Design And Experimental Study On Key Components Of Automatic Transplanting Machine For Greenhouse Seedlings

With the adjustment of the industrial structure of rural industries,greenhouse agriculture was gradually becoming more intensive and modernized.At the same time,the transfer and shortage of rural labor in China were in conflict with the current situation that greenhouse seedlings need to be transplanted.Therefore,it was of great significance to realize the intelligent automation of greenhouse planting agricultural transplanting operations.Based on the research and development status of greenhouse transplanting machines at home and abroad,combined with the localized nursery agronomy in China,this paper designed a fully automatic transplanting machine that integrates image recognition and processing,plugging seedlings and transplanting.The identification system could identify the advantages and disadvantages of the seedlings of the plug and communicate with the lower computer.The lower transplanting system could receive the processing results for patching and transplanting,combined with electronic components such as sensors,the whole machine can be recycled and transplanted,and the end effector is equipped.It could be used to remove bad seedlings and transplant healthy seedlings at the same time.The end effector's own adjustable characteristics could be adapted to the multi-standard trays.The performance of the automatic transplanting machine for greenhouse seedlings was studied through the patching test and the whole machine test.The research work and conclusions of this paper include the following aspects:(1)Combining the design experience of transplanting end effector at home and abroad,the key mechanism of the trial production was the shovel end effector,using the universal material testing machine and the combined disk test method for the inter-substrate cohesion and the tray at different water content and matrix ratio.Through EDEM simulation analysis,found that the inter-matrix cohesion was greater than the plug adhesion,which can improve the rejection rate,and analysis of test data to know the substrate moisture content has a significant impact on the results,the theory concluded that the best rejection conditions were the moisture content of the nursery was 60%,and the ratio of the grass ash,vermiculite and perlite matrix was 6:3:1.(2)Reasonable design of the transplanting platform,based on the analysis of trapezoidal and S-shaped acceleration and deceleration models of the servo system of the transplanting platform based on ADAMS,the optimal acceleration/deceleration model was S-shaped acceleration and deceleration,and the optimal acceleration/deceleration time was 0.75 s.When it was reduced,the vibration effect caused by the frequent start and stop of the servo system was reduced.The working path of the transplanting platform was improved and the working path was optimized.The optimal working path was the weekly circulation path,and the portal trajectory of the transplanting platform was optimized to improve the transplanting performance.(3)Combining the greenhouse greenhouse seedling seed production strategy,and designing the whole machine control mode,and configuring the machine vision system and various parts of the control system,and connecting the whole machine through the Ethernet communication function,and making the whole machine mechanical system and control system Coordinate with the labor,complete the production test and related tests on the whole machine,and test the performance of the whole machine.(4)Through the patching test,it was verified that in the group with the ratio of matrix ratio of 6:3:1 and different water content,the 60% moisture content group could obtain a higher average inferior seedling removal rate of 70.8%.The removal success rate was 100%,and the average seedling success rate was 94.14%,which provides a reference for the environmental conditions of the transplanting operation.Through the whole machine test,the average seedling production efficiency could reach 1098.2 plants/h,and the average seedling plate production efficiency could reach 89.2 disks/h.The machine was low in cost and easy to maintain and maintain.In summary,the overall machine cost and efficiency are better than manual operations,which can meet the requirements of greenhouse farm factory operations.