本文關(guān)鍵詞：蔬菜穴盤苗自動(dòng)取苗裝置的設(shè)計(jì)與研究　出處：《沈陽農(nóng)業(yè)大學(xué)》2015年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 蔬菜穴盤苗 全自動(dòng)移栽機(jī) 取苗機(jī)構(gòu) 虛擬設(shè)計(jì)

【摘要】：移栽是蔬菜生產(chǎn)過程中的重要一環(huán),目前我國主要依靠人工和半自動(dòng)機(jī)具進(jìn)行移栽,后者依然需要人工喂苗,效率提升有限,全自動(dòng)移栽效率高、用工少,是我國蔬菜移栽機(jī)械化的發(fā)展方向。目前全自動(dòng)移栽機(jī)在我國尚處在研發(fā)試驗(yàn)階段,其中的制約移栽機(jī)自動(dòng)化發(fā)展的關(guān)鍵問題就是自動(dòng)取苗裝置的研發(fā)。本文在分析了國內(nèi)外自動(dòng)取苗先進(jìn)技術(shù)的基礎(chǔ)上,結(jié)合我國蔬菜種植的實(shí)際情況,確定了以機(jī)械式頂出-夾取的取苗方式,據(jù)此方式研制了穴盤苗自動(dòng)取苗裝置,并對(duì)其進(jìn)行了理論分析、虛擬建模和試驗(yàn)研究。主要的研究結(jié)論如下：1.進(jìn)行了基質(zhì)苗頂出和夾取缽體力學(xué)性能試驗(yàn),研究得到不同基質(zhì)含水率、頂桿直徑、頂出速度對(duì)頂出率的影響；并通過試驗(yàn)建立了128穴番茄基質(zhì)苗在不同含水率下的抗壓力與壓縮量的變化曲線。結(jié)果表明頂桿直徑、基質(zhì)含水率對(duì)頂出率的影響為高度顯著,而頂苗速度對(duì)頂出率沒有顯著影響,隨著基質(zhì)含水率的上升、頂桿直徑的減小,頂出率會(huì)逐漸下降,在含水率為35.09%,頂桿直徑為8mm時(shí),頂出率達(dá)到100%；在含水率為57.23%,頂桿直徑為5mm時(shí),頂出率最低,僅為81.25%。基質(zhì)塊抗壓力隨壓縮量的增加呈加速上升趨勢,在壓縮量到達(dá)12mm時(shí)三種含水率下的抗壓力分別為48.89N.43.87N、35.85N。2.根據(jù)得出的缽體力學(xué)特性,建立各個(gè)執(zhí)行機(jī)構(gòu)的數(shù)學(xué)模型,并對(duì)頂苗機(jī)構(gòu)和苗盤輸送機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析。在Microsoft Visual Studio開發(fā)環(huán)境下,編寫了可視化的蔬菜穴盤苗自動(dòng)取苗裝置時(shí)序分析程序。對(duì)各個(gè)機(jī)構(gòu)的動(dòng)作進(jìn)行匹配,并進(jìn)行了參數(shù)優(yōu)化,得到一組最佳參數(shù)：縱移機(jī)構(gòu)的初始相位角φz=185°,頂苗機(jī)構(gòu)的初始相位角φd=108°,曲柄長度a=78mm,連桿長度b=112mm,偏心距e=20mm,苗爪翻轉(zhuǎn)機(jī)構(gòu)的初始相位角φf=15°,翻轉(zhuǎn)凸輪的行程為29mm,苗爪開合機(jī)構(gòu)的初始相位角φk=135°。3.利用有限元分析軟件,模擬柔性苗爪的工作情況,分析其夾持基質(zhì)塊時(shí)的變形情況,得出了在苗爪上端強(qiáng)制位移為2mm、3mm和4mm時(shí),苗爪在基質(zhì)苗抗壓力的作用下各點(diǎn)的位移和von-mises應(yīng)力云圖,證明了柔性苗爪的可行性。利用虛擬樣機(jī)技術(shù)建立了蔬菜自動(dòng)取苗裝置所有零部件的三維模型,并進(jìn)行了虛擬裝配,對(duì)取苗機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)仿真,結(jié)果顯示蔬菜自動(dòng)取苗裝置設(shè)計(jì)合理,各個(gè)動(dòng)作符合設(shè)計(jì)構(gòu)想,能較好的完成取苗動(dòng)作。4.試制了蔬菜穴盤苗自動(dòng)取苗裝置樣機(jī),進(jìn)行了性能試驗(yàn)。空盤運(yùn)行時(shí),在取苗速度低于140株/min時(shí),依然能保持動(dòng)作平穩(wěn)有序,在取苗速度提升至接近200株/min時(shí),取苗機(jī)械手末端在翻轉(zhuǎn)時(shí)出現(xiàn)了較為明顯的振動(dòng)。取苗試驗(yàn)的結(jié)果顯示,蔬菜穴盤苗自動(dòng)取苗裝置具有較高的取苗成功率,取苗速度為140株/min時(shí)的取苗成功率在95%以上,達(dá)到我國旱地移栽機(jī)對(duì)。含水率對(duì)取苗成功率和基質(zhì)損失率有顯著影響,基質(zhì)損失率隨含水率的上升而上升,在基質(zhì)含水率為43.09%時(shí),基質(zhì)的平均損失量為40%。
[Abstract]:The process of transplanting is an important link in the vegetable production, at present our country mainly depends on manual and semi automatic machine transplanting, the latter still need to improve the efficiency of artificial seedling feeding, automatic transplanting, high efficiency, less labor, is the development direction of vegetable Transplanting Mechanization in China. The automatic transplanting machine is still in the trials in China, the development of automatic transplanting machine control are the key problems of automatic seedling pick-up device is developed. Based on the analysis of the seedling automatic advanced technology at home and abroad, combined with the actual situation of China's vegetable planting, the seedlings from the way to the top - mechanical clamping, accordingly the way the development of the automatic picking seedling seedling device, and has carried on the theoretical analysis, virtual modeling and experimental research. The main conclusions are as follows: 1. the seedling top and clip bowl mechanical performance test, research The different substrate moisture content, the diameter of the push rod, the top speed of