探入式番茄钵苗移栽机构设计与试验

Design and Experiment of Extensible Potted Tomatoes Seedling Transplanting Mechanism

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。

关键词:番茄钵苗; 移栽机构; 探入式; 优化设计; 台架试验

Abstract:

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 threedimensional 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.

Key words:potted tomatoes seedling; transplanting mechanism; extensiontype; optimization design; bench test