全自动蒜种盒提取投放装置设计与试验
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摘要
针对目前大蒜播种机械自动化程度低、蒜种鳞芽朝上率低的现状,基于种盒式大蒜播种方式,设计了一种全自动蒜种盒提取投放装置。该装置主要包括机架、地轮、地轮轴、测速编码器、光电传感器、控制箱、输送装置和提取投放装置,能够实现蒜种盒自动给进、准确抓取、平稳输送、精确投放等功能。设计了机械臂和机械手结构,通过理论分析建立了各关键部件参数数学模型,确定了机械臂和机械手工作参数,探明了机组行进速度对各舵机工作参数的影响规律,明确了影响蒜种盒投放间隙的因素。为了测试蒜种盒投放效果影响进行了试验,结果表明当机组行进速度为0.90 km/h,中心舵机、辅助舵机、控距舵机转速分别为26.04、26.04、13.89 r/min时蒜种盒投放后衔接间隙平均值为5.6 mm,投放效果较优,满足大蒜播种要求。该文研究结果可为实现大蒜播种自动化提供参考。
Garlic is one of the major cash crops in China,and it is mainly distributed in Shandong,Henan and Jiangsu Provinces.Single grain sowing is crucial for garlic planting,it needs to follow the agronomic requirements of root down and scaly bud upward,and therefore garlic planting mainly uses artificial means,but this method has shortcomings of strong labor intensity and low efficiency.Correspondingly,some developed countries like America and Korea have realized garlic planting mechanization in 1950-1960 s,which have extensive arable land and indefinite requirement of garlic scaly bud direction when planting,and thus foreign garlic planting machinery is not suited to China's national conditions.In recent years,the garlic planter is developed towards automation and intelligence.However,existing garlic planter is hard to distinguish the direction of garlic scaly bud,and it also has complex structure and low efficiency.The scaly bud direction distinguishing is a core technology of garlic planter,and it is also the most difficult technical operation.Therefore,how to ensure direction of the garlic seed scaly bud in the process of planting has been a key technical problem of garlic planter.According to present condition,a full-automatic extraction and release device of garlic seed box was designed based on garlic seed box method,and it can automatically track driving according to the travel speed of machine.The full-automatic extraction and release device of garlic seed box consists of drive system,conveying device,extraction and release device,speed encoder,photoelectric sensor and MCU(micro-controller unit) system.The drive system consists of stepper motor,sprocket and chain,and it has 2 parts,and one provides transmission power for the whole machine walking,and the other controls conveying device working.The conveying device consists of conveying belt,roll shaft and bearing housing,the conveying belt is transversely mounted on the frame through roll shaft and bearing housing,and its working state is controlled by MCU system.The conveying device mainly carries out transverse transportation of garlic seed boxes.The extraction and release device consists of steering wheel,central actuator,mechanical arm,auxiliary actuator and manipulator,among which the manipulator consists of U shape rotating frame,L shape mounting panel,distance controlling actuator,special shaped gear disk,connecting rod,connecting arm and claws,and it mainly realizes the functions of garlic seed boxes precision capture,smooth traffic and seamless release.The velocity measurement encoder is used for detecting unit movement speed,and provides speed messages to central actuator and distance controlling actuator.The photoelectric sensor is used to detect whether the garlic box is in place.The garlic seed box planting method reduces the damage of garlic seed and improves work efficiency,and solves the problem of the direction of garlic seed.This paper designed mechanical arm and manipulator,the mathematical model of each key component was established through the theory analysis,and thus the structure and working parameters of mechanical arm and manipulator were determined.At the same time,the influence rule of the speed of device marching on operation parameters of mechanical arm and manipulator was proved,and the influencing factors of the clearance of adjacent garlic seed boxes were specified.The test was carried out for testing the influence of the speed of device marching on the clearance of adjacent garlic seed boxes after they were released.The results showed that when the speed of marching is 0.90 km/h,and the speeds of central actuator,auxiliary actuator and distance controlling actuator are 26.04,26.04,and 13.89 r/min,respectively,the clearance of adjacent garlic seed boxes is less,which is 5.6 mm,and the release effect is better.The machine has better stability and release effect,and work efficiency of device has been improved obviously.The research results can provide reference for realizing automation of garlic planting.
