| 基于圆柱凸轮的株距可调式取苗末端执行器设计与试验 |
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| 引用本文： | 崔永杰,卫咏哲,丁辛亭,崔功佩,何智,王明辉.基于圆柱凸轮的株距可调式取苗末端执行器设计与试验[J].农业机械学报,2022,53(1):104-114，122. |
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| 作者姓名： | 崔永杰 卫咏哲 丁辛亭 崔功佩 何智 王明辉 |
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| 作者单位： | 西北农林科技大学机械与电子工程学院,陕西杨凌712100;农业农村部农业物联网重点实验室,陕西杨凌712100;西北农林科技大学机械与电子工程学院,陕西杨凌712100;西北农林科技大学机械与电子工程学院,陕西杨凌712100;陕西省农业信息感知与智能服务重点实验室,陕西杨凌712100 |
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| 基金项目： | 陕西省重点研发计划项目(2019ZDLNY02-04) |
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| 摘 要： | 穴盘苗疏植移栽是设施农业育苗的关键步骤,可为幼苗提供优良的生长环境,实现增产增收。针对疏植移栽环节中,可调株距设备自动化程度低,人工作业效率低下,易损苗伤苗等问题,本文设计了一种基于圆柱凸轮的株距可调式取苗末端执行器,可实现不同株距之间的疏植移栽作业。首先,对末端执行器整体结构进行设计,确定其工作原理;其次,通过理论分析确定圆柱凸轮与取苗手指各关键参数,并分析其作业状态下受力情况;然后,利用EDEM与Recur Dyn建立苗钵根土复合模型,进行耦合仿真单因素模拟试验,确定后续正交试验因素范围;最后,搭建了穴盘幼苗疏植移栽试验平台,以取苗针夹角、入土角、取苗针间距和变距速度为试验因素,以苗钵最大形变量和移栽成功率为试验指标,进行正交试验。在最优参数组合为取苗针夹角10°、入土角4°、取苗针间距8 mm、变距速度5 mm/s下,选取128穴至72穴与72穴至50穴两种疏植移栽要求进行验证试验,移栽后128穴钵体形变量平均值为(1.13±0.68) mm, 72穴钵体形变量平均值为(1.51±0.64) mm。总移栽成功率为93.33%,整机移栽效率为22株/min,满足不同穴盘规格疏植作业...
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| 关 键 词： | 穴盘苗 疏植移栽 末端执行器 圆柱凸轮 耦合仿真 |
| 收稿时间： | 2021/9/5 0:00:00 |
Design and Experiment of Adjustable Spacing End-effector Based on Cylindrical Cam |
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| CUI Yongjie,WEI Yongzhe,DING Xinting,CUI Gongpei,HE Zhi,WANG Minghui.Design and Experiment of Adjustable Spacing End-effector Based on Cylindrical Cam[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(1):104-114，122. |
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| Authors: | CUI Yongjie WEI Yongzhe DING Xinting CUI Gongpei HE Zhi WANG Minghui |
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| Institution: | Northwest A&F University |
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| Abstract: | The sparse planting and transplanting of plug seedlings is a key step in the cultivation of seedlings in facility agriculture, which can provide an excellent growth environment for seedlings and increase production and income. Aiming at the problems of low automation degree of adjustable plant spacing equipment, inefficient manual work, vulnerable to seedling damage and injury in the process of thinning and transplanting, a plant spacing adjustable seedling end-effector was designed based on cylindrical cam, which can realize thinning and transplanting between different plant spacings. First of all, the overall structure of the end-effector was designed and its working principle was determined. Secondly, through theoretical analysis, the key parameters of the cylindrical cam and the finger were determined, and the stress condition under operation was analyzed. Thirdly, EDEM and Recur Dyn were used to establish a composite model of seeding bowl root-soil for coupling simulation single factor simulation test, and the factor range of subsequent orthogonal test was determined. Finally, a transplanting test platform for plug seedlings was built, and orthogonal tests were carried out with the seedling needle included angle, penetrating angle, seedling needle spacing and variable pitch speed as test factors, and the seeding bowl deformation quantity and the transplanting success rate as test indexes. The experimental results showed that the primary and secondary influence order of test factors on the seeding bowl deformation quantity were penetrating angle, variable pitch speed, seedling needle included angle, seedling needle spacing. And the primary and secondary influence order of test factors on the transplanting success rate were seedling needle spacing, penetrating angle, pitch change speed, seedling needle included angle. The verification test was carried out under the optimal parameter combination with seedling needle angle of 10°, penetrating angle of 4°, seedling needle spacing of 8mm, and pitch change speed of 5mm/s, and the plug seedlings were transplanted from 128cell to 72cell and from 72cell to 50cell respectively. The average seeding bowl deformation quantity of 128cell was (1.13±0.68)mm, and the average seeding bowl deformation quantity of 72cell was (1.51±0.64)mm. The total success rate of transplant was 93.33%, and the transplanting efficiency of the whole machine was 22 plants/min. It satisfied the needs of different plug tray specifications and had strong applicability. The research result can provide theoretical basis and technical support for the research of the thinning and transplanting operation device. |
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| Keywords: | plug seedling thinning and transplanting end-effector cylindrical cam coupling simulation |
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