本文關(guān)鍵詞： 甘薯 移栽 插秧裝置 送苗裝置 控制　出處：《山東農(nóng)業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：甘薯是一種營養(yǎng)豐富、用途廣泛、高產(chǎn)穩(wěn)產(chǎn)的農(nóng)作物。中國的甘薯種植面積和總產(chǎn)量均位于世界前列。在甘薯生產(chǎn)過程中,栽插環(huán)節(jié)是用工量最大的環(huán)節(jié)之一,占到總用工的1/4以上。因此,對(duì)甘薯移栽機(jī)械的研究可以有效地推動(dòng)產(chǎn)業(yè)的機(jī)械化水平向前發(fā)展,對(duì)整個(gè)產(chǎn)業(yè)的機(jī)械化具有十分重要的意義。我國的甘薯移栽機(jī)研發(fā)使用尚處初級(jí)階段,機(jī)具也多以半自動(dòng)移栽機(jī)、簡(jiǎn)易移栽器為主。結(jié)構(gòu)簡(jiǎn)單,成本低,但是無法進(jìn)行膜上移栽,且無法實(shí)現(xiàn)精確的栽植軌跡。根據(jù)這一現(xiàn)狀,在了解國內(nèi)外現(xiàn)有移栽機(jī)械的基礎(chǔ)上,研制出一種帶夾式甘薯裸苗移栽機(jī),實(shí)現(xiàn)了甘薯的插秧作業(yè)。主要研究?jī)?nèi)容及創(chuàng)新之處如下:(1)確定帶夾式甘薯裸苗移栽機(jī)的總體方案,移栽機(jī)的行進(jìn)方式為牽引式,主要由行走系統(tǒng)、送苗裝置、插秧裝置、夾苗裝置和控制系統(tǒng)組成。(2)提出一種四連桿式插秧機(jī)構(gòu),并設(shè)計(jì)出由不完全齒輪機(jī)構(gòu)、曲柄連桿機(jī)構(gòu)、齒輪齒條機(jī)構(gòu)和四連桿機(jī)構(gòu)組成的插秧裝置。根據(jù)甘薯苗插秧作業(yè)農(nóng)藝要求的插秧軌跡,以連桿機(jī)構(gòu)運(yùn)動(dòng)的設(shè)計(jì)軌跡與理論軌跡的偏差最小建立目標(biāo)函數(shù),利用Matlab優(yōu)化工具箱提供的多變量有約束非線性最優(yōu)化函數(shù)fmincon計(jì)算得出四桿機(jī)構(gòu)的各個(gè)參數(shù);利用不完全齒輪機(jī)構(gòu)、曲柄連桿機(jī)構(gòu)和齒輪齒條機(jī)構(gòu)的組合實(shí)現(xiàn)插秧連桿的間歇式往復(fù)擺動(dòng);從而使插秧裝置實(shí)現(xiàn)精確軌跡的插秧作業(yè)。(3)設(shè)計(jì)一種送苗裝置。主要由槽輪機(jī)構(gòu)和同步帶傳動(dòng)裝置組成,實(shí)現(xiàn)同步帶的間歇式運(yùn)動(dòng)配合插秧裝置的間歇式擺動(dòng),為插秧裝置提供秧苗。(4)開發(fā)帶夾式甘薯裸苗移栽機(jī)控制系統(tǒng)�？刂葡到y(tǒng)的作用是根據(jù)軟件程序控制澆水電磁閥的開啟和氣缸的動(dòng)作,實(shí)現(xiàn)澆水作業(yè)和夾苗指的夾緊與松開。通過proteus和keil的聯(lián)合仿真驗(yàn)證了控制系統(tǒng)的可行性。(5)設(shè)計(jì)移栽機(jī)行走機(jī)架及傳動(dòng)系統(tǒng)。利用Solid Works軟件建立各零部件的三維模型,利用Solid Works simulation對(duì)移栽機(jī)主要零部件進(jìn)行有限元分析,確保移栽機(jī)作業(yè)中各部件安全可靠.(6)對(duì)插秧裝置進(jìn)行了正交仿真試驗(yàn),根據(jù)正交試驗(yàn)表討論了不同種植土壤情況下的插秧參數(shù)配置。對(duì)于土壤比較干旱、覆膜種植的情況,最優(yōu)的插秧參數(shù)為插秧裝置離地高度設(shè)置為80mm,移栽機(jī)前進(jìn)速度為0.3m/s,移栽株距設(shè)置為250mm;對(duì)于土壤比較干旱、不覆膜種植的情況最優(yōu)的插秧參數(shù)插秧裝置離地高度設(shè)置為80mm,移栽機(jī)前進(jìn)速度為0.2m/s,移栽株距設(shè)置為200mm。對(duì)于土壤水肥條件比較好、覆膜種植的情況最優(yōu)的插秧參數(shù)為插秧裝置離地高度設(shè)置為120mm,移栽機(jī)前進(jìn)速度為0.4m/s,移栽株距設(shè)置為200mm。對(duì)于土壤水肥條件比較好、覆膜種植的情況最優(yōu)的插秧參數(shù)插秧裝置離地高度設(shè)置為120mm,移栽機(jī)前進(jìn)速度為0.3m/s,移栽株距設(shè)置為300mm。
[Abstract]:Sweet potato is a kind of crops with rich nutrition, wide use, high and stable yield. The planting area and total yield of sweet potato in China are among the top in the world. In the process of sweet potato production, planting is one of the most important aspects of employment. Therefore, the research on the transplanting machinery of sweet potato can effectively promote the mechanization level of the industry. It is very important for the mechanization of the whole industry. The research and application of sweet potato transplanter in our country is still in the primary stage, and the equipment is mainly semi-automatic transplanter, simple transplanter, simple structure and low cost. But it is impossible to transplant on film, and can not achieve accurate planting track. According to this situation, on the basis of understanding the existing transplanting machinery at home and abroad, a kind of transplanting machine of sweet potato and naked seedling with clip is developed. The main research contents and innovations are as follows: 1) to determine the overall scheme of the transplanter with clamped naked sweet potato seedling. The moving mode of the transplanter is traction type, mainly by walking system. This