夹护式西瓜钵苗移栽机构设计与试验  

Design and experiment of clip-protected watermelon pot seedling transplanting mechanism

作　　者：许春林[1] 解江涛 王宇杰[1] 李恩全 辛亮[1] XU Chunlin;XIE Jiangtao;WANG Yujie;LI Enquan;XIN Liang(School of Engineering,Northeast Agricultural University,Harbin 150030,China)

机构地区：[1]东北农业大学工程学院,哈尔滨150030

出　　处：《东北农业大学学报》2020年第2期69-77,共9页Journal of Northeast Agricultural University

基　　金：国家自然基金面上项目(51775104)。

摘　　要：为解决西瓜钵苗茎秆纤细和大株冠造成的取秧、输送过程中秧苗脱落和取秧过程中秧苗子叶损伤问题,基于西瓜钵苗形态,设计一种夹护式西瓜钵苗自动移栽机构,探入式取钵移栽可保护秧苗茎、冠及形态,提高移栽作业合格率。文章根据西瓜种植农艺要求及西瓜钵苗外形尺寸设定优化目标,开发对应计算机优化辅助分析软件,优化一组符合西瓜钵苗夹护移栽要求结构参数,建立机构三维模型并作运动学仿真。加工机构物理样机并作台架试验,通过高速摄影对比移栽作业实际轨迹、虚拟样机轨迹和理论计算轨迹基本一致,验证夹护式钵苗移栽机构设计合理性。取苗试验表明,夹护式钵苗移栽机构较普通探入式移栽机构取苗成功率提高5%终稿栽植成功率提高7.5%,栽植优良率提高7.5%,栽植优良率提高15%。夹护式栽植机构各项性可满足旱地移栽要求,护苗机构明显提高栽植质量,减少秧苗脱落和株冠子叶损伤。In order to solve the problem of seedling falling off and damage of seedling cotyledon during seedling picking and transplanting caused by slender stem and large plant crown of watermelon pot seedlings,an automatic transplanting mechanism of watermelon pot seedlings was designed based on the shape of watermelon pot seedlings.The characteristic of the mechanism is to protect the stem,crown and morphology of seedlings while the mechanism is carrying out the probing pot transplanting,thus effectively improving the qualified rate of transplanting.In this paper,according to the agronomic requirements of watermelon planting and the external dimensions of watermelon pot seedlings,the optimization objectives were set,and the corresponding computer optimization aided analysis software was developed to optimize a group of structural parameters in line with the requirements of watermelon pot seedlings clipping and transplanting,and a three-dimensional model of the mechanism was established and the kinematic simulation was carried out.The physical prototype of the machining mechanism was tested on the bench,and the actual trajectory of the transplanting operation,the virtual prototype trajectory and the theoretical calculation trajectory were compared by high-speed photography.The rationality and correctness of the design of the clamping pot seedling transplanting mechanism were verified.The results showed that the success rate of clamping pot seedling transplanting mechanism was about 5%higher than that of the common probing mechanism.The success rate of planting increased by about 7.5%;the regular planting rate increased by about 7.5%;the excellent and good planting rate increased by about 15%.The performance of the clip-protected planting mechanism mightmeet the requirements of dryland transplanting,and the seedling protection mechanism could obviously improve the quality of planting,reduce seedling shedding and damage of crown cotyledon.

关 键 词：西瓜钵苗 移栽机构 护苗 设计 试验 

分 类 号：TP317.4[自动化与计算机技术—计算机软件与理论] TP391.41[自动化与计算机技术—计算机科学与技术]