子叶期穴盘移苗装置轨迹执行机构设计与运动学分析  

Design and kinematics analysis of the trajectory actuator of a seedling transfer device in the cotyledon stage

作　　者：张园 梁喜凤 秦叶波 张慧 王永维[3] ZHANG Yuan;LIANG Xifeng;QIN Yebo;ZHANG Hui;WANG Yongwei(College of Information Engineering,China Jiliang University,Hangzhou 310018,China;Zhejiang Agricultural Technology Promotion Center,Hangzhou 311103,China;College of Biosystems Engineering and Food Science,Zhejiang University,Hangzhou 310058,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018 [2]浙江省农业技术推广中心,浙江杭州311103 [3]浙江大学生物系统工程与食品科学学院,浙江杭州310058

出　　处：《中国计量大学学报》2023年第4期573-579,共7页Journal of China University of Metrology

基　　金：国家自然科学基金资助项目(No.31971796);浙江省科技计划项目(No.2022C02002)。

摘　　要：目的:为了实现不同密度穴盘的批量移苗作业,设计一种多点取苗多点投放的穴盘幼苗移苗装置。方法:采用Solidworks软件建立移苗装置的三维模型,通过D-H坐标系建立移苗装置运动学模型,得到运动学方程,并在Adams软件中对移苗装置进行运动学仿真,得到位移、速度和加速度曲线。结果:该装置完成一次移苗作业时长为8 s,相邻两末端执行器X方向位移差为32.3 mm,Y方向位移等于取苗盘与放苗盘穴孔中心距在Y方向投影,为525 mm,Z方向位移比放苗盘高30 mm,速度最大值为515 mm/s,加速度最大值为840 mm/s^(2)。结论:本文设计的移苗装置对推动工厂化育苗的发展有重要意义。Aims:In order to achieve batch seedling transfer operations with different densities of tray seedlings,a tray seedling transfer device with multi-points seedling collection and placement was designed.Methods:A three-dimensional model of the transplant device was established with Solideworks.The kinematic model of the seedling transfer device was established by the D-H method;and the kinematic equation was obtained.The kinematic simulation of the transplant device was carried out in the Adams software;and the displacement,velocity and acceleration curves were obtained.Results:It took 8 seconds for the device to complete a single transplant.The displacement difference in the X direction between the two adjacent end-effectors was 32.3 mm.The displacement in the Y direction was equal to the distance between the center of the hole of the seedling tray and the seedling tray projected in the Y direction by 525 mm.The displacement in the Z direction was 30 mm higher than that in the seedling tray.The maximum velocity was 515 mm/s;and the maximum acceleration was 840 mm/s^(2).Conclusions:The seedling transfer device designed in this paper is of great significance to promote the development of factory seedling rearing.

关 键 词：移苗装置 穴盘苗 运动学模型 D-H坐标系 

分 类 号：S223.92[农业科学—农业机械化工程]