the top rate; and the establishment of the change curve was 128 points in Tomato Seedling under different moisture content and compression pressure resistance through experiment. The results showed that the diameter of the push rod, the matrix moisture content on the top rate of high degree significantly the top speed on the top, and seedling rate had no significant effect with increasing soil moisture, reduce the diameter of the push rod, the top rate will gradually decline, when the moisture content is 35.09%, the diameter of the push rod is 8mm, the top rate of 100%; when the moisture content is 57.23%, the diameter of the push rod is 5mm the top, the lowest rate is only 81.25%. matrix block pressure resistance was increased with the increase in compression, compression to 12mm three kinds of moisture under the anti pressure are respectively 48.89N.43.87N, 35.85N.2. according to the mechanical characteristics of the pot body, to establish the mathematical model of each actuating mechanism, and the Kinematics and dynamics analysis of top seedling mechanism and seedling tray conveying mechanism. In the Microsoft Visual Studio development environment, written visualization of vegetable plug seedling automatic pick-up device timing analysis program. By matching on each action, and parameter optimization, get a set of optimal parameters: longitudinal initial phase shift mechanism the angle of z=185 degrees, the initial phase of the top seedling mechanism angle d=108 degrees, the length of the crank connecting rod length of a=78mm, b=112mm, eccentricity e=20mm, initial phase of seedling claw turnover mechanism angle of f=15 degrees, flip cam stroke is 29mm, the initial phase of seedling claw switching mechanism angle of k=135 DEG.3. by using finite element analysis software simulation of flexible work seedling claw, analyze the deformation of the matrix block to clamp, obtained in the seedling claw top forced displacement of 2mm, 3mm and 4mm, von of each point displacement and pressure resistance in seedling seedling claw under the action of -mises stress nephogram, proves the feasibility of flexible seedling claw. Establish the three-dimensional model of automatic seedling pick-up device for all parts of vegetables by using the virtual prototype technology and virtual assembly, the pick-up mechanism motion simulation is carried out, results showed that the vegetable automatic seedling pick-up device has the advantages of reasonable design, each action can better meet the design idea complete the pick-up action.4. trial vegetable plug seedling automatic seedling pick-up device prototype was tested. The empty plate when running in the pick-up speed is lower than 140 /min strains, can still maintain a smooth and orderly movement, in the pick-up speed upgrade to close to 200 strains of /min, the seedling manipulator appears at the end of the vibration the more obvious in turnover. Seedling test results revealed that the vegetable seedling automatic seedling pick-up device has high feeding success rate, seedling rate of 140 strains of /min feeding success rate above 95%, up to China's Dryland The transplanter has a significant effect on the success rate and the loss rate of matrix. The matrix loss rate increases with the increase of water content. When the matrix moisture content is 43.09%, the average loss of matrix is 40%..

