探出式蔬菜钵苗打孔移栽机构优化设计与试验

Optimal Design and Experiment of Potted Vegetable Seedling Transplanting Mechanism with Punching Hole

针对回转式蔬菜钵苗扎穴移栽机构破坏钵体完整性、穴口不对称造成栽植直立度差、打孔和栽植过程同时进行影响栽植质量等问题,提出了一种探出式蔬菜钵苗打孔移栽机构。该机构可交替实现打孔和栽植过程,移栽臂栽植时,打孔器在前一株钵苗栽植位置完成打孔,保证了栽植时序且穴口对称,土壤回流均匀,有利于保证栽植直立性。在取苗位置执行探出式夹取苗钵动作,以保护苗钵基质的完整性。基于探出式蔬菜钵苗打孔移栽机构的运动学机理分析开发了优化设计软件,并完成了优化设计。开展了移栽机构的虚拟仿真试验和系列台架试验,分析了在取苗、打孔和栽植等关键位置的位姿。轨迹与位姿验证试验表明,该机构形成的特定轨迹和位姿可依次完成取苗、输送、打孔和栽植等动作。取苗试验表明,该机构可实现探出式取苗,有效保证了蔬菜钵苗基质的完整性。

In order to solve the problems that the integrity of the pot destroyed by the transplanting mechanism,the poor perpendicularity of planting caused by the asymmetry of the hole,and the poor quality of planting caused by the process of punching and planting,a kind of potted vegetable seedling transplanting mechanism with punching hole was put forward.The process of punching and planting could be alternately implemented by the mechanism.The punching process at the planting position of the previous potted seedling was completed by the puncher when a seedling was planted by the transplanting arm,which ensured the planting sequence.The holes formed by the puncher were symmetrical,the soil reflux was even and conducive to ensure the perpendicularity of planting.The protruding seedling picking device was used in the seedling picking process to protect the integrity of the potted seedling matrix.Based on the kinematic mechanism analysis of potted vegetable seedling transplanting mechanism with punching hole,the optimization design software was developed and the parameter optimization design was completed.The virtual simulation experiment and a series of bench tests of transplanting mechanism were carried out.The attitude of key positions such as seedling picking,punching and planting was analyzed.Trajectory and attitude verification experiments showed that the specific trajectory and attitude formed by the mechanism could complete the process of seedling picking,transporting,punching and planting in turn.The seedling picking experiment showed that the process seedling picking was realized and the integrity of potted vegetable seedlings matrix was effectively ensured.