花卉穴盘苗取栽一体式自动移栽机构设计与试验  

Design and experiment of integrated automatic transplanting mechanism for taking and planting of flower plug seedlings

作　　者：周梅芳[1] 徐建军[1] 童俊华[2] 俞高红[2] 赵雄[2] 解杰 Zhou Meifang;Xu Jianjun;Tong Junhua;Yu Gaohong;Zhao Xiong;Xie Jie(Jinhua College of Profession and Technology,Jinhua 321017,China;Provincial Key Laboratory of Plant Machinery,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]金华职业技术学院,金华321017 [2]浙江理工大学浙江省种植装备技术重点实验室,杭州310018

出　　处：《农业工程学报》2018年第20期44-51,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(51505429;51575495);浙江省科技厅基础公益研究计划项目(LGN18E050003);金华市科学技术农业类重点项目(2014-2-005)

摘　　要：为得到一种高效简便、通用性好的花卉自动移栽机械,设计了一种取苗和栽苗一体式花卉自动移栽机构,通过夹苗针相对移栽臂的运动规律设计,实现"双尖嘴"工作轨迹,建立了该机构运动学模型,并应用自主开发的计算机分析和优化软件,分析了机构参数变化对"双尖嘴"轨迹和姿态的影响,优选出符合取栽一体式移栽要求的机构参数,并通过模型仿真和样机试验相结合的方法,对该机构进行了验证分析,结果表明:仿真轨迹、样机测试轨迹与理论轨迹三者基本一致,验证了该取栽一体式移栽机构设计的正确性和可行性。试验选用"万寿菊"花卉穴盘苗,苗龄35d,平均苗高约10 cm,试验设定机构转速为35 r/min(移栽速度70株/min)时,平均取苗成功率为97.27%,平均栽苗成功率为77.62%,表明该取栽一体式移栽机构具有较好的实用性。该研究可为自动化移栽关键技术的研究提供参考。In order to develop a more efficient and universal flower auto-transplantation technique,an auto-transplantation mechanism with the integrated function of seedling pick-up and transplanting has been designed.This mechanism involves gear driving and two transplanting arms of the same structure.The gear driving system is made up of one semi-circle gear,four oval planet gears and concave-convex lock-up arc.It aims to move with the non uniform speed through the operation of planet gears and pulling and imbedding of concave-convex lock-up arc.The auto-transplantation arm includes the transplanting claw,convex gear and removing gear-gap parts.It transfers the whirling operation of planet gear into straight-line operation of pick-up seedling.The manual finger scratching and planting were simulated by two pins at the end of the seedling arm.The auto-transplantation mechanism combines the pick-up and planting.The transplanting trajectory and the location of pick-up and planting were special.Thus,it is essential to design new mechanism accordance with the movement of pick-up clip and achieve“Double beak sharp”trajectory.In this paper,we designed a device of bouncing clip to lengthen the trajectory to realize the function of pick-up and planting,and it could facilitate the integration of the planting.At the same time,when the claw moves nearly to the pot seedling,the seedling needle was inserted into the soil with a certain angle of inclination,which could effectively avoid the injury of the seedlings and the interference with the seedling box.Based on the kinematics characteristics of the mechanism,a corresponding mathematic model was established,and the Visual Basic 6.0 software was used to optimize the mechanism parameters.The program was used to analyze the influence of the parameters of mechanism on the trajectory and attitude of the“Double beak sharp".Finally,the best group of mechanism parameters was selected,and then the 3D design and components assembly were carried out based on SolidWorks 2015 software.Impor

关 键 词：农业机械 移栽 设计 花卉 取栽一体 

分 类 号：S223.9[农业科学—农业机械化工程]