三臂回转式蔬菜钵苗取苗机构设计与试验

Design and Experiment of Three-arms Rotary Vegetable Plug Seedling Pick-up Mechanism

摘要:

当前我国蔬菜的移栽机械主要为半自动移栽机，其移栽效率取决于人工取苗速度，生产力已不能满足实际需求，两臂回转式自动取苗机构的效率还有提高潜力。为实现高速取苗作业，研究了保持取苗机构回转速度不变情况下，增加取苗臂数量的实现方式。在满足特定取苗动作姿态的前提下，设计了一种三臂回转式蔬菜钵苗取苗机构。以机械取苗代替人工取苗，模拟出了合理的取苗轨迹；基于Visual Basic 6.0开发辅助分析软件，通过人机交互方式得出一组满足取苗工作要求的机构参数，然后建立该机构的三维模型，完成实体样机装配；取苗机构在35r/min的回转速度下，取苗速度为105株/(min·行)，摄像分析得知，该机构样机运行轨迹与仿真轨迹非常接近，对彩叶草钵苗进行取苗试验，取苗成功率达到91.2%，证明三臂回转式蔬菜钵苗取苗机构设计的可行性。

Abstract:

At present, the vegetable transplanting machinery in China is mainly semiautomatic transplanting machines. The transplanting efficiency depends on the speed of artificial seedling pickup, its productivity can no longer meet the market, and the efficiency of twoarm rotary automatic seedling pickup mechanism also has the potential to improve. In order to realize the highspeed seedling pickup operation, it was studied to increase the number of seedling pickup arms in the case of keeping the rotation speed of the seedling pickup mechanism unchanged. A threearm rotary vegetable plug seedling pickup mechanism under the condition of satisfying the specific seedling pickup action posture was designed. Mechanical seedling pickup was used instead of artificial seedling pickup to simulate a reasonable seedling pickup trajectory. Based on Visual Basic 6.0 auxiliary analysis software was developed and a set of institutional parameters that met the requirements of seedling pickup work were obtained through humancomputer interaction. Then a threedimensional model of the seedling pickup mechanism was established and the physical prototype assembly was completed. At rotation speed of 35r/min, the seedlingpicking speed of seedling pickup mechanism was 105 plants/(min·row), the running trajectory of the mechanism was very close to the simulation trajectory through camera analysis. The picking seedling test of the Coleus blumei seedlings was carried out and the test showed that the success rate of picking seedling reached 91.2%. It was proved that the design of threearm rotary vegetable plug seedling pickup mechanism was feasible.