所挖穴口的精准配合。根据移栽机构的工作原理,建立了运动学理论模型,并结合设定的优化目标,基于Visual Basic 6.0设计了计算机辅助分析优化设计软件,通过优化得到了一组满足移栽要求的机构参数。根据优化的参数对机构进行了二维设计、三维建模,通过ADAMS软件完成了虚拟样机仿真,应用3D打印技术制作了物理样机。在所搭建的草莓钵苗移栽试验台架上,利用高速摄像技术对物理样机进行了轨迹与姿态验证试验,通过对比分析得到理论轨迹、虚拟仿真轨迹和台架试验轨迹基本一致,验证了机构设计的正确性。并进行了机构的性能试验,结果表明取苗成功率为92%,栽植成功率为85%,平均栽植株距为172.9 mm,所挖穴口深度、长度和宽度效果良好,满足草莓钵苗移栽要求。

To realize the mechanized transplanting of the strawberry pot seedlings,according to the agricultural requirements of strawberry cultivation,a full-automatic strawberry potted seedling transplanting mechanism with non-circular gear designed by using fitted Hermite curves as a the non-circular gear pitch curve was proposed,using only one mechanism to complete the four actions such as seedling picking,transporting,digging hole and transplanting.And the transplanting mechanism satisfied the requirements of the strawberry transplanting trajectory and attitude,ensuring the precise coordination of the seedling and the hole.Based on the working principle of the transplanting mechanism,the theoretical model and kinematic characteristics of the transplanting mechanism were analyzed,and the computer-aided analysis and optimization software based on Visual Basic 6.0 was designed and used to obtain a set of parameters which met the transplanting requirements.A virtual prototype of the transplanting mechanism was established and simulated by using the ADAMS software.The physical prototype of the transplanting mechanism was developed by the 3D printing technology,and the transplanting mechanism was mounted on a strawberry transplanting test bench on which high-speed photography experiment was conducted.The results of the theoretical analysis,virtual test,and physical prototype test were essentially identical,which verified the correctness of the mechanism design.The performance test showed that the success rate of seedling picking was 92%,the success rate of planting was 85%,and the average planting distance was 172.9 mm,the test revealed the depth,length and width of the digging holes met the transplant requirements of strawberry potted seedling.