Garlic is one of the major cash crops in China,and it is mainly distributed in Shandong,Henan and Jiangsu Provinces.Single grain sowing is crucial for garlic planting,it needs to follow the agronomic requirements of root down and scaly bud upward,and therefore garlic planting mainly uses artificial means,but this method has shortcomings of strong labor intensity and low efficiency.Correspondingly,some developed countries like America and Korea have realized garlic planting mechanization in 1950-1960 s,which have extensive arable land and indefinite requirement of garlic scaly bud direction when planting,and thus foreign garlic planting machinery is not suited to China's national conditions.In recent years,the garlic planter is developed towards automation and intelligence.However,existing garlic planter is hard to distinguish the direction of garlic scaly bud,and it also has complex structure and low efficiency.The scaly bud direction distinguishing is a core technology of garlic planter,and it is also the most difficult technical operation.Therefore,how to ensure direction of the garlic seed scaly bud in the process of planting has been a key technical problem of garlic planter.According to present condition,a full-automatic extraction and release device of garlic seed box was designed based on garlic seed box method,and it can automatically track driving according to the travel speed of machine.The full-automatic extraction and release device of garlic seed box consists of drive system,conveying device,extraction and release device,speed encoder,photoelectric sensor and MCU(micro-controller unit) system.The drive system consists of stepper motor,sprocket and chain,and it has 2 parts,and one provides transmission power for the whole machine walking,and the other controls conveying device working.The conveying device consists of conveying belt,roll shaft and bearing housing,the conveying belt is transversely mounted on the frame through roll shaft and bearing housing,and its working state is controlled by MCU system.The conveying device mainly carries out transverse transportation of garlic seed boxes.The extraction and release device consists of steering wheel,central actuator,mechanical arm,auxiliary actuator and manipulator,among which the manipulator consists of U shape rotating frame,L shape mounting panel,distance controlling actuator,special shaped gear disk,connecting rod,connecting arm and claws,and it mainly realizes the functions of garlic seed boxes precision capture,smooth traffic and seamless release.The velocity measurement encoder is used for detecting unit movement speed,and provides speed messages to central actuator and distance controlling actuator.The photoelectric sensor is used to detect whether the garlic box is in place.The garlic seed box planting method reduces the damage of garlic seed and improves work efficiency,and solves the problem of the direction of garlic seed.This paper designed mechanical arm and manipulator,the mathematical model of each key component was established through the theory analysis,and thus the structure and working parameters of mechanical arm and manipulator were determined.At the same time,the influence rule of the speed of device marching on operation parameters of mechanical arm and manipulator was proved,and the influencing factors of the clearance of adjacent garlic seed boxes were specified.The test was carried out for testing the influence of the speed of device marching on the clearance of adjacent garlic seed boxes after they were released.The results showed that when the speed of marching is 0.90 km/h,and the speeds of central actuator,auxiliary actuator and distance controlling actuator are 26.04,26.04,and 13.89 r/min,respectively,the clearance of adjacent garlic seed boxes is less,which is 5.6 mm,and the release effect is better.The machine has better stability and release effect,and work efficiency of device has been improved obviously.The research results can provide reference for realizing automation of garlic planting.
引文
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[4]Bakhtiari M R,Loghavi M.Development and evaluation of an innovative garlic clove precision planter[J].Journal of Agricultural Science and Technology,2010,11(2):125-136.
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[6]ТруфлякЕВ,СкоробогаченкоИС,СапрыкинВЮ.Ручнаясеялкаточно-ориентированногопосевазубковчеснокаилуковиц[J].ПолитематическийсетевойэлектронныйнаучныйжурналКубанскогогосударственногоаграрногоуниверситета,2014,104(10):1-17.
