穴盘苗夹取力学试验台设计与测试分析  

Design and test analysis of the seedling pick-up mechanical equipment for automatic transplanting

作　　者：韩绿化[1] 王琰[1] 杜学武 许倩倩 马国鑫 刘洋[3] 毛罕平[1] HAN Lyuhua;WANG Yan;DU Xuewu;XU Qianqian;MA Guoxin;LIU Yang;MAO Hanping(Key Laboratory of Modern Agricultural Equipment and Technolog,Ministry of Education,Jiangsu University,Zhenjiang 212013,China;High-tech Key Laboratory of Agricultural Equipment&Intelligentization of Jiangsu Province,Zhenjiang 212013,China;Mechanical Equipment Research Insistute,Xinjiang Academy of Agricultural and Reclamation Science,Shihezi 832000,China)

机构地区：[1]江苏大学现代农业装备与技术教育部重点实验室,镇江212013 [2]江苏省农业装备与智能化高技术研究重点实验室,镇江212013 [3]新疆农垦科学院机械装备研究所,石河子832000

出　　处：《农业工程学报》2025年第7期47-55,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(52365037、51975258);江苏省农业科技自主创新资金项目(CX(24)3031);江苏高校优势学科建设工程(四期)项目(PAPD-2023-87);现代农业产业技术体系(CARS-23-D03);江苏省自然科学青年基金项目(BK20240880)。

摘　　要：针对穴盘苗自动移栽苗钵夹取受力不清的问题,设计了一种由直线模组带动的多针钳夹式取苗力学试验台。采用气缸驱动方式构造出活动可调的多针夹钵取苗执行器,配置滚珠丝杠直线滑台模组驱动夹取执行器,组合位移传感器、拉压力传感器以及高精度控制与数据采集系统精准检测取苗瞬态过程的位移量和作用力值变化。开展夹钵取苗力学测试,研究发现取苗过程是滑针斜插、平行夹持、提升移位等多种夹取动作交织组合作用的过程,苗钵在滑针斜插与平行夹持作用下有集聚松动脱盘的趋势,夹钵取苗的作用力主要用来克服苗钵与穴孔之间建立的粘附力。进行取苗力学特性分析,结果显示粗细两种夹取针的斜插力有极显著性差异(P<0.01),取苗运行速度对脱盘力、提取力的影响极显著(P<0.01),两种夹取作用力有相关性。整体上弹性纤细夹取针的取苗作用对苗钵的扰动小,成功取苗需要夹取针深入夹持苗钵脱盘。采用插-夹-拔组合式取苗操作,苗钵的完整率在97%以上。研究结果可为穴盘苗夹取受力分析、高效低损取苗机构优化设计提供指导。Efficient rotation of cropping production is often required for automatic transplanting devices.However,seedling damage can frequently be found during operation.There are some challenges to the success of seedling transplanting.It is very important to understand the force condition of picking up seedlings in the process of automatic transplanting.In this study,a multi-pin pincette mechanical equipment was designed to examine various force conditions.The dynamic analysis was also carried out to pick up the seedlings from the growing tray cells.Among them,the pincette-type end effector was driven by multiple cylinders.Two fingers and four needles were efficiently configured for picking up seedlings.The ball screw linear was constructed to move the pincette-type end effector for picking up seedlings.The displacement sensor was selected to accurately detect the displacement.The tension/pressure sensor was utilized to examine the applied forces in the process of automatic picking.The high precision control and data acquisition were constructed using these sensors.Single-factor and orthogonal tests were conducted to take the target parameters as the size of the sliding needle and the running speed of picking seedlings.The mechanical test of grasping and picking root lumps for automatic transplanting vegetable seedlings was carried out under the different influencing factors.It was found that picking seedlings was a combination of multiple mechanical actions,such as inclined penetration,parallel grasping,and vertical extraction of sliding needles.A better performance was achieved in the sudden squeezing of the seedlings by the sliding needles at the maximum depth of penetration.Their roots were then loosened to take away from the growing tray cells.The grasping deformation of the root lumps was furthermore maintained to completely break away from the adhesion of the tray cells,in order to successfully pick up seedlings.The dynamic analysis was performed on picking up seedlings from their growing tray cells,according to

关 键 词：穴盘苗 移栽机 取苗机构 力学测试 脱盘力 提取力 

分 类 号：S223.92[农业科学—农业机械化工程]