| Salvia miltiorrhiza is one of the most commonly used medicinal materials in China which demand of 52,000 tons annually.The medicinal uses of Salvia miltiorrhiza include preparation for Salvia Miltiorrhizae decoction pieces and extraction of internal active substances of Salvia Miltiorrhizae plants to prepare Chinese patent medicines.In order to cultivate Salvia miltiorrhiza suitable for the above two medicinal purposes,the cultivation methods of Salvia miltiorrhiza in Shandong Province are divided into two agronomic requirements according to the medicinal use of Salvia miltiorrhiza and the geotropic regularity of plant roots,on the basis of crossing transplanting model on mulch-film of big ridge proposed by “High Efficiency Production Technology of Salvia Miltiorrhiza by Double-row Film Covering on Big Ridge”,which is the main agricultural technology in Shandong Province.The quality of Salvia Miltiorrhizae decoction pieces can be improved by cultivating larger main roots and fewer lateral roots.The seedlings of Salvia miltiorrhiza are required to have higher straightness in order to increase the root depth and diameter of the main roots of Salvia miltiorrhiza.The cul tivation of Salvia miltiorrhiza with more lateral roots and finer roots can extract higher content of active ingredients.It is required that Salvia miltiorrhiza seedlings are tilted into ridges to increase the number of lateral roots of Salvia miltiorrhiza with finer diameter.However,due to late start of planting equipment supporting work,transplantation of Salvia miltiorrhiza aiming at the above planting mode is almost completed manually,which not only has high labor intensity,but also poor planting qual ity.At present,membrane transplanter on the market mainly transplants which transplant s the pot seedlings of vegetables,tobacco and other crops vertically,has a low degree of matching and fusion with Salvia miltiorrhiza seedlings and agronomic requirements.Tilted planting of Sweet potato and Licorice can not meet the requirements of tilted planting on film of Salvia miltiorrhiza in terms of plant morphological characteristics and planting methods.However,the special transplanter and planting mechanism for Salvia miltiorrhiza seedlings and the cultivation mode of Salvia miltiorrhiza medicinal use as the cultivation object and agronomic requirements are still blank at home and abroad.In order to solve the problems of low efficiency and quality of artifici al planting of Salvia miltiorrhiza,high labor intensity,and unsuitable for mechanized vertical and inclined planting of Salvia miltiorrhiza by existing film transplanter.According to the agronomic requirement of “high efficiency production technology of double-row film mulching on big ridge of Salvia miltiorrhiza”,Salvia miltiorrhiza transplanter with cross double row on mulch-film of big ridge was designed,which could meet the agronomic requirements of vertical and inclined planting on film of big ridge of Salvia miltiorrhiza,and improve the main root diameter of Salvia Miltiorrhiza plants and the content of active components of Salvia Miltiorrhiza in the preparation of Chinese patent medicines.In view of the above situation,the main work of paper is a s follows:(1)Based on the study of the main agricultural technology of Shandong Province,which is "Hgh-efficiency Poduction Tchnology of Salvia miltiorrhiza Lrge Rdge and Duble-ows with Mulch-film",the planting agronomy of Salvia miltiorrhiza seedlings wa s investigated in the planting areas of Salvia miltiorrhiza.According to two different medicinal uses of Salvia miltiorrhiza: preparation of Salvia miltiorrhiza decoction pieces and extraction of internal active ingredients of Salvia miltiorrhiza for preparation of Chinese patent medicines,two different agronomic requirements of vertical and inclined planting of Salvia miltiorrhiza were determined according to the characteristics of plant growth geotropism.Based on it,the cultivation mode of cross planting of Salvia miltiorrhiza on mulch-film of large ridge was supplemented,and clarified the agronomic requirements of Salvia miltiorrhiza for different medicinal purposes:When cultivating Salvia miltiorrhiza with thicker main roots and fewer lateral roots,the angle between seedlings and ridge line should be about 90 degrees.When cultivating Salvia miltiorrhiza plants with more lateral roots and finer roots,it is required to insert the seedlings into ridge by 45 degrees inclined ground,and ensure that the angle between root and horizontal plane of the seedlings is about 30 degrees.According to the above planting techniques,motion trajectory of end-point and posture requirement of planter of vertical planting mechanism and inclined planting mechanism on mulch-film of Salvia miltiorrhiza were determined.(2)Two varieties of Salvia miltiorrhiza widely planted in Linyi area were selected to study the plant characteristics of Salvia miltiorrhiza seedlings.LA-S image processing system for plant and precise electronic balance were used to study the seedling length,seedling width,seedling width,root length,root diameter and quality of Salvia miltiorrhiza seedlings.The variation range of plant characteristics of two varieties with different growth time was obtained,and fr ictional coefficient between Salvia miltiorrhiza seedlings and duck-billed planter material was obtained by surface analyzer.The above research provides a basis for the design of duck-billed planter,which is the end-effector of planting mechanism.