摘要
为了实现茄子钵苗的全自动机械化移栽,设计了一种全自动茄子钵苗移栽机构,提出了一种以牛顿插值法构建的新型非圆齿轮,建立了茄子钵苗移栽机构运动学模型。通过农艺与农机的结合,以钵盘规格、基质体积比、土钵含水率为试验因素,取苗力与土钵基质损失率为试验指标,进行了三因素三水平的正交试验,试验结果表明,钵盘规格105穴、基质体积比1、土钵含水率70%~80%时,取苗力为2.70 N,土钵基质损失率为2.94%,利于茄子钵苗的全自动机械化移栽。根据移栽机构数学模型结合茄子钵苗农艺要求,开发了牛顿插值齿轮茄子钵苗移栽机构优化设计与分析软件,优化出一组满足茄子钵苗移栽要求的参数。根据优化的参数进行三维建模、虚拟仿真,运用3D打印技术制作物理样机进行了轨迹验证试验,验证了该机构的正确性与可行性,通过取苗试验与栽植试验,证明了该机构的实用性。
In order to realize the automatic transplanting of potted eggplant seedling,a fully-automated potted eggplant seedling transplanting mechanism was designed based on a new type of non-circular gear which was proposed according to Newton interpolation method and the kinematic model of the mechanism was built. Orthogonal experiment with three factors and three levels was carried out according to the combination of agronomy and agricultural machinery. The experiment factors were the size of the pot tray,the volume ratio of the matrix and the water content of the bowl. The experiment indexes were the strength of picking seedling and the loss rate of the matrix. Test results showed that it is beneficial for the fullautomated mechanism to transplant the potted eggplant seedling when the size of the bowl was 105,the volume ratio of the matrix was 1,the water content of the pot body was 70% ~ 80%,the picking strength was 2. 70 N,and the loss rate of the mortar matrix was 2. 94%. According to the mathematical model of transplanting mechanism and eggplant seedling agronomy requirements,computer-aided analysis and optimization software of the automatic transplanting mechanism was developed and used to obtain a set of parameters which satisfied the transplanting operation requirements. The optimized parameters were used for three-dimensional modeling and virtual simulation testing,and 3 D printing technology was used to make a physical prototype for the trajectory verification test,which verified the validity and feasibility of the mechanism. The picking seedling tests and the transplanting tests certified the practicability of the mechanism.
作者
赵匀
刘星
薛向磊
张卫星
单伊尹
周脉乐
ZHAO Yun,LIU Xing,XUE Xianglei,ZHANG Weixing,SHAN Yiyin,ZHOU Maile(College of Engineering, Northeast Agricultural University, Harbin 150030, Chin)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2018年第5期152-160,共9页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家重点研发计划项目(2017YFD0700800)
国家自然科学基金面上项目(51775104)
黑龙江省应用技术研究与开发计划重大项目(GA16B302)
关键词
茄子钵苗
移栽机构
牛顿插值齿轮
参数优化
正交试验
potted eggplant seedling
transplanting mechanism
Newton-non-circular gear
parameter optimization
orthogona｜ test
