探入式番茄钵苗移栽机构设计与试验
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摘要
为了避免移栽机构在夹取秧苗过程中对秧苗茎秆造成损伤,针对夹取土钵的取苗方式,提出了一种探入式番茄钵苗移栽机构。依据结构特性和工作原理,建立了机构运动学理论模型,根据设定的优化目标开发了移栽机构优化设计软件,通过优化得到一组符合番茄钵苗移栽要求的结构参数。对栽植臂绝对转角和移栽机构绝对运动轨迹进行分析,验证了机构的合理性和可行性。建立了探入式番茄钵苗移栽机构的三维模型并虚拟仿真,对物理样机进行了高速摄影试验验证,通过对移栽机构实际工作轨迹与理论及仿真轨迹进行对比分析,验证了机构设计的正确性。对机构进行性能台架试验,取苗成功率为92. 8%,移栽成功率为89. 7%,栽植合格率为86. 4%,栽植优良率为59. 4%,符合移栽要求,验证了机构的实用性。
To effectively reduce the damage to seedling stem caused by transplanting mechanism in the process of picking seedling,for the seedling pick-up device penetrating into the root mass,an innovative extensible potted tomatoes seedling transplanting mechanism was proposed. Kinematic theory model was established according to its characteristic and working principle,computer-aided analysis and optimization software was developed and used to obtain a set of structure parameters that satisfied the potted tomatoes seedling transplanting requirements. Absolute angle of the transplanting-arm and absolute trajectory was analyzed,and the rationality and feasibility of the structural parameters were verified. The threedimensional modeling of the transplanting mechanism was established,which was used for the simulation testing,a physical prototype of the transplanting mechanism was subjected to the test bench on which the high-speed photography experiments were conducted,the results of working trajectory, theoretical trajectory and the virtual trajectory were essentially identical,verifying the validity and feasibility of the design. The performance test showed that the seedling picking was satisfactory as 92. 8%,the transplanting success rate was 89. 7%,the acceptability of planting was 86. 4% and the planting excellent rate was 59. 4%,the quality of transplanting was satisfactory. The transplanting mechanism can meet the technical requirements of tomato pot seedlings transplanting,which would provide references for the design and development of the tomato transplanting mechanism.
To effectively reduce the damage to seedling stem caused by transplanting mechanism in the process of picking seedling,for the seedling pick-up device penetrating into the root mass,an innovative extensible potted tomatoes seedling transplanting mechanism was proposed. Kinematic theory model was established according to its characteristic and working principle,computer-aided analysis and optimization software was developed and used to obtain a set of structure parameters that satisfied the potted tomatoes seedling transplanting requirements. Absolute angle of the transplanting-arm and absolute trajectory was analyzed,and the rationality and feasibility of the structural parameters were verified. The threedimensional modeling of the transplanting mechanism was established,which was used for the simulation testing,a physical prototype of the transplanting mechanism was subjected to the test bench on which the high-speed photography experiments were conducted,the results of working trajectory, theoretical trajectory and the virtual trajectory were essentially identical,verifying the validity and feasibility of the design. The performance test showed that the seedling picking was satisfactory as 92. 8%,the transplanting success rate was 89. 7%,the acceptability of planting was 86. 4% and the planting excellent rate was 59. 4%,the quality of transplanting was satisfactory. The transplanting mechanism can meet the technical requirements of tomato pot seedlings transplanting,which would provide references for the design and development of the tomato transplanting mechanism.
引文
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[11]赵匀,张留远,张昊,等.共轭凸轮与行星轮系组合式水稻钵苗移栽机构:201210421617. 1[P]. 2012-10-30.
[12]吴序堂,王贵海.非圆齿轮及非匀速比传动[M].北京:机械工业出版社,1997.
[13]王国强,蔺文刚,赵云鹏. Pascal蜗线齿轮的设计研究[J].自动化与仪器仪表,2016(6):87-89.
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[15]哈尔滨工业大学理论力学教研室.理论力学[M].北京:高等教育出版社,2009.
[16]赵匀.农业机械分析与综合[M].北京:机械工业出版社,2009.
