蔬菜穴盘钵苗自动输送技术与机构研究
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摘要
穴盘蔬菜钵苗机械化移栽是争取农时,缩短大田和温室蔬菜生产周期、提高蔬菜产量和经营效益、降低蔬菜成本的关键技术。目前,我国的蔬菜机械化移栽仍是以半自动化为主,穴盘蔬菜钵苗从穴盘中取苗至投入到栽植器的整个过程,都由人工辅助完成。该种栽植方式受到人工喂苗的频率限制,工作效率低,劳动强度大,栽植成本高。研发自动化程度更好的全自动高速蔬菜移栽机,是蔬菜机械化移栽发展的必然趋势。根据移栽农艺技术的要求,按照农机与农艺相结合的原则,本文以番茄与辣椒这两种不同类型的钵苗为研究对象,通过钵苗钵体的力学特性、自动取苗技术、自动送苗技术与自动投苗技术研究及实现这些技术的机械机构设计与作业参数优化,为全自动高速移栽机的研制提供基础技术支持。本文主要在以下几个方面进行了研究。
在40%、50%及60%左右的钵体含水率条件下,以泥炭、珍珠岩及蛭石三种原料不同配比基质培育的番茄钵苗与辣椒钵苗为研究对象,以20mm/s、30mm/s及40mm/s三种顶杆顶出速度顶出钵苗时,测试钵体与穴孔壁之间的附着力与顶杆项出位移之间的关系,确定钵苗被顶出至钵体脱离穴孔壁时的钵体脱离位移值,测定顶杆对钵苗钵体的损伤程度,为后续取苗机构的设计提供了依据。
依据钵苗自动输送总体技术要求,设计并优化了机构组成方案,即：采用了步进电动机与同步带组合机构完成自动送盘及自动送苗动作的方案；采用了具有急回特性的偏置曲柄滑块机构完成自动取苗动作的方案。
依据钵苗钵体力学特性的研究结果,对自动取苗机构进行了理论分析与计算,包括自动顶苗机构及自动接苗机构的理论分析,确定了最佳机构参数,并进行了运动学及动力学仿真分析,验证了取苗机构设计的合理性。设计了自动接苗机构,实现了最高达到120株／分的钵苗输送速度。设计了自动同步精准投苗机构,实现了“零速”投苗,保证了自动投苗的成功率。
运用Pro/E软件建立了自动送盘机构、自动取苗机构、自动送苗机构及自动投苗机构的三维整机模型并进行了虚拟装配与仿真,对具体结构进行了多轮优化设计,最终确定了最佳机构参数并试制了样机。
采用了PLC控制系统,选择了适合的PLC系统与控制传感器,组建了PLC硬件控制系统,研究了控制时序及算法,开发了相应的软件,实现了对整个系统的协调控制。
最后,开展了钵苗自动输送机构的验证试验,针对样机进行了自动送盘、自动取苗、自动送苗及自动投苗试验,取得了较好的试验效果,验证了蔬菜钵苗自动输送机构设计的合理性。
Mechanized transplanting technology for vegetable potted-seedling is a key technology to short vegetable production periodim in field and greenhouse, prove the vegetables production and reduce the cost of the vegetables. At present, our country's vegetables mechanized transplanter is still predominated by the semi-automatic transplanter, it is done by the artificial auxiliary from the moment that the potted-seedling is taken from the pot to the moment that the potted-seedling is casted into the planting unit. In this way, because of artificial auxiliary operation, the operating speed of transplanting will be limited by the labor intensity, so it is low working efficiency and high planting cost. It is the inevitable development trend of mechanized transplanting to develop the high performance full-automatic high-speed transplanter for vegetables. According to the requirement of the agronomic techniques for transplanting and the principle of combining agricultural machinery and agronomy, the two different types of potted-seedling of the tomatoes and the peppers, as a research object,is studied in this paper, their mechanical properties is studied, the technology of taking potted-seeding automatically, sending potted-seeding automatically and casting potted-seeding automatically based on them is studied, the best mechanism and operating parameters that make these technologies applied is still studied. all of these will provide the necessary reference for the automatic high-speed transplanter. the study will be shown in the following aspects.
