Research On Mechanical Design And Control Simulation Of Automatic Grafting Machine For Vegetables

With the continuous improvement of people's living standards,demands for high quality of vegetables are increasing day by day,also the planting area is increasing.But due to the low temperature disaster,many insect diseases and continuous cropping obstacle seriously affect the output of vegetables.Grafting technology for vegetables is one of the most effective means to solve these problems,and the most effective way to replace manual grafting is automatic grafting machine.Based on the research background of semi-automatic grafting machine,this thesis does research on stock and scion.In view of the domestic and foreign research present situation and market demand,vegetables automatic grafting machine functional requirements is proposed.Analysis of all actions,the six main actions that is transporting,locating,clamping,handling,cutting and clamp push-out were proposed under the functional requirements,which constructed the main structure and operating system of automatic grafting machine,as well as simulation research was carried out on the key mechanism.The main results of study are summarized as follows:According to the existing literature,analysis of geometry size and mechanical damage of stock and scion,automatic grafting machine could be divided into automatic seedling mechanism,rotationally cutting mechanism and automatically sending clamps mechanism.Automatic seedling machine is subdivided into automatic picking seedlings and handling seedlings mechanism.Research was carried out on the key technologies,a model of the whole machine has been set up in Solidworks.Adopting Siemens series S7-200 PLC,the CPU version is transistor CPU224.Stepping motor choose Kinco 2S86Q-043B,Cylinder choose CM2YB20Rc 125-H7BWS,SMC CRBU2WU30-90S,SMC CRBU2WU30-180S,designing controlling system's circuit and programming in STEP7-micro win32 on the basis of mechanical system,completing all kinds of required functions in sequence.Theoretical grafting speed can complete 12 per minutes,in other words that means 720 per hour.Based on the software of ADAMS,the 3D model of automatic grafting machine's automatic picking seedlings mechanism which is established in the Solidworks is successfully imported by ADAMS/View module.Combined with the movement characteristics of institutions in this paper,the 2-dof parallel manipulator's motion functions in ADAMS software is successfully designed,and the simulation of kinematics an dynamics of the manipulator is realized.According to the results of the simulation the analysis of the actuator's trajectory of parallel manipulator is on the aspects of displacement,velocity and acceleration by using ADAMS/Postprocess modules,by analysis of results the 2-dof parallel manipulator is running as desired,proving automatic picking seedlings mechanism is reasonable.This thesis makes a kinematics and dynamics analysis on the revolute joints of the manipulator,by analyzing the experimental curve and further make a request to Stepper motor.Besides,the finite element analysis is made on the linkages which are of a larger force.And the rationality of the design is further verified ultimately.From all above,this technology provides a series of theoretical basis and technical support for automation and intelligence,artificial grafting of such problems as low efficiency,big labor intensity etc are solved,realizing stock and scion's automatic grafting,having certain actual application value.