| 一体式蔬菜钵苗取苗爪夹持力检测传感器设计与试验 |
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| 引用本文： | 金鑫,索宏斌,张恒毅,姬江涛,张博,林诚.一体式蔬菜钵苗取苗爪夹持力检测传感器设计与试验[J].农业机械学报,2023,54(7):175-183. |
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| 作者姓名： | 金鑫 索宏斌 张恒毅 姬江涛 张博 林诚 |
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| 作者单位： | 河南科技大学 |
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| 基金项目： | 国家重点研发计划项目（2022YFD2001205）、河南省自然科学优秀青年基金项目（202300410124）和河南省高校科技创新团队项目（23IRTSTHN015） |
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| 摘 要： | 针对入钵夹取式全自动蔬菜钵苗移栽机取苗爪体积小，夹持力检测传感器结构与安装方式干涉取苗爪正常取投动作、影响自身精度与使用寿命等问题，本文选用聚二甲基硅氧烷(Polydimethylsiloxane, PDMS)薄膜作为传感器介电层，设计了一种内置式钵苗夹持力传感器，并通过嵌入方式实现取苗爪与传感器一体化设计。建立穴孔、钵体基质、取苗爪仿真模型，应用LS-PrePost软件对取苗过程进行耦合仿真，得到取苗爪与钵体基质接触部位最大受力区域，确定了取苗爪与传感器的结构与尺寸；设计夹持力信号检测系统，将硬件电路与采集软件结合，完成电容量-电压转换、信号放大、噪声滤除，实现夹持力信号的采集、处理、显示与保存等功能。为验证传感器性能，进行传感器标定试验与室内验证试验。标定试验表明，在不同振荡频率下，夹持力传感器平均灵敏度为0.372 8 N/V,平均线性决定系数为0.989 2,精度为7.548%,量程为7 N,满足移栽过程中夹持力检测的准确度要求；室内验证试验表明，夹持力检测传感器具有良好的稳定性与适应性，可用于移栽机取苗机构夹持实时精准检测。
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| 关 键 词： | 蔬菜钵苗移栽机 夹持力检测 内置式传感器 一体化设计 |
| 收稿时间： | 2023/3/22 0:00:00 |
Development and Experiment of Integrated Vegetable Pot Seedling Picking Jaw Clamping Force Detection Sensor |
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| JIN Xin,SUO Hongbin,ZHANG Hengyi,JI Jiangtao,ZHANG Bo,LIN Cheng.Development and Experiment of Integrated Vegetable Pot Seedling Picking Jaw Clamping Force Detection Sensor[J].Transactions of the Chinese Society of Agricultural Machinery,2023,54(7):175-183. |
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| Authors: | JIN Xin SUO Hongbin ZHANG Hengyi JI Jiangtao ZHANG Bo LIN Cheng |
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| Institution: | Henan University of Science and Technology |
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| Abstract: | In order to solve the problems of small size of seedling picking jaws of automatic vegetable pot transplanting machine, the structure and installation method of picking force detection sensor interferes with the normal picking action of picking jaws and affects its accuracy and service life, selecting polydimethylsiloxane (PDMS) film as the dielectric layer of sensor and a built-in pot picking force sensor was developed. The PDMS film was selected as the dielectric layer of the sensor, and a built-in potting force sensor was developed. Firstly, a simulation model of cavity, pot substrate and seedling jaw was established, and LS-PrePost software was applied to simulate the coupling of seedling extraction process, obtain the maximum force area in the contact area between seedling jaw and pot substrate, and determine the structure and size of seedling jaw and sensor;the clamping force signal detection system was designed, and the hardware circuit and acquisition software were combined to complete the capacitance-voltage conversion, signal amplification, noise filtering, and realize the acquisition of clamping force signal. In order to realize the functions of acquisition, processing, display and storage of the gripping force signal, the system was designed. In order to verify the performance of the sensor, calibration test and indoor validation test were conducted;the calibration test showed that the average sensitivity of the clamping force sensor was 0.3728N/V, the average linear coefficient of determination was 0.9892, the accuracy was 7.548%, and the range was 7N, which satisfied the accuracy requirement of clamping force detection in the transplanting process;the indoor validation test showed that the clamping force detection sensor had good stability and adaptability, and can be used for real-time and accurate detection of the clamping of transplanting machine pick-up mechanism. |
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| Keywords: | vegetable pot transplanter clamping force detection embedded sensor integrated design |
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