穴盘苗夹茎式取投苗机构优化设计与试验  

Optimum Design and Test of Stem Clamping Type Seeding Picking and Throwing Mechanism for Plug Seedlings

作　　者：魏志强 宋磊 阳尚宏 刘军[1,2] 谢守勇 WEI Zhiqiang;SONG Lei;YANG Shanghong;LIU Jun;XIE Shouyong(College of Engineering and Technology,Southwest University,Chongqing 400715,China;Chongqing Key Laboratory of Agriculture Equipment for Hilly and Mountainous Regions,Chongqing 400715,China)

机构地区：[1]西南大学工程技术学院,重庆400715 [2]丘陵山区农业装备重庆市重点实验室,重庆400715

出　　处：《西南大学学报（自然科学版）》2022年第4期88-99,共12页Journal of Southwest University(Natural Science Edition)

基　　金：“十三五”国家重点研发计划智能农业装备专项(2017YFD0701100);重庆市重点产业共性关键技术创新专项项目(cstc2015zdcy-ztzx8002).

摘　　要：针对目前中国蔬菜穴盘苗全自动移栽作业中取投苗装置复杂等问题,设计了一种穴盘苗夹茎式自动取投苗机构,并分析了该机构的工作原理,建立了运动学模型;以运动学模型为理论基础,利用MATLAB GUI模块开发了取投苗机构辅助优化软件,基于该软件通过人机交互分析了主要结构参数对苗夹尖点运动轨迹和运动特性的影响,得到了各结构参数优化方向;以穴盘苗取投苗轨迹要求为目标,采用人机交互的优化方法,通过该软件确定了一组较优结构参数,并以此参数在CREO软件中完成了三维建模并进行仿真分析,得出了仿真轨迹.搭建了自动取投苗试验平台,分别进行了轨迹验证试验和取投苗性能试验,验证了穴盘苗取投苗机构设计的正确性与可行性.多组取投苗试验结果显示,该装置取苗成功率最高可达92.44%,平均取苗成功率大于89%,投苗成功率最高可达98%,平均投苗成功率大于90%,伤苗率最低为1.4%,平均伤苗率低于3%,表明了该装置能够较好地完成取投苗作业,且取投苗频率可达80株/min,该研究可为蔬菜移栽机全自动化提供理论参考.Aiming at the problems of automatic transplanting vegetable seedlings in China,such as the complexity of seedling picking and throwing devices,a kind of seedling picking and throwing mechanism by stem clamping for plug seedlings was designed in this study.The working principle of the seedling picking and throwing mechanism was analyzed,and then the kinematics model of the mechanism was established.Based on the kinematics model,an auxiliary optimization software of planting and throwing mechanism was developed by using MATLAB GUI module.The influence of the main structural parameters on the movement trajectory and movement characteristics of the seedling pinch point was analyzed with this software,and then the optimization direction of each structural parameter was obtained.Aiming at the requirement of the trajectory of plug seedlings taking and throwing seedlings,a set of optimal parameters were determined by the software using optimization method of human-computer interaction.The three-dimensional modeling and simulation analysis were completed in CREO with better structural parameters,then the simulation trajectory was obtained.In order to carry out the trajectory verification test and the performance test for picking and throwing seedlings,a test platform for automatic picking and throwing of seedlings was built.The correctness and feasibility of the theoretical design of the plug seedling picking and throwing mechanism were verified according to the results.Meanwhile,the results showed that the highest success rate of picking seedlings was 92.44%,the average success rate of picking seedlings was more than 89%,the highest success rate of throwing seedlings was 98%,the average success rate of throwing seedlings was more than 90%,the lowest injury rate was 1.4%,and the average injury rate was less than 3%.Moreover,the test showed that the device can better complete the seedling picking and throwing operations,and the seedling picking efficiency can reach 80 plants/min.The design provides a reference for the stud

关 键 词：穴盘苗 取投苗机构 参数优化 取投苗试验 

分 类 号：S223.9[农业科学—农业机械化工程]