秧苗移栽机的伺服传动系统设计研究  

The Desgin and Study on Servomechanism System for Seedling Transplanter

作　　者：俞海兵 Yu Haibing(Xinjiang Kizilsu Vocational and Technical College,Kizilsu 845350,China)

机构地区：[1]新彊克孜勒苏职业技术学院,新疆克孜勒苏845350

出　　处：《农机化研究》2021年第6期121-125,共5页Journal of Agricultural Mechanization Research

基　　金：江苏省教育科学“十二五”规划课题(D/2011/03/085)。

摘　　要：为了实现秧苗移栽自动化,设计了秧苗移栽机伺服传统系统,包括送苗机构、取苗机构、投苗机构和栽种机构。其中,送苗机构实现育苗盘定位与转移,取苗机构机械手实现钵苗与转运,是整个伺服传动系统核心。对机械手钵苗角度进行钵苗成功率测试,结果表明:钵苗针角度为8.5°时,效果最优。采用双闭环增量控制系统,控制伺服电机,相应时间为0.2s,并采用S型函数控制伺服电机调速,避免冲击的发生。对送苗机构和取苗机构进行测试,结果表明:送苗机构最大误差为3.12mm,取苗机构最大误差为1.5mm,满足精度需求。Inorder to achieve the transplanting automation, the servomechanism system for seedling transplanter was designed. This system was formed by feeding seedling mechanism, picking seedling mechanism, dropping seedling mechanism and planting mechanism. The nursery seedling plate was transferred and fixed position by feeding seedling mechanism, Pot seedling and transfer was achieved by picking seedling manipulator, and this was the key for servomechanism system. Test the picking seedling success rate for seedling manipulator, the result showed that optimized angle of seedling needle was 8.5°. Double closed loop incremental control system was used to control servo motor, response time was 0.2 s, S-type function was used for servo motor speed regulation to avoid the impact. Test feeding seedling mechanism and picking seedling mechanism, the result showed that maximum error of feeding seedling mechanism was 3.12 mm, and maximum error of picking seedling mechanism was 1.5 mm. The kinematic accuracy satisfied demand.

关 键 词：秧苗移栽机 伺服传动 双闭环控制 S型调速 

分 类 号：S233.92[农业科学—农业机械化工程]