自动移栽机整排取苗间隔投苗控制系统设计与试验
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摘要
针对自动移栽机取苗控制精度、协调配合等问题,结合自主设计的自动移栽机取苗、投苗及分苗系统结构及其工作原理,基于可编程控制器PLC设计了一种整排取苗间隔投苗控制系统。该控制系统采用3个行程开关I1、I2、I3检测翻转取苗状态,实现取苗爪针在插入苗钵过程中逐渐收缩的过程,减少了对钵体内部的损伤;运用光电传感器感应分苗杯位置和数量,以增量式编码器获取分苗杯运动位移,通过两者配合完成苗钵在最佳投苗点投苗;选用72孔和128孔穴盘、20 d苗龄的黄瓜苗进行取苗、投苗栽植试验,检测控制系统性能。试验结果表明:在栽植频率40~70株/min范围内,两种穴盘苗的取苗投苗综合成功率均高于95%,平均值为97.98%,随着栽植频率的增加,取苗投苗综合成功率有所下降,但变化不大,证明设计的控制系统能适用不同规格苗盘、不同栽植频率下的自动移栽,达到高效自动移栽目的。
Based on programmable controller PLC,a kind of control system that can pick up a row of tray seedlings and alternately cast tray seedlings was designed,it can be used for self-designed automatic transplanting machine and solving the problem of high precision and difficult coordination of the automatic transplanting machine. In order to reduce the inner damage of seedlings,the control system detects the status of picking process by three travel switches I1,I2 and I3 to make the picking seedling claws gradually stretching in inserting process. Using the photoelectric sensor to detect the position and quantity of seedling cups,and obtain its motion displacement by incremental encoder,therefore,the seedling pot was shot at the best casting place by their combination. Using 20 d cucumber seedlings in 72-holes and128-holes seedling trays respectively, the experiments were conducted to test picking and casting performance of the control system. The results showed that if the planting frequency was between 40 and70 plants per minute,the success rate of picking and casting was more than 95%,with average value of97. 98%. As the increase of planting frequency,the success rate dropped but changed a little,which proved that the autonomous designed control system can be used in different seedling trays and planting frequencies,achieving the goal of high-efficiency transplanting.
Based on programmable controller PLC,a kind of control system that can pick up a row of tray seedlings and alternately cast tray seedlings was designed,it can be used for self-designed automatic transplanting machine and solving the problem of high precision and difficult coordination of the automatic transplanting machine. In order to reduce the inner damage of seedlings,the control system detects the status of picking process by three travel switches I1,I2 and I3 to make the picking seedling claws gradually stretching in inserting process. Using the photoelectric sensor to detect the position and quantity of seedling cups,and obtain its motion displacement by incremental encoder,therefore,the seedling pot was shot at the best casting place by their combination. Using 20 d cucumber seedlings in 72-holes and128-holes seedling trays respectively, the experiments were conducted to test picking and casting performance of the control system. The results showed that if the planting frequency was between 40 and70 plants per minute,the success rate of picking and casting was more than 95%,with average value of97. 98%. As the increase of planting frequency,the success rate dropped but changed a little,which proved that the autonomous designed control system can be used in different seedling trays and planting frequencies,achieving the goal of high-efficiency transplanting.
引文
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9吴俭敏,颜华,金鑫,等.移栽机送盘装置与定位控制系统研究[J/OL].农业机械学报,2013,44(增刊1):14-18.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s103&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.003.WU Jianmin,YAN Hua,JIN Xin,et al.Research on disk conveying device and positioning control system for transplanter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):14-18.(in Chinese)
10魏新华,包盛,刘晓凯,等.穴盘苗全自动移栽机运动协调控制系统设计与移栽试验[J/OL].农业机械学报,2016,47(12):1-7,52.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20161201&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.12.001.WEI Xinhua,BAO Sheng,LIU Xiaokai,et al.Design and experiment on potted-seedling automatic transplanter control system for motion coordinating[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):1-7,52.(in Chinese)
11严宵月,胡建平,吴福华,等.整排取苗间隔放苗移栽机设计与试验[J/OL].农业机械学报,2013,44(增刊1):7-13.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s102&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.002.YAN Xiaoyue,HU Jianping,WU Fuhua,et al.Design and experiment of full-row-pick-up and single-dropping seedling[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):7-13.(in Chinese)
12江苏大学.旱地移栽机整排取苗间隔放苗装置:CN102342206A[P].2012-02-08.
