全自动温室钵苗移栽机设计与试验

Design and Experiment on Automatic Greenhouse Seedling Transplanting Machine

为提高钵苗移栽机自动化程度和工作效率,设计了一种可实现8爪整体间隔取苗、分散间隔投苗、可用于穴盘到穴盘或花盆间的高效全自动钵苗移栽设备。阐述了移栽机的结构原理与工作过程,基于整体间隔取苗、分散间隔投苗原理,对移栽机整体结构及取苗爪分散部件进行设计,并合理规划移栽策略;综合考虑移栽动平台运动规律及同步带变形对动平台定位精度的影响,在ADAMS中建立移栽动平台刚柔耦合仿真模型,分别选取动平台水平运动等加速等减速、三次多项式和五次多项式运动规律进行仿真分析,结果表明3种运动规律定位精度均大于99.7%,其中五次多项式运动规律下定位精度最高。在不同移栽频率下对移栽动平台的定位精度及整机作业性能进行了试验,试验结果表明:移栽动平台在行程内的运动误差在0.15~1.22 mm,在120株/min移栽频率下移栽合格率可达90.23%,且随着移栽频率降低,移栽合格率逐渐提高,整个移栽作业运动协调可靠,定位精度高,可实现整体间隔取苗、分散间隔投苗的高效作业要求。

To improve the automation and efficiency of plug seedling transplanter,a full-row-alternatepick-up and disperse-alternate-dropping automatic seedling transplanting machine was designed,which was applicable for transplanting from plug trays to plug trays or to flowerpots with high location accuracy.The working process and principle of transplanting machine were introduced. The optimal transplanting strategy was selected and mechanism structure of the whole machine and disperse component for endeffectors was designed based on the full-row-alternate-pick-up and disperse-alternate-dropping requirement. To improve location accuracy affected by motion of transplanting platform and synchronous belt flexible deformation,the rigid-flexible coupling model of transplanting platform was established and simulated in ADAMS under the transplanting horizontal motion of constant acceleration and deceleration,cubic polynomial and quintic polynomial. The results indicated that the location accuracies under three motions were all higher than 99. 7% and the one with quintic polynomial was the highest. The location accuracy experiment of transplanting platform and the whole transplanting performance experiment were conducted under different transplanting efficiencies. The results showed that the designed mechanism was reliable with a success transplanting rate of 90. 23% at speed of 120 seedlings / min and the location accuracy was 0. 15 ~ 1. 22 mm.