自动移栽机整排取苗间隔投苗控制系统设计与试验  

Design and Experiment of Control System for Automatic Transplanter Picking up and Spacing Casting Whole Row of Seedlings

作　　者：胡建平[1,2] 常航 杨丽红 韩绿化[1,2] 毛罕平[1,2] 张思伟 HU Jianping;CHANG Hang;YANG Lihong;HAN Luhua;MAO Hanping;ZHANG Siwei(Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education, Jiangsu University, Zhenjiang 212013, China;Key Laboratory of Agricultural Equipment and Intelligent High-tech Research, Jiangsu Province, Zhenjiang 212013, China)

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,镇江212013 [2]江苏省农业装备与智能化高技术研究重点实验室,镇江212013

出　　处：《农业机械学报》2018年第6期78-84,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51475216);"十二五"国家科技支撑计划项目(2013BAD08B03);江苏省科技支撑计划项目(BE2017303);江苏省农业科技自主创新资金项目(CX(16)1022);江苏省高校优势学科建设工程项目(苏财教(2014)37号)

摘　　要：针对自动移栽机取苗控制精度、协调配合等问题,结合自主设计的自动移栽机取苗、投苗及分苗系统结构及其工作原理,基于可编程控制器PLC设计了一种整排取苗间隔投苗控制系统。该控制系统采用3个行程开关I1、I2、I3检测翻转取苗状态,实现取苗爪针在插入苗钵过程中逐渐收缩的过程,减少了对钵体内部的损伤;运用光电传感器感应分苗杯位置和数量,以增量式编码器获取分苗杯运动位移,通过两者配合完成苗钵在最佳投苗点投苗;选用72孔和128孔穴盘、20 d苗龄的黄瓜苗进行取苗、投苗栽植试验,检测控制系统性能。试验结果表明:在栽植频率40~70株/min范围内,两种穴盘苗的取苗投苗综合成功率均高于95%,平均值为97.98%,随着栽植频率的增加,取苗投苗综合成功率有所下降,但变化不大,证明设计的控制系统能适用不同规格苗盘、不同栽植频率下的自动移栽,达到高效自动移栽目的。Based on programmable controller PLC, a kind of control system that can pick up a row of tray seedlings and alternately cast tray seedlings was designed, it can be used for self-designed automatic transplanting machine and solving the problem of high precision and difficult coordination of the automatic transplanting machine. In order to reduce the inner damage of seedlings, the control system detects the status of picking process by three travel switches I1 , I2 and I3 to make the picking seedling claws gradually stretching in inserting process. Using the photoelectric sensor to detect the position and quantity of seedling cups, and obtain its motion displacement by incremental encoder, therefore, the seedling pot was shot at the best casting place by their combination. Using 20 d cucumber seedlings in 72-holes and 128-holes seedling trays respectively, the experiments were conducted to test picking and casting performance of the control system. The results showed that if the planting frequency was between 40 and 70 plants per minute, the success rate of picking and casting was more than 95% , with average value of 97.98%. As the increase of planting frequency, the success rate dropped but changed a little, which proved that the autonomous designed control system can be used in different seedling trays and planting frequencies, achieving the goal of high-efficiency transplanting.

关 键 词：自动移栽机 取苗 投苗 控制系统 

分 类 号：S223.92[农业科学—农业机械化工程]