整排穴盘苗移栽机取送苗装置的设计与研究
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摘要
针对目前新疆半自动移栽效率低、取苗机构轨迹复杂及取苗机构与苗盘运动协调困难等问题,设计了整排夹持式辣椒穴盘苗移栽机取送苗装置;阐述了取送苗装置整体工作原理及工作过程,并对其整体结构及整排夹持部件进行了设计。工作时,步进电机驱动送苗机构完成整排取苗手从取苗位置到放苗位置的往复运动,由接近开关对各关键位置进行标定,气缸驱动整排取苗手完成取放苗动作。在ADAMS中建立取送苗平台仿真模型,分析了不同运动规律下的定位精度,并构建电气控制系统,以PLC为核心,设计触控屏界面,完成控制系统搭建与调试。
At present,semi-autoatic transplanting machine is the main equipment for dry land crops transplanting in Xin Jiang Province and the structure of picking-up-seedling device is complicated in automatic tansplanter. At the same time,the motion between the picking-up device and disk conveying device is difficult to coordinate. To improve the automation and efficiency of plug seedling transplanter,and simplify the mechanical structure and the motion of disk conveying device,full-row-pincette-type picking-up and delivering seedling mechanism of potted-seedling automatic transplanter is designed,which was applicable for transplanting from plug trays to the potted-seedling-conveyor by full-row-pincette-type. Based on the working process and principle of the transplanting machine,the mechanism structure of the whole machine and the component for full-row-pincette was designed. Stepping motors were used for driving the picking-up-seedling device horizontal and vertical reciprocating motion which was located by sensors.Groups of cylinders were used for helping the end-effector to move down,picking the seedlings from the tray and dropping the seedlings into the potted-seedling-conveyor. The model of picking-up and delivering seedling mechaniosm was established and simulated in ADAMS and analyse the location accuracies under different styles of motion. Completing and debugging the man-machine electric system based on PLC was configured for the prototype.
At present,semi-autoatic transplanting machine is the main equipment for dry land crops transplanting in Xin Jiang Province and the structure of picking-up-seedling device is complicated in automatic tansplanter. At the same time,the motion between the picking-up device and disk conveying device is difficult to coordinate. To improve the automation and efficiency of plug seedling transplanter,and simplify the mechanical structure and the motion of disk conveying device,full-row-pincette-type picking-up and delivering seedling mechanism of potted-seedling automatic transplanter is designed,which was applicable for transplanting from plug trays to the potted-seedling-conveyor by full-row-pincette-type. Based on the working process and principle of the transplanting machine,the mechanism structure of the whole machine and the component for full-row-pincette was designed. Stepping motors were used for driving the picking-up-seedling device horizontal and vertical reciprocating motion which was located by sensors.Groups of cylinders were used for helping the end-effector to move down,picking the seedlings from the tray and dropping the seedlings into the potted-seedling-conveyor. The model of picking-up and delivering seedling mechaniosm was established and simulated in ADAMS and analyse the location accuracies under different styles of motion. Completing and debugging the man-machine electric system based on PLC was configured for the prototype.
引文
[1]张振国,曹卫彬,王侨,等.穴盘苗自动移栽机的发展现状与展望[J].农机化研究,2013,35(5):237-241.
[2]韩长杰,张学军,杨宛章,等.旱地钵苗自动移栽技术现状与分析[J].农机化研究,2011,33(11):238-240.
[3]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.
[4]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].农业机械学报,2016,47(12):1-7,52.
[5]杨传华,方宪法,杨学军,等.基于PLC的蔬菜钵苗移栽机自动输送装置[J].农业机械学报,2013,44(S1):19-23,18.
[6]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.
[7]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].农业机械学报,2013,44(S1):7-13.
[8]韩绿化,毛罕平,胡建平,等.温室穴盘苗自动移栽机设计与试验[J].农业机械学报,2016,47(11):59-67.
[9]胡建平,张晨迪,王留柱,等.全自动温室钵苗移栽机设计与试验[J].农业机械学报,2016,47(S1):149-154.
[10]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.
[2]韩长杰,张学军,杨宛章,等.旱地钵苗自动移栽技术现状与分析[J].农机化研究,2011,33(11):238-240.
[3]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.
[4]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].农业机械学报,2016,47(12):1-7,52.
[5]杨传华,方宪法,杨学军,等.基于PLC的蔬菜钵苗移栽机自动输送装置[J].农业机械学报,2013,44(S1):19-23,18.
[6]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.
[7]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].农业机械学报,2013,44(S1):7-13.
[8]韩绿化,毛罕平,胡建平,等.温室穴盘苗自动移栽机设计与试验[J].农业机械学报,2016,47(11):59-67.
[9]胡建平,张晨迪,王留柱,等.全自动温室钵苗移栽机设计与试验[J].农业机械学报,2016,47(S1):149-154.
[10]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.