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[8]Gajakos A V,Saraf V V,Sinha S,et al.Performance evaluation of manually operated garlic planter[J].International Journal of Agricultural Engineering,2015,8(1):31-38.
[9]Zhang Dengquan,Wu,Yanjuan,Zhang Chuangkai.Vertical planting structure design for planter[J].Applied Mechanics and Materials,2014,654:87-90.
[10]赵丽清,杨然兵,殷元元,等.智能机械臂在大蒜播种机中的应用[J].农机化研究,2014,36(8):104-106.Zhao Liqing,Yang Ranbing,Yin Yuanyuan,et al.The application of the intelligent mechanical arm in the planting of garlic[J].Journal of Agricultural Mechanization Research,2014,36(8):104-106.(in Chinese with English abstract)
[11]王丹阳,钱彬彬,胡旭,等.半自动大蒜栽植机关键部件的设计与试验研究[J].沈阳农业大学学报,2014,45(5):566-572.Wang Danyang,Qian Binbin,Hu Xu,et al.Key components design and experimental research of a semi-automatic garlic transplanter[J].Journal of Shenyang Agricultural University,2014,45(5):566-572.(in Chinese with English abstract)
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[13]谢学虎.大蒜播种机播种机构设计[D].呼和浩特:内蒙古农业大学,2015.Xie Xuehu.Design of Seeding Mechanism for Garlic Sowing Machine[D].Huhhot:Inner Mongolia Agricultural University,2015.(in Chinese with English abstract)
[14]耿爱军,张兆磊,宋占华,等.蒜种盒机械投放过程运动学分析与参数优化试验[J].农业工程学报,2016,32(5):29-35.Geng Aijun,Zhang Zhaolei,Song Zhanhua,et al.Kinematic analysis and parameter optimized experiment of garlic box release process[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2016,32(5):29-35.(in Chinese with English abstract)
[15]张兆磊,耿爱军,李汝莘,等.蒜种振动排序装置设计与试验[J].农机化研究,2015,37(08):138-147.Zhang Zhaolei,Geng Aijun,Li Rushen,et al.Design and test of the garlic seed sequencing vibration machine[J].Journal of Agricultural Mechanization Research,2015,37(08):138-147.(in Chinese with English abstract)
[16]魏玉珍,邹栋林,刘勇兰,等.大蒜芽端筛选及直立种植方案探究[J].农机化研究,2017,39(10):113-118.
[17]魏玉珍,邹栋林,刘勇兰,等.大蒜直立筛选方法探究及其装置设计[J].农机化研究,2017,39(5):122-125.
[18]杜颖财,王希军,王树洁,等.增量式编码器自动检测系统[J].电子测量与仪器学报,2012,26(11):993-998.Du Yingcai,Wang Xijun,Wang Shujie,et al.Auto detection system of incremental encoder[J].Journal of Electronic Measurement and Instrumentation,2012,26(11):993-998.(in Chinese with English abstract)
[19]王群京,陈丽霞,李争,等.基于光电传感器编码的永磁球形步进电机运动控制[J].中国电机工程学报,2005,25(13):113-117.Wang Qunjing,Chen Lixia,Li Zheng,et al.The control of a permentmagnet spherical stepper motor based on the coder of optoelectronic sensors[J].Chinese Journal of Electrical Engineering,2005,25(13):113-117.(in Chinese with English abstract)
[20]李建勋.数字电路与逻辑设计[M].北京:北京科学出版社,1981.
[21]乔治·埃利斯.控制系统设计指南[M].北京:机械工业出版社,2016.
[22]江晓军.光电传感与检测技术[M].北京:机械工业出版社,2011.
[23]余愿.传感器原理与检测技术[M].湖北:华中科技大学出版社,2017.
[24]赵丽清,马志勇.大蒜播种机装盘系统蒜瓣定向识别算法的研究[J].农机化研究,2013,35(06):163-166.
