基于钵苗力学特性取投苗装置动力学分析与试验

doi:10.13229/j.cnki.jdxbgxb.20220139

摘要/Abstract

摘要：

针对现有蔬菜移栽机自动取投苗装置结构复杂、存在对根系损伤等问题，提出了一种基于滚珠丝杆及直线滑轨机构的往复夹茎式取投苗装置，分析了该装置的组成及工作原理，建立了取投苗过程的钵苗动力学模型，进行了钵苗茎秆的抗压力学特性试验，为机构设计提供参考依据。为保证装置具有良好的取投苗效果，通过对夹苗过程进行夹苗力学分析，确定了不同茎秆位置下的夹苗高度，同时对取苗和投苗过程进行动力学分析，确定苗夹间距与投苗位置，并得出不同取投苗速率下各机构电机的转速。以辣椒穴盘苗为试验对象，以取苗成功率、投苗成功率、基质破碎率和茎叶损伤率为试验指标进行了取投苗台架试验。试验结果表明：当取投苗频率为90株/min时，取投苗效果最佳，此时取苗成功率为96.8%，投苗成功率为96.8%，基质破碎率为4.0%，伤苗率为1.6%，装置可靠性较高。研究结果可为全自动化取投苗装置研究提供参考。

关键词: 农业工程, 自动移栽机, 取投苗装置, 动力学分析

Abstract:

Seedlings transplanting， a critical process of vegetable production， can be mechanized to reduce labor intensity， improve production efficiency and ensure work quality. The process of taking and dropping seedlings is an extremely important link in vegetable transplanting. In view of the problems of existing automatic seedling picking and throwing device， such as complex structure and severely damaging to roots system， a kind of picking and dropping mechanism with a stem clipping type was proposed and analyzed for vegetable plug seedling. The mechanism was consisted of a seedling clamping mechanism，a lifting mechanism and a shift mechanism. Herein， a kinematics model of plug seedling in the process of seedling picking and throwing was established. Based on the mechanical property test of plug seedlings and the mechanical analysis of seedling clamping process， the clamping height of the stalks at different distances from the center of the plug seedling was determined. In order to study the influence of different picking and throwing frequency on the effect of seedling throwing， the kinetic analysis of the process of picking and throwing seedlings was carried out， and then we obtained the motion force equation between the pot seedlings and the seedling clip during the picking and throwing process， and thus the spacing of seedling clamp and the height of seedling throwing were determined. A trial was conducted by using chili seedlings with an average seedling height of 152.24 mm. Here， the success rate of seedling taking and dropping， the broken rate of substrates， and the damage rate of seedling were set as evaluation indicators. The experimental results showed that the best efficiency was obtained when the picking and dropping frequency was 90 plant/min， meanwhile， the success rate of picking seedlings and casting seedlings， the broken rate of substrates， the damage rate of seedling were 96.8%， 96.8%， 4.0%， and 1.6%， respectively. The acceptable results indicated that this finding has potential to provide sound technical support to improve the automation level of a plug-seedling transplanter in agricultural production.

Key words: agricultural engineering, automatic transplanting machine, seedling taking and throwing device, kinetic analysis

中图分类号:

S223.92

谢守勇,张小亮,刘凡一,刘军,苑晓亮,刘伟,王鹏. 基于钵苗力学特性取投苗装置动力学分析与试验[J]. 吉林大学学报(工学版), 2023, 53(11): 3293-3304.

Shou-yong XIE,Xiao-liang ZHANG,Fan-yi LIU,Jun LIU,Xiao-liang YUAN,Wei LIU,Peng WANG. Kinetic analysis and experiment of seedling taking and throwing device based on mechanical properties of plug seedlings[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(11): 3293-3304.

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形态特性参数	数值	均值
钵苗苗高/mm	141.42~164.32	152.24
钵苗茎粗/mm	1.61~2.32	2.06
叶面展幅/mm	45.62~90.17	68.42
钵苗质量/g	12.37~14.21	13.32
第一基节距钵体高度/mm	33.11~44.72	39.04
第二基节距钵体高度/mm	58.49~79.27	66.97
钵体上边长/mm	28.31~30.25	29.21
钵体下边长/mm	12.14~14.14	13.32
钵体高度/mm	36.42~39.36	37.45

取投苗频率/（株·min^-1）	升降电机转速/（r·min^-1）	夹苗电机转速/（r·min^-1）	输苗电机转速/（r·min^-1）
60	360	100	20
90	500	240	30
120	600	420	40

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