paper presents a four-bar seedling transplanting mechanism, which is composed of seedling feeding device, seedling transplanting device, seedling clamping device and control system. The mechanism is designed by incomplete gear mechanism and crank linkage mechanism. A seedling transplanting device composed of gear rack mechanism and four-bar linkage mechanism. According to the transplanting track required by agronomic operation of sweet potato seedling transplanting, the objective function was established by the minimum deviation between the design track of linkage mechanism motion and the theoretical track. The parameters of the four-bar mechanism are calculated by using the multi-variable constrained nonlinear optimization function fmincon provided by the Matlab optimization toolbox. Using the combination of incomplete gear mechanism, crank linkage mechanism and gear rack mechanism, the intermittent reciprocating swing of seedling transplanting linkage is realized. Thus, a seedling feeding device is designed for seedling transplanting device with precise track. It is mainly composed of slot wheel mechanism and synchronous belt transmission device. The intermittent movement of the synchronous belt is combined with the intermittent swing of the seedling transplanting device. The control system of the transplanting machine is developed. The function of the control system is to control the opening of the solenoid valve and the action of the cylinder according to the software program. Through the joint simulation of proteus and keil, the feasibility of the control system is verified. The walking frame and transmission system of the transplanter are designed. The 3D model of each component is established by using Solid Works software. The finite element analysis of main parts of transplanting machine is carried out by using Solid Works simulation. In order to ensure the safety and reliability of each part of transplanting machine, the orthogonal simulation test of seedling transplanting device was carried out. According to the orthogonal test table, the allocation of transplanting parameters under different planting soil conditions was discussed, and the soil was relatively dry. In the case of film mulching planting, the optimum transplanting parameters were as follows: the height of transplanting device was 80mm, the speed of transplanting machine was 0.3 m / s, the distance of transplanting plant was 250mm; For the dry soil, the optimum transplanting parameters were set to 80 mm from the ground and the speed of transplanting machine was 0.2 m / s. The distance of transplanting plant was set to 200mm. for the condition of soil water and fertilizer, the best transplanting parameter was that the height of transplanting device was 120mm from the ground. The moving speed of transplanter is 0.4m / s, the distance of transplanting plant is 200mm. the soil water and fertilizer conditions are better. The optimum transplanting parameters of film mulching were as follows: the height of transplanting device was 120mm, the moving speed of transplanter was 0.3 m / s, and the distance of transplanting was 300mm.
【學(xué)位授予單位】：山東農(nóng)業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：S223.9

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