【學(xué)位授予單位】：沈陽農(nóng)業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：S223.9

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 尹國洪,陳巧敏,張瑞林;旱地育苗移栽機(jī)械現(xiàn)狀、發(fā)展趨勢與前景[J];中國農(nóng)機(jī)化;1997年05期

2 封俊;論我國旱地栽植機(jī)械的開發(fā)前景與方向[J];中國農(nóng)機(jī)化;2000年04期

3 王良文;杜文遼;崔紀(jì)雷;王維幀;;自動(dòng)機(jī)械中槽輪機(jī)構(gòu)的參數(shù)化設(shè)計(jì)與仿真[J];機(jī)械設(shè)計(jì);2006年12期

4 俞高紅;陳志威;趙勻;孫良;葉秉良;;橢圓—不完全非圓齒輪行星系蔬菜缽苗取苗機(jī)構(gòu)的研究[J];機(jī)械工程學(xué)報(bào);2012年13期

5 李愛華;姜燕飛;王宏章;;鴨嘴式蔬菜移栽機(jī)的研究設(shè)計(jì)[J];農(nóng)村牧區(qū)機(jī)械化;2007年03期

6 李其昀;;機(jī)械化育苗移栽的現(xiàn)狀與展望[J];農(nóng)機(jī)化研究;2006年03期

7 倪向東;梅衛(wèi)江;;導(dǎo)管式番茄移栽機(jī)的設(shè)計(jì)[J];農(nóng)機(jī)化研究;2011年02期

8 崔思遠(yuǎn);肖體瓊;陳永生;曹光喬;;我國蔬菜生產(chǎn)機(jī)械化發(fā)展現(xiàn)狀與制約因素分析[J];農(nóng)機(jī)化研究;2014年10期

9 董哲;李樹君;顏華;吳儉敏;郭鈺輝;金鑫;;變步長穴苗盤精準(zhǔn)步進(jìn)輸送的研究與試驗(yàn)[J];農(nóng)機(jī)化研究;2014年11期

10 王君玲;高玉芝;李成華;;撓性圓盤式移栽機(jī)移栽裸根苗的埋苗率試驗(yàn)[J];沈陽農(nóng)業(yè)大學(xué)學(xué)報(bào);2006年05期

相關(guān)博士學(xué)位論文 前2條

1 胡敏娟;穴盤苗自動(dòng)移栽關(guān)鍵技術(shù)的研究[D];南京農(nóng)業(yè)大學(xué);2011年

2 王石;撓性圓盤移栽機(jī)數(shù)字化設(shè)計(jì)及試驗(yàn)研究[D];沈陽農(nóng)業(yè)大學(xué);2013年

相關(guān)碩士學(xué)位論文 前1條

1 李建剛;移栽機(jī)械臂及其控制器的研究[D];南京農(nóng)業(yè)大學(xué);2009年

，

本文編號(hào)：1370782