摘要
当前我国蔬菜的移栽机械主要为半自动移栽机,其移栽效率取决于人工取苗速度,生产力已不能满足实际需求,两臂回转式自动取苗机构的效率还有提高潜力。为实现高速取苗作业,研究了保持取苗机构回转速度不变情况下,增加取苗臂数量的实现方式。在满足特定取苗动作姿态的前提下,设计了一种三臂回转式蔬菜钵苗取苗机构。以机械取苗代替人工取苗,模拟出了合理的取苗轨迹;基于Visual Basic 6. 0开发辅助分析软件,通过人机交互方式得出一组满足取苗工作要求的机构参数,然后建立该机构的三维模型,完成实体样机装配;取苗机构在35 r/min的回转速度下,取苗速度为105株/(min·行),摄像分析得知,该机构样机运行轨迹与仿真轨迹非常接近,对彩叶草钵苗进行取苗试验,取苗成功率达到91. 2%,证明三臂回转式蔬菜钵苗取苗机构设计的可行性。
At present, the vegetable transplanting machinery in China is mainly semi-automatic transplanting machines. The transplanting efficiency depends on the speed of artificial seedling pick-up, its productivity can no longer meet the market, and the efficiency of two-arm rotary automatic seedling pick-up mechanism also has the potential to improve. In order to realize the high-speed seedling pick-up operation, it was studied to increase the number of seedling pick-up arms in the case of keeping the rotation speed of the seedling pick-up mechanism unchanged. A three-arm rotary vegetable plug seedling pick-up mechanism under the condition of satisfying the specific seedling pick-up action posture was designed. Mechanical seedling pick-up was used instead of artificial seedling pick-up to simulate a reasonable seedling pick-up trajectory. Based on Visual Basic 6.0 auxiliary analysis software was developed and a set of institutional parameters that met the requirements of seedling pick-up work were obtained through human-computer interaction. Then a three-dimensional model of the seedling pick-up mechanism was established and the physical prototype assembly was completed. At rotation speed of 35 r/min, the seedling-picking speed of seedling pick-up mechanism was 105 plants/(min ·row), the running trajectory of the mechanism was very close to the simulation trajectory through camera analysis. The picking seedling test of the Coleus blumei seedlings was carried out and the test showed that the success rate of picking seedling reached 91.2%. It was proved that the design of three-arm rotary vegetable plug seedling pick-up mechanism was feasible.
作者
童俊华
俞高红
朱赢鹏
叶秉良
郑超
黄佳辉
TONG Junhua;YU Gaohong;ZHU Yingpeng;YE Bingliang;ZHENG Chao;HUANG Jiahui(Faculty of Machinery and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China;Zhejiang Provincial Key Laboratory of Transplanting Equipment and Technology, Hangzhou 310018, China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2019年第1期113-121,共9页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(51505429
51575495)
浙江省自然科学基金项目(LZ16E050003)
关键词
蔬菜钵苗
取苗机构
三臂回转式
工作机理
参数优化
vegetable plug seedling
seedling pick-up mechanism
three-arm rotary type
work principle
parameter optimization
