蔬菜钵苗自动移栽机纵向送盘机构设计与试验  

Design and Experiment of Longitudinal Feeding Mechanism of Vegetable Pot Seedling Automatic Transplanter

作　　者：俞高红[1,2] 赵钧 单杭琦 王锦鹏 王磊 鲍李旭[1,4] YU Gaohong;ZHAO Jun;SHAN Hangqi;WANG Jinpeng;WANG Lei;BAO Lixu(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Zhejiang Province Key Laboratory of Transplanting Equipment and Technology,Hangzhou 310018,China;Zhejiang Provincial Key Laboratory of Agricultural Intelligent Perception and Robotics,Hangzhou 310018,China;Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China(Co-construction by Ministry and Province),Ministry of Agriculture and Rural Affairs,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江省种植装备技术重点实验室,杭州310018 [3]浙江省全省农业智能感知与机器人重点实验室,杭州310018 [4]农业农村部东南丘陵山地农业装备重点实验室(部省共建),杭州310018

出　　处：《农业机械学报》2024年第11期285-293,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2022YFD2001800);国家自然科学基金项目(52305290、52075497);浙江省自然科学基金项目(LTGN23E050002)。

摘　　要：为进一步提高蔬菜钵苗自动移栽机纵向送盘机构的精确性与稳定性,提出一种由凸轮连杆与扇形齿轮驱动的四连杆纵向送盘机构。首先,通过分析纵向送盘工作过程,确定机构设计要求与整体方案,规划理想的纵向送盘轨迹,建立了纵向送盘机构轨迹综合模型,并利用遗传算法进行了初步求解。然后,基于Matlab GUI开发了纵向送盘机构可视化计算机辅助优化分析软件,获得满足设计要求的纵向送盘机构设计参数。最后,对纵向送盘机构进行了结构设计、仿真分析和试验验证,结果表明:试验实际轨迹与理论、仿真轨迹基本一致;移栽效率为80、90株/(min·行)时,机构单次送盘误差均在±1.5 mm以内,且多次送盘后没有出现累积误差,同时通过取苗试验观察发现纵向送盘机构与取苗机构配合良好,验证了机构设计的合理性。In order to further improve the accuracy and stability of the longitudinal feeding mechanism of vegetable pot seedling automatic transplanter,a four-link longitudinal feeding mechanism driven by CAM link and sector gear was proposed.First of all,by analyzing the process of longitudinal disk feeding,the design requirements and overall scheme of the mechanism were determined,the ideal longitudinal disk feeding trajectory was planned,the comprehensive model of longitudinal disk feeding mechanism trajectory was established,and the preliminary solution was carried out by genetic algorithm.Then,based on Matlab GUI,the visualization computer aided optimization analysis software of the vertical disk feeding mechanism was developed,and the design parameters of the vertical disk feeding mechanism satisfying the design requirements were obtained.Finally,the structure design,simulation analysis and test verification of the longitudinal disk feeding mechanism were carried out.The results showed that the actual trajectory of the test was basically consistent with the theory and simulation trajectory.When the transplanting efficiency was 80 plants/(min·row) and 90 plants/(min·row),the single feeding error of the mechanism was within±1.5mm,and there was no cumulative error after multiple feeding.At the same time,it was observed that the longitudinal feeding mechanism and the seedling taking mechanism were well coordinated through the seedling taking test,which verified the rationality of the mechanism design.

关 键 词：自动移栽机 纵向送盘 连杆机构 遗传算法 试验 

分 类 号：S223.9[农业科学—农业机械化工程]