(3)Combination to the agronomic requirement of “High Efficiency Production Technology of Salvia Miltiorrhiza Big-ridge Double-row on Mulch-film”.In order to ensure the erectness rate of mechanized transplanting naked-seedlings of salvia miltiorrhiza,a vertical planting mechanism of Salvia miltiorrhiza on film based on gear-constant speed double crank five-bar mechanism was designed,on the basis of establishing the working-conditongs constraint and free movement constraint condition of five-bar mechanism and combining the kinematic model,the visual auxiliary interface of the human-computer interaction was established by using Matlab.With the help of the auxiliary interface,used trajectory location method to study the regional trajectory distribution characteristics of the implant endpoint and the influence of the mechanism parameters on the trajectory,initial solution of mechanism parameters was carried out by numerical cycle comparison according to the requirements of motion trajectory and attitude of mechanism.Base d on the initial solution of parameter combination,the mechanism parameters are optimized by using auxiliary interface and orthogonal design,and optimal parameter combination of mechanism is obtained:length of frame MA is 290 mm,length of crank AB is 100 mm,length of link BC is 122 mm,length of link DC is 229 mm,length of crank MD is 64 mm,length of link CE is 229 mm,length of upper planting apparatus is 243 mm,length of down planting apparatus is 100 mm,length of CE link is 45 mm,initial installation angle of frame MA is 45°,subtraction of initial installation angle of crank MD and AB is 14°,angel of planting apparatus FG and link CE is 90°,initial installation angle of link CL and DE is 90°.According to the parameters combination designing the structure of transplanting mechanism and virtual prototype was simulated to verify the accuracy of the theoretical model.(4)Combination to the agronomic requirement of “High Efficiency Production Technology of Salvia Miltiorrhiza Big-ridge Double-row on Mulch-film”,a duck-billed tilted transplanting mechanism for Salvia miltiorrhiza was designed based on deformed elliptical gear-variable speed double crank five-bar mechanism.On the basis of trajectory,tilted attitude of planting apparatus and design requirements which transplanting mechanism required,the working principle of the mechanism was analyzed and the theoretical model of mechanism was established.The visual auxiliary programs for human-computer interaction was established by using Matlab depended on theoretical model.With the help of auxiliary programs,studied the influence rules of parameters for mechanism on tilted angle and endpoint motion trajectory of planting apparatus,used the human-computer interactive method to get the parameters combination suited for agronomic requirements tilted transplanting mechanism on mulch-film of Salvia miltiorrhiza:length of frame MA is 290 mm,length of crank AB is 100 mm,length of link BC is 122 mm,length of upper planting apparatus link DC is 229 mm,length of crank MD is 64 mm,length of link CE is 229 mm,length of upper planting apparatus is 243 mm,length of down planting apparatus is 100 mm,length of CE link is 45 mm,initial installation angle of frame MA is 10°,initial installation angle of crank AB is 95°,initial installation angle of crank MD is 114°,angel of planting apparatus FG and link CE is 90°,initial installation angle of link CL and DE is 90°,radius of long shaft of deformed elliptic gear is 72.5mm,eccentricity is 0.24,deformation coefficient is 1.1.According to the parameters combination designing the structure of transplanting mechanism and virtual prototype was simulated to verify the accuracy of the theoretical model.(5)According to the results of mechanism optimization parameters and 3D printing technology,the vertical planting mechanism of Salvia miltiorrhiza on film based on gear-constant speed double crank five-bar mechanism and the inclined planting mechanism prot otype of Salvia miltiorrhiza on film based on deformed elliptic gear-variable speed double crank five-bar mechanism were developed.The platform test system of planting mechanism was developed,base on it,trajectory of end-point and posture of planter were obtained by high-speed photography technology.The results of bench test showed that the trajectory and attitude of the actual planter were basically consistent with the results of theoretical analysis and simulation of virtual prototype,which verifies the validity,rationality and consiste ncy of the mechanism design.(6)According to the operation links of Salvia miltiorrhiza planting proposed by "High Efficiency Production Technology of Double-row Film Covered on Big Ridge of Salvia miltiorrhiza",the functional devices of the transplanter were designed,selected and integrated,and the whole power transmission system was designed around the setting and configuration scheme of the operation sequence of the operation device.The prototype of Salvia miltiorrhiza transplanter with replaceable direct and oblique planting mechanisms was developed and tested in the field.The results of field verification showed that the transplanter could meet the agronomic requirements of planting Salvia miltiorrhiza on film and ensure the quality of operation at the same time. |
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