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[18]代丽,孙良,赵雄,等.基于运动学目标函数的插秧机分插机构参数优化[J].农业工程学报,2014,30(3):35-42.DAI Li,SUN Liang,ZHAO Xiong,et al. Parameters optimization of separating-planting mechanism in transplanter based on kinematics objective function[J]. Transactions of the CSAE,2014,30(3):35-42.(in Chinese)
[19]俞高红,黄小艳,叶秉良,等.旋转式水稻钵苗移栽机构的机理分析与参数优化[J].农业工程学报,2013,29(3):16-22.YU Gaohong,HUANG Xiaoyan,YE Bingliang,et a1. Principle analysis and parameters optimization of rotary rice pot seedling transplanting mechanism[J]. Transactions of the CSAE,2013,29(3):16-22.(in Chinese)
[20]赵匀,刘志平,辛亮,等.水稻钵苗膜上移栽机构优化设计与试验[J/OL].农业机械学报,2018,49(4):87-93. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180410&journal_id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2018. 04. 010.ZHAO Yun,LIU Zhiping,XIN Liang,et al. Optimization design and experiment of transplanting mechanism of rice pot seedling on film[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(4):87-93.(in Chinese)
[21]周淑霞.加工番茄育苗移栽机采高产栽培技术[J].新疆农垦科技,2016(4):24-26.
[22]王秀峰,陈振德.番茄工厂化育苗[M].北京:中国农业出版社,2000.
[23]宫成宇.多功能钵苗移栽试验台设计与试验研究[D].哈尔滨:东北农业大学,2013.GONG Chengyu. Test-bed design and experiment research on multi-function transplanting machine[D]. Harbin:Northeast Agricultural University,2013.(in Chinese)
[24]中华人民共和国工业和信息化部. JB/T 10291—2013旱地栽植机械行业标准[S].北京:机械工业出版社,2013.
[25]封俊,顾世康,曾爱军,等.导苗管式栽植机的试验研究(Ⅱ)栽植机的性能评价指标与检测方法[J].农业工程学报,1998,14(2):73-77.FENG Jun,GU Shikang,ZENG Aijun,et al. Study on transplanter with chute and seedling aid springs(partⅡ)judging-targets system for transplanters[J]. Transactions of the CSAE,1998,14(2):73-77.(in Chinese)
[26]俞高红,廖振飘,徐乐辉,等.大株距行星轮系蔬菜钵苗栽植机构优化设计与试验[J/OL].农业机械学报,2015,46(7):38-44. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150706&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2015. 07. 006.YU Gaohong,LIAO Zhenpiao,XU Lehui,et al. Optimization design and test of large spacing planetary gear train for vegetable pot-seedling planting mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):38-44.(in Chinese)
[2]赵匀,刘星,薛向磊,等.茄子钵苗移栽机构优化设计与试验[J/OL].农业机械学报,2018,49(5):152-160. http:∥www.j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180517&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2018. 05. 017.ZHAO Yun,LIU Xing,XUE Xianglei,et al. Optimal design and experiment of potted eggplant seedling transplanting mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):152-160.(in Chinese)
[3]廖庆喜,张照,胡乔磊,等.油菜纸钵苗移栽机气动取苗机构设计与轨迹分析[J/OL].农业机械学报,2017,48(11):70-78. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20171109&journal_id=jcsam. DOI:10.6041/j. issn. 1000-1298. 2017. 11. 009.LIAO Qingxi,ZHANG Zhao,HU Qiaolei,et al. Design and trajectory analysis of pneumatic picking-up mechanism for rape paper pot seedling[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(11):70-78.(in Chinese)
[4]赵雄,沈明,陈建能,等.棉花移栽机旋转式取苗机构的运动学分析及虚拟试验[J].农业工程学报,2014,30(8):13-20.ZHAO Xiong,SHEN Ming,CHEN Jianneng,et al. Kinematic analysis and virtual experiment of rotary pick-up mechanism on cotton transplanter[J]. Transactions of the CSAE,2014,30(8):13-20.(in Chinese)
[5]刘姣娣,曹卫彬,田东洋,等.基于苗坨力学特性的自动移栽机执行机构参数优化试验[J].农业工程学报,2016,32(16):32-39.LIU Jiaodi,CAO Weibin,TIAN Dongyang,et al. Optimization experiment of transplanting actuator parameters based on mechanical property of seedling pot[J]. Transactions of the CSAE,2016,32(16):32-39.(in Chinese)
[6]韩绿化,毛罕平,缪小花,等.基于穴盘苗力学特性的自动取苗末端执行器设计[J/OL].农业机械学报,2013,44(11):260-265. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20131144&journal_id=jcsam. DOI:10.6041/j. issn. 1000-1298. 2013. 11. 044.HAN Lühua,MAO Hanping,MIAO Xiaohua,et al. Design of automatic picking up seedling end-effector based on mechanical properties of plug seedlings[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):260-265.(in Chinese)
[7] CHOI W C,KIM D C,RYUI K,et al. Development of seedling pick-up device for vegetable transplants[J]. Transactions of the ASAE,2001,45(1):13-19.
