Design And Experiment On Transplanting Machine For Hydroponics Leaf Vegetable Seedings With Multi-end Effectors

Automatic and intelligent production of equipment horticulture is the development trend of modern agricultural facilities.Automatic transplantation of seedlings is one of the key technologies of equipment horticulture automation.At present,the transplanting operation in China's facility horticulture mainly relies on manual labor.The low efficiency and high labor cost of this operation mode have restricted the national social and economic development needs.Therefore,it is necessary to carry out research on the key technology of automatic transplantation of seedlings and improve the level of operation automation of facility agriculture in China.In this paper,hydroponics leaf vegetables seedlings as the object,based on the multi-end effector of leaf vegetables seedlings thin planting transplantation key technology research and development,and trial production of prototype equipment for testing.The main works of this paper are as follows:1.Studied green vegetables seedling and cultivation matrix,slot hole tray and cultivation of physical properties,including green vegetables seedlings in the transplant period of plant height,leaf level distribution range,hole tray quality and its geometry size,including seedling cultivation from slots and quality parameters,such as,on this basis has carried out a hydroponic leafy vegetables transplantation and equipment at the end of the actuator and the overall design scheme.2.Researched and designed a kind of tilt into the pick type at the end of the actuator,and factors affecting the success rate of actuators to pick up at the end of the analysis,select insert depth,the Angle of the grave and substrate moisture content as the main influence factors in the orthogonal experiment,determine the end executor in the insert depth of 43 mm,the grave for,matrix moisture content is 84.01% level is the best parameter combination,pick up the success rate of 96%.3.In this paper,the design of sparse planting equipment is modeled in 3d,and based on ADAMS analysis software,kinematics simulation analysis of multi-end actuator components is carried out,and the damping performance of the components is optimized.4.Leaf vegetables seedlings dilute plant transplanting equipment to system integration,to the health status of seedlings,end executor level and vertical acceleration as the three main factors influencing the transplanting machine operation,the orthogonal experiment,the result analysis,selection in the horizontal acceleration is 1.32m/ s,the vertical acceleration of 0.82m/ s,healthy seedlings under the level of the optimal combination parameters of machine transplanting efficiency may reach 2400 plants/h,conform to the requirements of the dilute plant transplanting efficiency...