顶夹式气动取苗装置设计与试验

Design and Experiment of Ejecting-clip Pneumatic Picking-up Seedlings Device

针对半自动移栽机采用人工取喂苗、劳动强度大和效率低的问题,设计一种适用于叶菜、茄果类蔬菜的顶出夹取结合的自动取苗装置。该装置的顶苗、取苗、摆动和苗盘横移等动作采用气缸驱动;苗盘纵向输送通过电机驱动,结合激光传感器逐行扫描,消除累计误差,实现精准定位。通过FPGA控制器控制各气缸、电机有序动作,完成取苗过程。选取128穴与200穴苗盘分别进行输送定位、自动取苗试验,得出苗盘输送平均定位误差分别为0.509、0.564 mm,变异系数分别为4.08%、5.20%,满足苗盘输送定位要求;取苗频率可达120株/min以上,达到效率目标。

In order to solve problems of manual seedling collection,high labor intensity and low efficiency of semi-automatic transplanter,a ejecting-clip automatic picking-up seedlings device was designed,which was suitable for leafy vegetables and solanaceous vegetables.The actions of the device,such as seedling ejecting,picking seedling,swinging and seedling plate moving,were driven by air cylinder.The longitudinal conveying of seedling tray was driven by motor and scanned line by line with laser sensor to eliminate accumulated error and realize precise positioning.FPGA controller was used to control the orderly action of each cylinder and motor to complete seedling picking process.128 and 200 seedling trays were selected to carry out experiment of transportation,positioning and automatic seedling picking.Results showed that average positioning errors of tray transportation were 0.509 mm and 0.564 mm respectively.The coefficient of variation was 4.08%and 5.20%,which met requirements of tray transportation and positioning.The frequency of seedling collection can reach more than 120 plants/min,and reach efficiency target.