Optimization Design And Experimental Study Of Pot-clippingstyle End Effector For Pot Seedling Transplanting Mechanism

Taking the end actuator as a core of the automatic transplanting mechanism,its structure will directly affect the quality and efficiency of the transplanting mechanism.At present,both domestic and foreign,the form of the end of the actuator is divided into probing into and topping out,The first kind caused extensive damage to the earth bowl,and when applied to the research group development,it is difficult to optimize the trajectory of the rotary planetary gear system.The ejector structure is complex and the machine is expensive.This paper is based on the agronomic requirements of dryland crops(this paper takes corn for example),combined with the author's research group on the rotary planetary gear transplanting mechanism research,and designed an end actuator for soil transplanting innovatively.(Patent number:201610035305.5).Firstly,this paper will carry out detailed mechanical calculation and analysis.Secondly,based on Visual Basic 6.0,this paper will optimize software of the end actuator and the transplanting mechanism optimization system which are designed to optimize the structure of the transplanting trajectory,and the structure is designed.According to the optimized parameters,this paper carries out the structure design,the establishment of virtual prototype,simulation verification,the procession of physical prototype,and the cultivation of the first jade 335 corn bowl seedlings,and then develop the end of the actuator to take the seedlings to study.The concrete work of this paper and the conclusions are as follows(1)This paper analyzes the maize planting form and puts forward the significance of maize seedling transplanting.Access to and analysis of domestic and foreign literature,to understand the various forms of existing automatic seedling institutions and analysis of their respective advantages and disadvantages,sum up the seedlings development direction of automatic transplanting machine.Combined with the existing innovative design platform,the research group develop the end of the actuator of taking the soil that suitable for the cultivation of corn bowl seedlings requirements.(2)According to the physical characteristics of the seedlings themselves,different seedlings should have different methods,the flexibility of the stem is better to take the form of pepper,while the fragile one should adopt the way of taking the soil.In view of the requirement of transplanting the soil,the design requirements of transplanting seedlings were put forward.According to the requirements,a set of innovative end actuator with simple structure and capable of satisfying the design requirements is designed,and its working principle will be introduced.(3)The analysis and calculation of the degree of freedom is the premise of kinematics and dynamics analysis.After analyzing the degree of freedom,the mechanism is divided into three forms for mechanistic analysis,and the mathematical function is deducted.The mathematical function of MATLAB is used to analyze the influence of each mechanism parameter on the running resistance of the mechanism(4)Based on the theoretical analysis,Visual Basic 6.0 was used to develop the computer-aided analysis and optimization software.By using the computer-aided analysis and optimization software of the end actuator,a set of satisfying mechanism parameters that the requirements of transplanting was obtained.the angle between the driving rod and horizontal;the angle between the needle and the ground;the left side of the mechanism in the coordinate system has the coordinate value XE = 19;YE =-20;the length of the seedling needle is 60 mm and the traveling of the driving rod is 30 mm and so on.The algorithm of computer-aided analysis and optimization of the transplanting mechanism were used to determine the tip trajectory of the planting arm.(5)According to the results of mechanics analysis and the optimized institutional parameters,the whole structure is designed by 2D design software.The NX8.0 is used to build the three-dimensional model of the end actuator and the model is introduced to the simulation software ADAMS in the kinematics simulation,and the organization can run smoothly,there is no catastrophe or stuck phenomenon,verifying the rationality and correctness of the organization.(6)Using the new design of the bowl and bought 15×7 and 16×8 of a total of three kinds of bowls from the market,the seedling comparison test of the first jade 335 corn was conducted.The results show that the three kinds of dishes can meet the demand for space and nutrients of maize seedlings.The seedling test was conducted after processing-assembling-finding the problem-improving for the prototype.When the water content of soil bait between 8.9% and 25%,we found that the insertion of the seedling needle in the depth of 28 mm is better,while the seedling effect is poor when it less than 28 mm.In this paper,the reasons for failing to get out the seedlings that the insertion is higher than 28 mm were analyzed and summarized.The main factors influencing the success of the seedlings were as follows: the depth of the roots and the wells themselves;the root damage of the seedlings;the surveillance of root damage caused by successful seedlings which verifies the advantage that the agency does not hurt the root.