| Soilless Seedling production, high efficiency, high survival rate, has become the mainstream of seedling cultivation. Transplanting the seedlings field production of main planting patterns, but China’s production of transplanting machine mainly belongs to semi automatic machine, using artificial feeding seedling, transplanting of big labor intensity, speed limit, low work efficiency. In order to realize transplanting machine automation, solve the seedling conveying problem of great significance. Seedling conveying problem mainly by a horizontal conveyor, vertical conveyor and seedling tray cavity in the solution three.The object of the study is to send the seedlings seedlings of detection and control system:in the air when the seedling, the control mechanism causes the air speed, seedling hole accelerated by specifying the seedling fetching, mechanical hand can take to reduce leakage of seedling, seedling by. In the design of control system is necessary before the control object--send seedling mechanism. The cotton seedlings as test object, through theoretical analysis, design to match sent seedling mechanism, determine the main parameters, to produce a prototype. According to the theoretical analysis, design the corresponding algorithm procedures, the use of single chip to control the design of control system of mechanism transmission control. Through the control system debugging test, the test results show that, the control system can control mechanism correctly conveying seedling disk. The following conclusions are obtained:(1) Based on the analysis of seedling, seedling feeding mechanism to follow the’ bow" type trajectory, feeding seedling mechanism of cotton seedling conveying each time by transplanting manipulator seedling picking time, by transplanting machine based test showed:transplanting machine speed:0≤V≤0.45m/s, mechanical hand picking seedling time:t≥1.4s, delivery every time t≥1.4s of cotton seedlings.(2) The mechanism is analyzed, done sending seedling mechanism design. The mechanism mainly comprises a grooved pulley and the cylindrical cam combined mechanism with complete transverse intermittent reciprocating conveyor seedling disk, the groove wheel and the synchronous belt wheel combination mechanism of longitudinal intermittent feeding seedling disk. Based on the mechanism analysis on virtual prototype, certification bodies is feasible. And through mechanics analysis, the mechanism is optimized, determining the design parameters, design a prototype.(3) In the prototype based on the designed air seedlings, detection and control system. The system mainly uses the Atmega-16control system for the main control chip, RE-35servo motor for the executive power, the use of photoelectric sensor for transplanting machine speed detection, travel switch to air seedlings were detected, the mathematic model is established based on the analysis, the corresponding algorithm for the system to program design. Through testing and debugging, system to complete the empty seedling detection, and can in the air when the seedling to the motor speed.(4) According to the prototype test, find give seedling mechanism the program and control system transmission scheme:connecting rod and the cylindrical cam axle distance1=35mm, cylindrical cam groove depthlOmm, cylindrical cam pressure angle35°, empty when the seedling motor speed speed:n+1.5(n null seedling number). |
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