甘薯裸苗斜插式栽植机构及电控系统研制  

Development of oblique-planting mechanism for sweet potato seedlings and its electric control system

作　　者：徐亚雷 杨红光 潘志国[1] 杨然兵[1,3] 李林 张还 Xu Yalei;Yang Hongguang;Pan Zhiguo;Yang Ranbing;Li Lin;Zhang Huan(College of Mechanical and Electrical Engineering,Qingdao Agricultural University,Qingdao,266109,China;Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing,210014,China;College of Mechanical and Electrical Engineering,Hainan University,Haikou,570228,China)

机构地区：[1]青岛农业大学机电工程学院,青岛市266109 [2]农业农村部南京农业机械化研究所,南京市210014 [3]海南大学机电工程学院,海口市570228

出　　处：《中国农机化学报》2024年第6期53-57,71,共6页Journal of Chinese Agricultural Mechanization

基　　金：山东省农业重大应用技术创新项目(SD2019NJ009);青岛农业大学高层次人才科研基金(1116002)。

摘　　要：针对目前我国甘薯裸苗移栽机存在的栽植质量差和自动化程度低的问题,按照甘薯裸苗移栽的农艺要求,研制一种基于四连杆机构原理的甘薯裸苗斜插式栽植机构及其控制系统。通过理论分析和仿真模拟研究栽植机构的运动轨迹,确定栽植机构的关键结构参数,构建由直流无刷电机、旋转编码器和PLC控制器等组成的栽植机构电控系统。田间试验表明:在目标株距20 cm、作业速度0.4~0.6 km/h时,移栽作业质量指标均达到标准要求,其中作业速度为0.4 km/h时,作业性能优于0.5 km/h和0.6 km/h,此速度下株距变异系数均值为6.71%、栽植角度与深度合格率平均值分别为94.3%、95.0%。对比试验结果表明,0.4 km/h、0.5 km/h和0.6 km/h速度下,电驱控制与传统机械控制相比,栽植株距变异系数平均值分别降低6.25%、6.37%和6.19%,可有效解决拖拉机动力输出轴驱动不稳定性对栽植作业轨迹和株距的影响。Naked seedling transplanting is the main way of sweet potato cultivation,and planting operation is the key link of transplanting.Aiming at the problems of poor planting quality and low automation in planting machine of naked sweet potato seedlings in our country,according to the agronomic requirements for planting naked sweet potato seedlings in this study,a kind of oblique planting mechanism of naked sweet potato seedlings and its control system were developed based on the principle of four-link mechanism.The movement trajectory of the planting mechanism was studied by theoretical analysis and simulation,and the key structural parameters of the planting mechanism were determined.An electric control system of planting mechanism was constructed,which consisted of brushless DC motor,rotary encoder and PLC controller.Field experiments showed that when the target plant distance was 20 cm and the operating speed was 0.4-0.6 km/h,the operation quality index of transplanting reached the standard requirements.When the operating speed was 0.4 km/h,the operating performance was better than that of 0.5 km/h and 0.6 km/h.At this speed,the average coefficient of variation of plant distance was 6.71%,and the average passing rate of planting angle and depth were 94.3% and 95.0%,respectively.The comparative test results showed that compared with the traditional mechanical control,the electric drive control at 0.4 km/h,0.5 km/h and 0.6 km/h speeds reduced the average coefficient of variation of plant distance by 6.25%,6.37% and 6.19%,respectively,which could effectively solve the influence of the driving instability of the tractor power output shaft on the planting operation trajectory and plant distance.

关 键 词：甘薯 裸苗移栽 斜栽式 栽植轨迹 电控系统 四连杆机构 

分 类 号：S223.93[农业科学—农业机械化工程]