| Facility agriculture is an important symbol of agricultural production mechanization, automation and intelligent, plant breeding is an important part of facilities agriculture, the pot seedling transplanting is an important part of factory seedling, at present the pot seedling transplanting mainly relies on manual work, high production cost, high labor intensity of workers, low operating efficiency, it is difficult to meet the set of reduced seedling production requirements. This paper according to the problems existing in our country’s greenhouse pot seedling transplanting machine research and development, considering of facility agriculture in China automation production needs and current level of development, design a set of automatic filling and digging and conveying tray positioning, accurate positioning gripping, quickly and steadily planting of high performance automatic transplanting equipment. Through the optimization strategy and transplanting transplanting moving platform analysis and simulation test, the greenhouse pot seedling transplanting machine were studied. The main research work and conclusions of this paper include the following aspects:(1) According to the requirements of the production of facility agriculture in China, combined with the current situation of China’s greenhouse pot seedling transplanting machine, propose a set matrix filling, hole, fast transplanting, pipeline operations functions in one of the automatic transplanting equipment to determine the take seedling door claw shaped trajectory and multi claw planting transplanting scheme. For 128 hole trays to 4 holes in the flowerpot pallet transplanting proposed interval fetching method of transplanting seedlings and interval of planting, and transplanting moving platform total horizontal displacement as evaluation index, the selection of different transplanting methods to determine the optimal transplanting strategy.(2) The structure design of the filling part, the hole part, the conveying part and the transplanting part of the greenhouse pot seedling transplanting machine was carried out, and the working process and principle of the whole machine were introduced. The design principle of each part is described, and the calculation process of the selection of the filling part of the cylinder, the hole part of the cylinder, the transmission part of the motor and the transplanting part of the horizontal transmission synchronization belt is introduced in detail. In order to realize the multi claw homework, take a seedling claw dispersing device, to take the seedling claw spacing adjustment dispersion plate of the chute angle, detailed calculation.(3) According to the structure design of every part of the greenhouse seedling transplanting machine, the virtual modeling of the whole machine was carried out by using the SolidWorks 3D design software. In order to carry on the research to the transplanting moving platform, according to the simplified principle of the model, the virtual model of transplanting moving platform was simplified, and the simplified model was introduced into ADAMS. The flexible modeling of the synchronous belt drive shaft which influenced the level movement precision of the moving platform was carried out.(4) The module Adams/Machinery to establish the rigid flexible coupling model of the platform simulation dynamics of transplanting, and then were treated with different motion laws of transplanting the moving platform for dynamic simulation analysis, simulation results show that, transplanting the moving platform with quintic polynomial motion positioning accuracy higher, affecting dynamic positioning precision of the main factors is the acceleration of the moving platform.(5) The dynamic positioning accuracy test platform transplanting and transplanting performance test using greenhouse seedling transplanting machine prototype manufacturing. Transplanting moving platform positioning accuracy test showed that with transplanting moving platform acceleration increases, transplanting dynamic positioning accuracy of the platform gradually decreased, when the frequency of pulse is more than 50000 acceleration over 7m/s2 after and positioning accuracy sharply decreased. By using the design pulse equivalent, the program automatically calculates the number of pulses needed by the displacement, so that the positioning precision of the moving platform in the range of 0.2mm~1.4mm is 1m, which meets the requirements of transplanting and positioning. Of greenhouse seedling transplanter transplanting performance test, with increasing frequency of transplanting and transplanting qualified rate gradually decreased, highest 900 cycle operation / hour transplant qualified rate was maintained at 90.23%, indicating that greenhouse seedling transplanter machine structure design is reasonable, transplanting dynamic positioning precision meet the requirements, which can achieve the requirement of the automatic seedling transplanting operation. |
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