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全自動草莓缽苗移栽機構優(yōu)化設計與試驗
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國家自然科學基金面上項目(51775104)和黑龍江省應用技術研究與開發(fā)計劃重大項目(GA16B302)


Optimization Design and Experiment of Full-automatic Strawberry Potted Seedling Transplanting Mechanism
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    摘要:

    為了實現(xiàn)草莓缽苗機械化移栽,,根據(jù)草莓種植農(nóng)藝要求,,提出了一種Hermite插值非圓齒輪行星輪系全自動草莓缽苗移栽機構,用一套回轉機構依次完成取苗,、輸送,、挖穴與栽植4個移栽工序,滿足了草莓缽苗移栽所需的軌跡與姿態(tài)要求,,保證了所取秧苗和所挖穴口的精準配合,。根據(jù)移栽機構的工作原理,建立了運動學理論模型,,并結合設定的優(yōu)化目標,,基于Visual Basic 60 設計了計算機輔助分析優(yōu)化設計軟件,通過優(yōu)化得到了一組滿足移栽要求的機構參數(shù),。根據(jù)優(yōu)化的參數(shù)對機構進行了二維設計,、三維建模,,通過ADAMS軟件完成了虛擬樣機仿真,,應用3D打印技術制作了物理樣機。在所搭建的草莓缽苗移栽試驗臺架上,,利用高速攝像技術對物理樣機進行了軌跡與姿態(tài)驗證試驗,,通過對比分析得到理論軌跡、虛擬仿真軌跡和臺架試驗軌跡基本一致,,驗證了機構設計的正確性,。并進行了機構的性能試驗,結果表明取苗成功率為92%,,栽植成功率為85%,,平均栽植株距為1729mm,,所挖穴口深度、長度和寬度效果良好,,滿足草莓缽苗移栽要求,。

    Abstract:

    To realize the mechanized transplanting of the strawberry pot seedlings, according to the agricultural requirements of strawberry cultivation, a fullautomatic strawberry potted seedling transplanting mechanism with noncircular gear designed by using fitted Hermite curves as a the noncircular gear pitch curve was proposed, using only one mechanism to complete the four actions such as seedling picking, transporting, digging hole and transplanting. And the transplanting mechanism satisfied the requirements of the strawberry transplanting trajectory and attitude, ensuring the precise coordination of the seedling and the hole. Based on the working principle of the transplanting mechanism, the theoretical model and kinematic characteristics of the transplanting mechanism were analyzed, and the computeraided analysis and optimization software based on Visual Basic 60 was designed and used to obtain a set of parameters which met the transplanting requirements. A virtual prototype of the transplanting mechanism was established and simulated by using the ADAMS software. The physical prototype of the transplanting mechanism was developed by the 3D printing technology, and the transplanting mechanism was mounted on a strawberry transplanting test bench on which highspeed photography experiment was conducted. The results of the theoretical analysis, virtual test, and physical prototype test were essentially identical, which verified the correctness of the mechanism design. The performance test showed that the success rate of seedling picking was 92%, the success rate of planting was 85%, and the average planting distance was 1729mm, the test revealed the depth, length and width of the digging holes met the transplant requirements of strawberry potted seedling.

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許春林,呂志軍,辛亮,趙勻.全自動草莓缽苗移栽機構優(yōu)化設計與試驗[J].農(nóng)業(yè)機械學報,2019,50(8):97-106. XU Chunlin, LV Zhijun, XIN Liang, ZHAO Yun. Optimization Design and Experiment of Full-automatic Strawberry Potted Seedling Transplanting Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2019,50(8):97-106.

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  • 收稿日期:2019-06-25
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  • 在線發(fā)布日期: 2019-08-10
  • 出版日期: 2019-08-10
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