Take the potted-seedling of the tomatoes and the peppers as a research object, which are grown at the culture substrates of peat,perlite and roseite and the moisture of about40%,50%and60%, the relation between the displacement of push rod and the adhesive force between the pot and the seedling is studied when the potted-seedling is pushed out at the speed of20mm/s,30mm/s and40mm/s. the displacement value when the potted-seedling is separated from the pot is obtained, the damage degree of potted-seedling is studied, all of those offer the design reference for the study of the automatic picking seedling mechanism subsequently.
According to the general technical requirement of the automatic conveyance for vegetable potted-seedling. the mechanism plan is designed and optimized, ultimately, the plan is adopted which the stepping motor and the synchronous belt is combined to finish the automatic offering the pot and the seedling movement, the plan is adopt whicht he offset slider-crank mechanism with quick-return characteristics is apllied to finish the automatic picking seedling movement.
According to the study result of the mechanical characteristics of potted-seedling, the automatic picking seedling mechanism is analyzed in theory, it contains the pushing seedling mechanism and the catching seedling mechanism. finally, the optical mechanism parameters is obtained. the kinematics analysis and the kinetic analysis for the automatic picking seedling mechanism is simulated in the computer. the design rationality of the automatic picking seedling mechanism is verified. the catching seedling mechanism is designed, the maximum conveying speed is up to120plants per minute. the automatically, synchronous and accurate casting potted-seedling mechanism is designed, that the speed of casting seedling is relatively zero is realized and the success rate of the automatic casting potted-seedling is ensured.
the three-dimensional model of the automatic offering pot mechanism, the automatic picking seedling mechanism, the automatic offering seedling mechanism and the automatic casting seedling mechanism for vegetable potted-seedling are designed in the software of Pro/E, the virtual assembly and simulation is finished and the mechanical structure is optimally designed many times in the computer, ultimately, the optimal mechanism parameters is confirmed and the prototype machine is manufactured.
The PLC control system is adopted, the appropriate PLC control system and the appropriate sensors is selected and built. the control the timing and algorithm is studied, the control programs is wrote. the coordinated control of the prototypes machine system is realized.
Finally, the verification test of automatic conveying mechanism for vegetable potted-seedling is designed and tested on the prototypes machine, the test of the automatic offering pot, the automatic picking seedling, the automatic offering seedling and the automatic casting seedling is tested respectively, the better test results is achieved and the automatic conveying mechanism rationality for vegetable potted-seedling is verified.
在40%、50%及60%左右的钵体含水率条件下,以泥炭、珍珠岩及蛭石三种原料不同配比基质培育的番茄钵苗与辣椒钵苗为研究对象,以20mm/s、30mm/s及40mm/s三种顶杆顶出速度顶出钵苗时,测试钵体与穴孔壁之间的附着力与顶杆项出位移之间的关系,确定钵苗被顶出至钵体脱离穴孔壁时的钵体脱离位移值,测定顶杆对钵苗钵体的损伤程度,为后续取苗机构的设计提供了依据。
依据钵苗自动输送总体技术要求,设计并优化了机构组成方案,即：采用了步进电动机与同步带组合机构完成自动送盘及自动送苗动作的方案；采用了具有急回特性的偏置曲柄滑块机构完成自动取苗动作的方案。
依据钵苗钵体力学特性的研究结果,对自动取苗机构进行了理论分析与计算,包括自动顶苗机构及自动接苗机构的理论分析,确定了最佳机构参数,并进行了运动学及动力学仿真分析,验证了取苗机构设计的合理性。设计了自动接苗机构,实现了最高达到120株／分的钵苗输送速度。设计了自动同步精准投苗机构,实现了“零速”投苗,保证了自动投苗的成功率。
运用Pro/E软件建立了自动送盘机构、自动取苗机构、自动送苗机构及自动投苗机构的三维整机模型并进行了虚拟装配与仿真,对具体结构进行了多轮优化设计,最终确定了最佳机构参数并试制了样机。
采用了PLC控制系统,选择了适合的PLC系统与控制传感器,组建了PLC硬件控制系统,研究了控制时序及算法,开发了相应的软件,实现了对整个系统的协调控制。
最后,开展了钵苗自动输送机构的验证试验,针对样机进行了自动送盘、自动取苗、自动送苗及自动投苗试验,取得了较好的试验效果,验证了蔬菜钵苗自动输送机构设计的合理性。
