Design And Experimental Study On The Transplanting Robot Of Solanaceae

In the 1980 s,China put forward the construction of "vegetable basket project".After 30 years of development,remarkable achievements had been achieved and the planting area of vegetable in China had reached 22328.3 hectares by 2016.With the continuous expansion of vegetable planting area,the problem of low mechanization in China was becoming more and more prominent.The traditional artificial or semi-automatic machine is still used to transplant the vegetable seedling.The existing transplanting machine is mostly used in the field or the large greenhouse,but the transplanting machine that is suitable for the small greenhouse is still In the state of research and development.In this paper,according to the actual situation of transplanting eggplant vegetables in greenhouse and combining with the characteristics of the existing drift-basket transplanting machine,a kind of transplanting manipulator that was suitable for eggplant vegetables was designed.The successful rate and accuracy of seedling selection were taken as the evaluation index,and the seedling angle and rotation angle were taken as the test factors.The following conclusions were obtained:(1)According to the requirements of agronomic and seedling growth characteristics of eggplant vegetables,the structural parameters of the fingers of transplanting manipulator were determined by the test of sliding friction angle between seedling bowl and texture of fingers.(2)The three-dimensional model of transplanting manipulator was established by using UG.The finite element static analysis and kinematic simulation of the connection part of the manipulator arm,forearm and the rudder,as well as the connection part of finger seedling mechanism and sliding mechanism were carried out.The simulation results show that there is no phenomenon of interference,and the weak parts of the manipulator arm,forearm and finger can meet the requirements of stiffness and strength.Through the analysis of motion simulation,there is no difference between the fingers of the manipulator,and the change of the speed and acceleration of the fingers is stable and there is no sudden change.The process of seedling extraction and seedling throwing can be completed successfully.(3)The physical prototype of transplanting manipulator was made.The successful rate and accuracy rate of seedling selection were taken as evaluation indexes,and the angle of seedling and rotation angle were used as test factors to verify the experimentso as to determine the optimum working parameters of vegetable transplanting manipulator.The results showed that the seedling angle and rotation angle of the transplanting manipulator are respectively 70°~85° and 15°~25°,and the successful rate of seedling extraction is 83.3%.On this basis,the successful rate of transplanting seedling is 89.3%,which meets the requirement of seedling selection and seedling placement in the process of transplanting eggplant vegetables.In this study,the whole structure of the vegetable transplanting manipulator designed meets the requirements of design.The results provide a reference of theory and data for mechanized transplanting of eggplant vegetables.