13郭林强.穴盘苗全自动移栽机气动取苗装置的设计与试验[D].镇江:江苏大学,2016.GUO Linqiang.Design and test on the pneumatic taking seedling mechanism of auto-transplanter[D].Zhenjiang:Jiangsu University,2016.(in Chinese)
14 KUMAR G V P,RAHEMAN H.Development of a walk-behind type hand tractor powered vegetable transplanter for paper pot seedlings[J].Biosystems Engineering,2011,110(2):189-197.
15王侨,曹卫彬,张振国,等.穴盘苗自动取苗机构的自适应模糊PID定位控制[J].农业工程学报,2013,29(12):32-39.WANG Qiao,CAO Weibin,ZHANG Zhenguo,et al.Location control of automatic pick-up plug seedlings mechanism based on adaptive fuzzy-PID[J].Transactions of the CSAE,2013,29(12):32-39.(in Chinese)
16杨丽红.蔬菜钵苗全自动移栽机控制系统设计及研究[D].镇江:江苏大学,2017.YANG Lihong.Design and analysis of control system of automatic vegetable transplanting machine[D].Zhenjiang:Jiangsu University,2017.(in Chinese)
17田素博,邱立春,张诗.基于PLC的穴盘苗移栽机械手控制系统设计[J].沈阳农业大学学报,2007,38(1):122-124.TIAN Subo,QIU Lichun,ZHANG Shi.Control system of transplanting potted seedling manipulator based on PLC[J].Journal of Shenyang Agricultural University,2007,38(1):122-124.(in Chinese)
18倪有亮,金诚谦,刘基.全自动移栽机取送苗系统的设计与试验[J].农业工程学报,2015,31(23):10-19.NI Youliang,JIN Chengqian,LIU Ji.Design and experiment of system for picking up and delivering seedlings in automatic transplanter[J].Transactions of the CSAE,2015,31(23):10-19.(in Chinese)
19王小祥.增量式旋转编码器的简介与应用[J].数字技术与应用,2016(10):118-119.
20胡敏娟,尹文庆,胡飞,等.穴盘苗自动取苗试验系统的研制[J].南京农业大学学报,2011,34(3):122-126.HU Minjuan,YIN Wenqing,HU Fei,et al.Development of test system for automatic pick-up plug seedlings[J].Journal of Nanjing Agricultural University,2011,34(3):122-126.(in Chinese)
2张敏,冯江,宫成宇,等.全自动旱田移栽机顶出机构的机理分析[J].农机化研究,2014,36(3):85-89.ZHANG Min,FENG Jiang,GONG Chengyu,et al.Analysis on ejector seedlings mechanism of automatic dry farmland transplanting machine[J].Jourmal of Agricultural Mechanizationon Research,2014,36(3):85-89.(in Chinese)
3韩绿化,毛罕平,严蕾,等.穴盘育苗移栽机两指四针钳夹式取苗末端执行器[J/OL].农业机械学报,2015,46(7):23-30.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150704&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.07.004.HAN Lühua,MAO Hanping,YAN Lei,et al.Pincette-type end-effect using two fingers and four pins for picking up seedlings[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):23-30.(in Chinese)
4童俊华,蒋焕煜,蒋卓华,等.钵苗自动移栽机器人抓取指针夹持苗坨参数优化试验[J].农业工程学报,2014,30(16):8-16.TONG Junhua,JIANG Huanyu,JIANG Zhuohua,et al.Experiment on parameter optimization of gripper needles clamping seedling plug for automatic transplanter[J].Transactions of the CSAE,2014,30(16):8-16.(in Chinese)
5俞高红,刘炳华,赵匀,等.椭圆齿轮行星轮系蔬菜钵苗自动移栽机构运动机理分析[J].农业机械学报,2011,42(4):53-57.YU Gaohong,LIU Binghua,ZHAO Yun,et al.Kinematic principle analysis of transplanting mechanism with planetary elliptic gears in automatic vegetable transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(4):53-57.(in Chinese)
6王蒙蒙,宋建农,刘彩玲,等.蔬菜移栽机曲柄摆杆式夹苗机构的设计与试验[J].农业工程学报,2015,31(14):49-57.WANG Mengmeng,SONG Jiannong,LIU Cailing,et al.Design and experiment of crank rocker type clamp seedlings mechanism of vegetable transplanter[J].Transactions of the CSAE,2015,31(14):49-57.(in Chinese)