[25]杨清明.基于图像处理的大蒜播种机排序机构设计[D].南京:南京农业大学,2010.
[26]陈忠平.基于Proteus的51系列单片机设计与仿真[M].北京:电子工业出版社,2015.
[27]郝向泽,何旭鹏,邹翌,等.基于光电传感器的精密播种机排种性能监测系统的研究[J].华南农业大学学报,2017,38(01):120-124.
[28]张志良.80C51单片机实用教程:基于Keil C和Proteus[M].北京:高等教育出版社,2016.
[29]陈生潭.信号与系统[M].西安:电子科技大学出版社,2014.
[30]王鸿钰.步进电机控制技术入门[M].上海:同济大学出版社,2009.
[31]刘沛尧,彭舒岗,李建民,等.数字舵机精确控制法研究与实现[J].计算机测量与控制,2014,22(7):2097-2099.Liu Peiyao,Peng Shugang,Li Jianmin,et al.Research and implementation for method of precise digital control of steering gear[J].Computer measurement and control,2014,22(7):2097-2099.
[32]郭天祥.新概念51单片机C语言教程[M].北京:电子工业出版社,2009.
[2]王盛威,熊露,韩书庆,等.2016年中国大蒜市场形势分析及后市展望[J].农业展望,2016,12(11):4-6.
[3]Benjaphragairat J,Sakurai H,Ito N.Study of the mechanics of a 5 hp power tiller attached to a 10-row garlic planter[J].Agricultural Mechanization in Asia,2010,41(1):40-44.
[4]Bakhtiari M R,Loghavi M.Development and evaluation of an innovative garlic clove precision planter[J].Journal of Agricultural Science and Technology,2010,11(2):125-136.
[5]Brajesh N,Atul K S,Rajesh K N,et al.Design,Development and Evaluation of Self Propelled Garlic(Allium Sativum L.)Clove Planter[D].Jabalpur:College of Agricultural Engineering Jabalpur,2010.
[6]ТруфлякЕВ,СкоробогаченкоИС,СапрыкинВЮ.Ручнаясеялкаточно-ориентированногопосевазубковчеснокаилуковиц[J].ПолитематическийсетевойэлектронныйнаучныйжурналКубанскогогосударственногоаграрногоуниверситета,2014,104(10):1-17.
[7]Bakhtiari M R.Determining physical and aerodynamic properties of garlic to design and develop of a pneumatic garlic clove metering system[J].Agricultural Engineering International:CIGR Journal,2015,17(1):59-67.
[8]Gajakos A V,Saraf V V,Sinha S,et al.Performance evaluation of manually operated garlic planter[J].International Journal of Agricultural Engineering,2015,8(1):31-38.
[9]Zhang Dengquan,Wu,Yanjuan,Zhang Chuangkai.Vertical planting structure design for planter[J].Applied Mechanics and Materials,2014,654:87-90.