[8] KONOSUKE T. Development of fully automatic vegetable transplanter[J]. Japan Agriculture Research Quarterly,2000,34:21-28.
[9]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)
[10]蒋卓华,蒋焕煜,童俊华.穴盘苗自动移栽机末端执行器的优化设计[J].浙江大学学报(工学版),2017,51(6):1119-1125.JIANG Zhuohua,JIANG Huanyu,TONG Junhua. Optimal design of end-effector on automatic plug seedling transplanter[J].Journal of Zhejiang University(Engineering Science),2017,51(6):1119-1125.(in Chinese)
[11]赵匀,张留远,张昊,等.共轭凸轮与行星轮系组合式水稻钵苗移栽机构:201210421617. 1[P]. 2012-10-30.
[12]吴序堂,王贵海.非圆齿轮及非匀速比传动[M].北京:机械工业出版社,1997.
[13]王国强,蔺文刚,赵云鹏. Pascal蜗线齿轮的设计研究[J].自动化与仪器仪表,2016(6):87-89.
[14]孙桓,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2013.
[15]哈尔滨工业大学理论力学教研室.理论力学[M].北京:高等教育出版社,2009.
[16]赵匀.农业机械分析与综合[M].北京:机械工业出版社,2009.
[17] XIN Liang,LZhijun,WANG Wenqing,et al. Optimal design and development of a double-crank potted rice seedling transplanting mechanism[J]. Transactions of the ASABE,2017,60(1):31-40.
[18]代丽,孙良,赵雄,等.基于运动学目标函数的插秧机分插机构参数优化[J].农业工程学报,2014,30(3):35-42.DAI Li,SUN Liang,ZHAO Xiong,et al. Parameters optimization of separating-planting mechanism in transplanter based on kinematics objective function[J]. Transactions of the CSAE,2014,30(3):35-42.(in Chinese)
[19]俞高红,黄小艳,叶秉良,等.旋转式水稻钵苗移栽机构的机理分析与参数优化[J].农业工程学报,2013,29(3):16-22.YU Gaohong,HUANG Xiaoyan,YE Bingliang,et a1. Principle analysis and parameters optimization of rotary rice pot seedling transplanting mechanism[J]. Transactions of the CSAE,2013,29(3):16-22.(in Chinese)
[20]赵匀,刘志平,辛亮,等.水稻钵苗膜上移栽机构优化设计与试验[J/OL].农业机械学报,2018,49(4):87-93. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180410&journal_id=jcsam. DOI:10. 6041/j.issn. 1000-1298. 2018. 04. 010.ZHAO Yun,LIU Zhiping,XIN Liang,et al. Optimization design and experiment of transplanting mechanism of rice pot seedling on film[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(4):87-93.(in Chinese)
[21]周淑霞.加工番茄育苗移栽机采高产栽培技术[J].新疆农垦科技,2016(4):24-26.
[22]王秀峰,陈振德.番茄工厂化育苗[M].北京:中国农业出版社,2000.
[23]宫成宇.多功能钵苗移栽试验台设计与试验研究[D].哈尔滨:东北农业大学,2013.GONG Chengyu. Test-bed design and experiment research on multi-function transplanting machine[D]. Harbin:Northeast Agricultural University,2013.(in Chinese)
[24]中华人民共和国工业和信息化部. JB/T 10291—2013旱地栽植机械行业标准[S].北京:机械工业出版社,2013.
[25]封俊,顾世康,曾爱军,等.导苗管式栽植机的试验研究(Ⅱ)栽植机的性能评价指标与检测方法[J].农业工程学报,1998,14(2):73-77.FENG Jun,GU Shikang,ZENG Aijun,et al. Study on transplanter with chute and seedling aid springs(partⅡ)judging-targets system for transplanters[J]. Transactions of the CSAE,1998,14(2):73-77.(in Chinese)
[26]俞高红,廖振飘,徐乐辉,等.大株距行星轮系蔬菜钵苗栽植机构优化设计与试验[J/OL].农业机械学报,2015,46(7):38-44. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150706&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2015. 07. 006.YU Gaohong,LIAO Zhenpiao,XU Lehui,et al. Optimization design and test of large spacing planetary gear train for vegetable pot-seedling planting mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):38-44.(in Chinese)