水稻秧盘自动码垛机的设计与试验  

Design and experiment of an automatic rice seedling tray palletizer

作　　者：马旭[1,2] 魏宇豪 曹秀龙 李泽华 齐龙[1,2] 李宏伟[1] 肖荣浩 Ma Xu;Wei Yuhao;Cao Xiulong;Li Zehua;Qi Long;Li Hongwei;Xiao Ronghao(College of Engineering,South China Agricultural University,Guangzhou 510642,China;Guangdong Laboratory for Lingnan Modern Agriculture,Guangzhou 510642,China;College of Mathematics and Informatics,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广州510642 [2]岭南现代农业科学与技术广东省实验室,广州510642 [3]华南农业大学数学与信息学院,广州510642

出　　处：《农业工程学报》2022年第3期1-10,共10页Transactions of the Chinese Society of Agricultural Engineering

基　　金：岭南现代农业实验室科研项目(NT2021009);国家自然科学基金(52175226);现代农业产业技术体系建设专项资金(CARS-01-47);广东省科技厅(KTP20210196)。

摘　　要：针对水稻工厂化育秧播种完成的秧盘人工取盘和层叠堆放劳动强度大、效率低、后续运输不便等问题,该研究设计了一种水稻秧盘自动码垛机,可完成秧盘精确夹取、转移和码垛;阐述了码垛机的基本结构和工作原理,对关键部件进行设计,以可编程逻辑控制器(Programmable Logic Controller,PLC)作为控制核心,搭建了秧盘码垛层检测和码垛控制系统;采用Box-Behnken试验设计方法,对码垛机作业性能的主要影响因素(生产率、码垛层检测机构的检测时间和放盘高度)与码垛性能指标(码垛合格率和种子外露率)的关系进行研究,分析各影响因素及其交互作用对码垛性能指标的影响,并根据育秧播种生产线实际生产需求,设定生产率为400、500和600盘/h,采用多目标优化方法进行参数优化,得出主要影响因素间的最优参数组合为码垛层检测机构检测时间1.15 s和放盘高度1.10 cm,在最优参数组合下,进行秧盘码垛试验,得出码垛合格率分别为99.33%、99.50%和99.20%,种子外露率分别为0.40%、0.53%和0.70%。试验结果满足水稻工厂化育秧秧盘码垛作业要求,对提高水稻工厂化育秧的自动化水平具有实际应用价值。Seedling raising has been one of the most key steps in the process of rice mechanization production.In this study,a fully automatic palletizer of a rice seedling tray was designed to accurately clamp,transfer,and position the rice seedling trays in the rice factory.A Cartesian coordinate structure was selected to design the key components,according to the basic structure and working principle of the palletizer.A Programmable Logic Controller(PLC)was utilized as the control core,further to construct the hardware circuit and software program of the system.A palletizing layer detection of the rice trays was designed using the PLC.Specifically,the height of palletized trays was detected to determine the number of completed layers in the control system,thereby realizing the accurate palletizing of rice trays.The optimal ranges of the principal factors were then determined for better palletizing performance.A Box-Behnken orthogonal combination test was conducted to clarify the relationship between the main influencing factors of the operational performance(productivity,detection time of the palletizing layer detection mechanism,and the tray releasing height)and the palletizing performance indexes(palletizing passing rate and seed exposure rate).The influencing factors on the palletizing pass rate were ranked in the descending order of the detection time and tray height.Once one variable was fixed,there was a trend of first rising and then smoothing in the influence of the rest two parameters on the palletizing passing rate.Compared with the productivity,the tray height presented an outstanding influence on the seed exposure rate,indicating a trend of first rising and then falling.A multi-objective optimization was used to optimize the parameters,the influence of each factor,and the interaction on palletizing performance indexes.The test results showed that the detection time and the releasing height of the palletized trays presented a greater effect on the palletizing pass rate,whereas,the releasing height of the palle

关 键 词：水稻 设计 试验 工厂化育秧 秧盘码垛 PLC 码垛层检测 码垛性能 

分 类 号：S233.71[农业科学—农业机械化工程]