蔬菜移栽夹茎式取苗装置设计与试验

Design and Experiment of Vegetable Transplanting Clip Stem Seedling Device

针对半自动移栽机作业效率低、作业质量差的问题,设计了一种面向蔬菜移栽机器人的夹茎式自动取苗装置。取苗装置经过整排取苗、等距分苗、精准投苗,可实现高效、高质自动化取投苗作业。建立多级剪叉分苗机构与夹苗装置的运动力学模型,对钵苗下落运动、气动系统进行模型设计及分析计算,搭建取苗试验装置。试验选取穴盘辣椒苗作为研究对象,以钵苗苗龄、基质含水率、取苗频率为试验因素,设计以取苗成功率、基质破碎率为评价指标的单因素试验。根据试验结果,采用Box-Behnken响应曲面分析法设计正交试验,探究了苗龄与基质含水率、苗龄与取苗频率及基质含水率与取苗频率之间的交互作用对取苗效果的影响,优化取苗参数。试验结果表明,当苗龄33 d、钵苗基质含水率46%、取苗频率75株/min时,取苗成功率为97.36%,基质破碎5.07%,可满足大田自动化移栽的取苗及投苗要求。

Aiming at the problems of low operation efficiency and poor operation quality of semi-automatic transplanting machine,a stem-type automatic seedling picking device for vegetable transplanting robot was designed.The seedling pick-up device can realize efficient and high-quality automatic seedling pickup and delivery operation through whole row of seedling pick-up,equidistant seedling separation and precise seedling delivery.The motion mechanics model of multi-stage scissors seedling mechanism and clamping seedling device was established.The model design and analysis calculation of the falling motion and pneumatic system of pot seedlings were carried out,and the seedling test device was built.Plug pepper seedlings were selected as the research object,and the seedling age,matrix moisture content and seedling frequency were taken as the experimental factors.A single factor experiment was designed to evaluate the success rate of seedling and matrix crushing rate.According to the test results,the Box-Behnken response surface analysis method was used to design the orthogonal experiment.The effects of the interaction between seedling age and substrate moisture content,seedling age and seedling picking frequency,substrate moisture content and seedling picking frequency on the seedling picking effect were explored,and the seedling picking parameters were optimized.The results showed that when the seedling age was 33 d,the water content of pot seedling substrate was 46%,the frequency of seedling picking was 75 plants/min,the success rate of seedling picking was 97.36%,and the substrate crushing was 5.07%,which could meet the requirements of seedling picking and throwing of field automatic transplanting.