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全自動(dòng)草莓缽苗移栽機(jī)構(gòu)優(yōu)化設(shè)計(jì)與試驗(yàn)
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國(guó)家自然科學(xué)基金面上項(xiàng)目(51775104)和黑龍江省應(yīng)用技術(shù)研究與開發(fā)計(jì)劃重大項(xiàng)目(GA16B302)


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

    為了實(shí)現(xiàn)草莓缽苗機(jī)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(dòng)草莓缽苗移栽機(jī)構(gòu),用一套回轉(zhuǎn)機(jī)構(gòu)依次完成取苗、輸送、挖穴與栽植4個(gè)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(zhǔn)配合。根據(jù)移栽機(jī)構(gòu)的工作原理,建立了運(yùn)動(dòng)學(xué)理論模型,并結(jié)合設(shè)定的優(yōu)化目標(biāo),基于Visual Basic 60 設(shè)計(jì)了計(jì)算機(jī)輔助分析優(yōu)化設(shè)計(jì)軟件,通過(guò)優(yōu)化得到了一組滿足移栽要求的機(jī)構(gòu)參數(shù)。根據(jù)優(yōu)化的參數(shù)對(duì)機(jī)構(gòu)進(jìn)行了二維設(shè)計(jì)、三維建模,通過(guò)ADAMS軟件完成了虛擬樣機(jī)仿真,應(yīng)用3D打印技術(shù)制作了物理樣機(jī)。在所搭建的草莓缽苗移栽試驗(yàn)臺(tái)架上,利用高速攝像技術(shù)對(duì)物理樣機(jī)進(jìn)行了軌跡與姿態(tài)驗(yàn)證試驗(yàn),通過(guò)對(duì)比分析得到理論軌跡、虛擬仿真軌跡和臺(tái)架試驗(yàn)軌跡基本一致,驗(yàn)證了機(jī)構(gòu)設(shè)計(jì)的正確性。并進(jìn)行了機(jī)構(gòu)的性能試驗(yàn),結(jié)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(zhǎng)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(dòng)草莓缽苗移栽機(jī)構(gòu)優(yōu)化設(shè)計(jì)與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),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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