Mechanized transplanting technology for vegetable potted-seedling is a key technology to short vegetable production periodim in field and greenhouse, prove the vegetables production and reduce the cost of the vegetables. At present, our country's vegetables mechanized transplanter is still predominated by the semi-automatic transplanter, it is done by the artificial auxiliary from the moment that the potted-seedling is taken from the pot to the moment that the potted-seedling is casted into the planting unit. In this way, because of artificial auxiliary operation, the operating speed of transplanting will be limited by the labor intensity, so it is low working efficiency and high planting cost. It is the inevitable development trend of mechanized transplanting to develop the high performance full-automatic high-speed transplanter for vegetables. According to the requirement of the agronomic techniques for transplanting and the principle of combining agricultural machinery and agronomy, the two different types of potted-seedling of the tomatoes and the peppers, as a research object,is studied in this paper, their mechanical properties is studied, the technology of taking potted-seeding automatically, sending potted-seeding automatically and casting potted-seeding automatically based on them is studied, the best mechanism and operating parameters that make these technologies applied is still studied. all of these will provide the necessary reference for the automatic high-speed transplanter. the study will be shown in the following aspects.
Take the potted-seedling of the tomatoes and the peppers as a research object, which are grown at the culture substrates of peat,perlite and roseite and the moisture of about40%,50%and60%, the relation between the displacement of push rod and the adhesive force between the pot and the seedling is studied when the potted-seedling is pushed out at the speed of20mm/s,30mm/s and40mm/s. the displacement value when the potted-seedling is separated from the pot is obtained, the damage degree of potted-seedling is studied, all of those offer the design reference for the study of the automatic picking seedling mechanism subsequently.
According to the general technical requirement of the automatic conveyance for vegetable potted-seedling. the mechanism plan is designed and optimized, ultimately, the plan is adopted which the stepping motor and the synchronous belt is combined to finish the automatic offering the pot and the seedling movement, the plan is adopt whicht he offset slider-crank mechanism with quick-return characteristics is apllied to finish the automatic picking seedling movement.
According to the study result of the mechanical characteristics of potted-seedling, the automatic picking seedling mechanism is analyzed in theory, it contains the pushing seedling mechanism and the catching seedling mechanism. finally, the optical mechanism parameters is obtained. the kinematics analysis and the kinetic analysis for the automatic picking seedling mechanism is simulated in the computer. the design rationality of the automatic picking seedling mechanism is verified. the catching seedling mechanism is designed, the maximum conveying speed is up to120plants per minute. the automatically, synchronous and accurate casting potted-seedling mechanism is designed, that the speed of casting seedling is relatively zero is realized and the success rate of the automatic casting potted-seedling is ensured.
the three-dimensional model of the automatic offering pot mechanism, the automatic picking seedling mechanism, the automatic offering seedling mechanism and the automatic casting seedling mechanism for vegetable potted-seedling are designed in the software of Pro/E, the virtual assembly and simulation is finished and the mechanical structure is optimally designed many times in the computer, ultimately, the optimal mechanism parameters is confirmed and the prototype machine is manufactured.
The PLC control system is adopted, the appropriate PLC control system and the appropriate sensors is selected and built. the control the timing and algorithm is studied, the control programs is wrote. the coordinated control of the prototypes machine system is realized.
Finally, the verification test of automatic conveying mechanism for vegetable potted-seedling is designed and tested on the prototypes machine, the test of the automatic offering pot, the automatic picking seedling, the automatic offering seedling and the automatic casting seedling is tested respectively, the better test results is achieved and the automatic conveying mechanism rationality for vegetable potted-seedling is verified.
引文
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