| The transplanting operation of the flower plug seedlings to the black soft bowl is mainly done by hand,with high labor intensity and low work efficiency,and it is urgent to realize mechanized work.This paper designed and completed the key part of the potted flower seedlings automatic transplanting machine-the tray conveying and transplanting device.The device cooperates with the soft bowl to realize the precise conveying of the seedlings and uses the robot to The flower seedlings are transplanted from high-density plug trays to low-density soft pots,laying the foundation for the design of the automatic transplanting machine for flower pot seedlings.The main research contents of this thesis are as follows:(1)Review the literature,analyze and compare the structural characteristics of several typical transplanting manipulators,determine the driving method of pneumatic driving to take seedlings,design the transplanting manipulator as the two-pointer structure according to the size of the nursery and the seedling effect,and the weight of the nursery.The physical property parameters such as water content and adhesion were measured.The force of the nursery and the finger of the robot was analyzed.The mathematical relationship model between the finger angle of the manipulator and the force of the nursery was established.The suitable angle of the soil when the finger is grabbed is about 10°,which lays the foundation for the structural design of the manipulator.(2)Using the Solid Works and ADAMS simulation software,the spring tensioning chute-oriented transplanting robot was designed,and the optimal design scheme of the pointer angle of the transplanting robot was determined,and the claws were prototyped.The ADAMS-based mechanical finger motion simulation trajectory and the theoretical trajectory calculated by the unit load method are compared with the actual trajectory.The three are basically consistent,indicating that the mechanical structure design of the manipulator is scientific and reasonable.(3)Determine the parallel structure of the plug seedlings and the pots and the overall structure of the gantry arm type transplanting robot.The selection and design verification of the core components and drive components of the tray conveying and transplanting device were completed,mainly including the design of the robot split guiding mechanism,the vertical and horizontal transmission mechanism of the transplanting robot arm,and the design of the guiding mechanism.The design of the disc conveying device and the selection of the corresponding driving method and the selection of the control robot clamping spring were carried out to test the prototype.(4)Using Mitsubishi PLC as the control unit,the software and hardware design of the control system of the tray conveying and transplanting device was completed,and the debugging of the control system program was completed.The running result showed that the system can realize ten transplanting robots to the nursery.The precise matching of the grasping,transplanting and the conveying of the plug and the bowl,the error is within the allowable precision range and the performance is reliable.(5)Taking the 200-point morning glory seedlings as the research object,the single factor test was carried out on the main parameters affecting the working performance of the transplanting device,including the moisture content,plant height and the angle of the soil.Three factors were determined after the factors were determined.The three-level rotation combined experimental study optimized the process parameters.Finally,the water content was 25%,the plant height was 48 mm,and the angle of the soil was 10°.The experimental results showed that the success rate was 93%. |
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