[10]赵丽清,杨然兵,殷元元,等.智能机械臂在大蒜播种机中的应用[J].农机化研究,2014,36(8):104-106.Zhao Liqing,Yang Ranbing,Yin Yuanyuan,et al.The application of the intelligent mechanical arm in the planting of garlic[J].Journal of Agricultural Mechanization Research,2014,36(8):104-106.(in Chinese with English abstract)
[11]王丹阳,钱彬彬,胡旭,等.半自动大蒜栽植机关键部件的设计与试验研究[J].沈阳农业大学学报,2014,45(5):566-572.Wang Danyang,Qian Binbin,Hu Xu,et al.Key components design and experimental research of a semi-automatic garlic transplanter[J].Journal of Shenyang Agricultural University,2014,45(5):566-572.(in Chinese with English abstract)
[12]谢学虎,张永,刘召,等.大蒜播种机种植机构的设计[J].农业工程学报,2015,31(1):34-39.Xie Xuehu,Zhang Yong,Liu Zhao,et al.Design of planting mechanism for garlic planter[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(1):34-39.(in Chinese with English abstract)
[13]谢学虎.大蒜播种机播种机构设计[D].呼和浩特:内蒙古农业大学,2015.Xie Xuehu.Design of Seeding Mechanism for Garlic Sowing Machine[D].Huhhot:Inner Mongolia Agricultural University,2015.(in Chinese with English abstract)
[14]耿爱军,张兆磊,宋占华,等.蒜种盒机械投放过程运动学分析与参数优化试验[J].农业工程学报,2016,32(5):29-35.Geng Aijun,Zhang Zhaolei,Song Zhanhua,et al.Kinematic analysis and parameter optimized experiment of garlic box release process[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2016,32(5):29-35.(in Chinese with English abstract)
[15]张兆磊,耿爱军,李汝莘,等.蒜种振动排序装置设计与试验[J].农机化研究,2015,37(08):138-147.Zhang Zhaolei,Geng Aijun,Li Rushen,et al.Design and test of the garlic seed sequencing vibration machine[J].Journal of Agricultural Mechanization Research,2015,37(08):138-147.(in Chinese with English abstract)
[16]魏玉珍,邹栋林,刘勇兰,等.大蒜芽端筛选及直立种植方案探究[J].农机化研究,2017,39(10):113-118.
[17]魏玉珍,邹栋林,刘勇兰,等.大蒜直立筛选方法探究及其装置设计[J].农机化研究,2017,39(5):122-125.
[18]杜颖财,王希军,王树洁,等.增量式编码器自动检测系统[J].电子测量与仪器学报,2012,26(11):993-998.Du Yingcai,Wang Xijun,Wang Shujie,et al.Auto detection system of incremental encoder[J].Journal of Electronic Measurement and Instrumentation,2012,26(11):993-998.(in Chinese with English abstract)
[19]王群京,陈丽霞,李争,等.基于光电传感器编码的永磁球形步进电机运动控制[J].中国电机工程学报,2005,25(13):113-117.Wang Qunjing,Chen Lixia,Li Zheng,et al.The control of a permentmagnet spherical stepper motor based on the coder of optoelectronic sensors[J].Chinese Journal of Electrical Engineering,2005,25(13):113-117.(in Chinese with English abstract)
[20]李建勋.数字电路与逻辑设计[M].北京:北京科学出版社,1981.
[21]乔治·埃利斯.控制系统设计指南[M].北京:机械工业出版社,2016.
[22]江晓军.光电传感与检测技术[M].北京:机械工业出版社,2011.
[23]余愿.传感器原理与检测技术[M].湖北:华中科技大学出版社,2017.
[24]赵丽清,马志勇.大蒜播种机装盘系统蒜瓣定向识别算法的研究[J].农机化研究,2013,35(06):163-166.
[25]杨清明.基于图像处理的大蒜播种机排序机构设计[D].南京:南京农业大学,2010.
[26]陈忠平.基于Proteus的51系列单片机设计与仿真[M].北京:电子工业出版社,2015.
[27]郝向泽,何旭鹏,邹翌,等.基于光电传感器的精密播种机排种性能监测系统的研究[J].华南农业大学学报,2017,38(01):120-124.
[28]张志良.80C51单片机实用教程:基于Keil C和Proteus[M].北京:高等教育出版社,2016.
[29]陈生潭.信号与系统[M].西安:电子科技大学出版社,2014.
[30]王鸿钰.步进电机控制技术入门[M].上海:同济大学出版社,2009.
[31]刘沛尧,彭舒岗,李建民,等.数字舵机精确控制法研究与实现[J].计算机测量与控制,2014,22(7):2097-2099.Liu Peiyao,Peng Shugang,Li Jianmin,et al.Research and implementation for method of precise digital control of steering gear[J].Computer measurement and control,2014,22(7):2097-2099.
[32]郭天祥.新概念51单片机C语言教程[M].北京:电子工业出版社,2009.