7韩长杰,郭辉,张学军,等.硬质穴盘苗自动取苗装置设计[J].农业工程,2013,3(4):99-102.HAN Changjie,GUO Hui,ZHANG Xuejun,et al.Design of automatic hard-plug-seedlings pick device[J].Agricultural Engineering,2013,3(4):99-102.(in Chinese)
8韩长杰,杨宛章,张学军,等.穴盘苗移栽机自动取喂系统的设计与试验[J].农业工程学报,2013,29(8):51-61.HAN Changjie,YANG Wanzhang,ZHANG Xuejun,et al.Design and test of automatic feed system for tray seedlings transplanter[J].Transactions of the CSAE,2013,29(8):51-61.(in Chinese)
9吴俭敏,颜华,金鑫,等.移栽机送盘装置与定位控制系统研究[J/OL].农业机械学报,2013,44(增刊1):14-18.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s103&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.003.WU Jianmin,YAN Hua,JIN Xin,et al.Research on disk conveying device and positioning control system for transplanter[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):14-18.(in Chinese)
10魏新华,包盛,刘晓凯,等.穴盘苗全自动移栽机运动协调控制系统设计与移栽试验[J/OL].农业机械学报,2016,47(12):1-7,52.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20161201&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.12.001.WEI Xinhua,BAO Sheng,LIU Xiaokai,et al.Design and experiment on potted-seedling automatic transplanter control system for motion coordinating[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):1-7,52.(in Chinese)
11严宵月,胡建平,吴福华,等.整排取苗间隔放苗移栽机设计与试验[J/OL].农业机械学报,2013,44(增刊1):7-13.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=2013s102&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2013.S1.002.YAN Xiaoyue,HU Jianping,WU Fuhua,et al.Design and experiment of full-row-pick-up and single-dropping seedling[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp.1):7-13.(in Chinese)
12江苏大学.旱地移栽机整排取苗间隔放苗装置:CN102342206A[P].2012-02-08.
13郭林强.穴盘苗全自动移栽机气动取苗装置的设计与试验[D].镇江:江苏大学,2016.GUO Linqiang.Design and test on the pneumatic taking seedling mechanism of auto-transplanter[D].Zhenjiang:Jiangsu University,2016.(in Chinese)
14 KUMAR G V P,RAHEMAN H.Development of a walk-behind type hand tractor powered vegetable transplanter for paper pot seedlings[J].Biosystems Engineering,2011,110(2):189-197.
15王侨,曹卫彬,张振国,等.穴盘苗自动取苗机构的自适应模糊PID定位控制[J].农业工程学报,2013,29(12):32-39.WANG Qiao,CAO Weibin,ZHANG Zhenguo,et al.Location control of automatic pick-up plug seedlings mechanism based on adaptive fuzzy-PID[J].Transactions of the CSAE,2013,29(12):32-39.(in Chinese)
16杨丽红.蔬菜钵苗全自动移栽机控制系统设计及研究[D].镇江:江苏大学,2017.YANG Lihong.Design and analysis of control system of automatic vegetable transplanting machine[D].Zhenjiang:Jiangsu University,2017.(in Chinese)
17田素博,邱立春,张诗.基于PLC的穴盘苗移栽机械手控制系统设计[J].沈阳农业大学学报,2007,38(1):122-124.TIAN Subo,QIU Lichun,ZHANG Shi.Control system of transplanting potted seedling manipulator based on PLC[J].Journal of Shenyang Agricultural University,2007,38(1):122-124.(in Chinese)
18倪有亮,金诚谦,刘基.全自动移栽机取送苗系统的设计与试验[J].农业工程学报,2015,31(23):10-19.NI Youliang,JIN Chengqian,LIU Ji.Design and experiment of system for picking up and delivering seedlings in automatic transplanter[J].Transactions of the CSAE,2015,31(23):10-19.(in Chinese)
19王小祥.增量式旋转编码器的简介与应用[J].数字技术与应用,2016(10):118-119.
20胡敏娟,尹文庆,胡飞,等.穴盘苗自动取苗试验系统的研制[J].南京农业大学学报,2011,34(3):122-126.HU Minjuan,YIN Wenqing,HU Fei,et al.Development of test system for automatic pick-up plug seedlings[J].Journal of Nanjing Agricultural University,2011,34(3):122-126.(in Chinese)