番茄穴盘苗移栽机翻转式取送苗装置设计与试验  

Design and Testing of a Tilting Seedling Picking and Feeding Device for Tomato Cavity Tray Transplanters

作　　者：赵明 任玲[1] 李韬 王双 Zhao Ming;Ren Ling;Li Tao;Wang Shuang(College of Mechanical and Electrical Engineering,Shihezi University,Shihezi 832000,China)

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832000

出　　处：《农机化研究》2024年第7期89-95,共7页Journal of Agricultural Mechanization Research

基　　金：石河子大学高层次人才项目(RCZK2021B17);石河子大学自主资助支持校级科研项目(CZ02721)。

摘　　要：目前,国内番茄穴盘苗半自动移栽仍需人工完成取投苗,生产效率较低。为此,开发了一种翻转式移栽机自动取送苗装置。以整排取苗式自动移栽机为研究对象,根据苗盘尺寸及取送工作流程进行取送苗装置结构设计,主要包括连杆机构构成的移栽机机械臂、滑块机构构成的三爪取送苗机械手及根据不同工作间距设计的分苗装置,以期设计一种能够在单驱动元件情况下,依靠简单运动轨迹完成取投苗工作的装置。通过SolidWorks仿真软件进行运动学分析,获取机械臂末端运动轨迹、速度并分析机械臂末端轨迹。进行轨迹验证及取送苗性能试验,结果表明:机械臂末端轨迹与仿真及理论结果一致,验证了翻转式取送苗装置能够利用简单轨迹简化取苗流程。研究结果可为整排式取苗移栽机自动取送苗装置的设计提供参考。At present,the semi-automatic transplanting of tomato seedlings in cavity trays in China is still done manual-ly,with low production efficiency.In this study,an automatic seedling picking and feeding device was developed for a tilting transplanting machine.The design of the seedling picking and feeding device is based on the size of the seedling tray and the picking and feeding workflow.The main components include the mechanical arm of the transplanter formed by the linkage mechanism,the three-jaw seedling picking and feeding robot formed by the slider mechanism,and the seed-ling dividing device designed according to different working spacing.The kinematic analysis was carried out using Solid-Works simulation software to obtain the trajectory and speed of the end of the robot arm and to analyse the end trajectory of the robot arm.The results show that the trajectory of the end of the robot arm is consistent with the simulation and theo-retical results,and that the tilting seedling picking and feeding device can simplify the process of seedling picking and feeding by using simple trajectories.

关 键 词：取送苗机构 机械臂 运动学仿真 机械臂轨迹试验 

分 类 号：S223.94[农业科学—农业机械化工程] S220.3[农业科学—农业工程]