Design And Simulation Of Whole Row Seedling Taking Device Of Transplanter

As an important agricultural production area in China,the planting area of capsicum and tomato in Xinjiang is constantly expanding.It will be an inevitable trend to adopt mechanical planting.At present,the basket semi-automatic transplanter has low efficiency and high labor cost.Now,the transplanter studied in our country are all in the experimental stage,and the planting environment in the mainland and Xinjiang is very different.Therefore,based on the working environment of Xinjiang field,and considering the reduction of labor force as much as possible,we need to develop a transplanter adapted to the changeable environment in Xinjiang.In this paper,a whole row seedling collecting device of transplanter is designed and simulated,controlled and tested:(1)In order to reduce the damage of the plug tray seedlings during the automatic transplanter harvesting process and improve the planting efficiency of the transplanter,the mechanical characteristics of the pot were studied by performing a compression test on the pot;taking Xinjiang processed tomato plug seedlings as the test object,Taking the clamping angle,the water content of the bowl,and the ratio of the substrate as the influencing factors,and the compressive strength and crushing compression of the bowl as the performance indicators,using Design-Expert 8.0.6 software,two performance indicators and each influencing factor were analyzed.The orthogonal rotation combination test is used to establish a regression model of influence factors and performance indicators,and the influence of each factor on the performance indicators is analyzed to obtain the optimal combination of influence factors.The results show that when the clamping angle of a single clip is 7°,the water content of the bowl is 65%,and the volume ratio of vermiculite,peat,and perlite is2:2:1,the damage of the bowl is small,which is beneficial to the transplanter to take the plug seedlings.(2)Based on the experiment of the mechanical characteristics of tomato bowl,a kind of seedling collecting device for the whole row of transplanter is designed,and the working mode is analyzed.At the same time,the three-dimensional model of the seedling collecting device for the whole row of transplanter is built,and the components of the seedling collecting device for the whole row of transplanter are explained.At the same time,the clamping and entering of the hole tray seedling for the seedling collecting device for the whole row of transplanter is also described Analysis.In order to reduce the damage of the seedlings and improve the survival rate,the method of pinch can be used to pinch the seedlings.(3)The virtual prototype of the whole row of transplanter is established in ADAMS,and the kinematics analysis is carried out.A fuzzy PID adaptive controller is designed for the end effector of the important mechanism of the whole row seedling picking device of transplanter,and a joint simulation control model of virtual prototype and MATLAB/Simulink is built.Through the joint simulation,the classical PID control and fuzzy PID control are compared.The simulation results show that the overshoot of the fuzzy PID control method is reduced by 13.9% and the response time is also reduced compared with the classical PID control method.(4)In the part of control system design,the control requirements of the whole row of seedling taking device of transplanter are analyzed.Mitsubishi PLC is selected as the controller.At the same time,the stepping motor,relay and sensor need to be selected,the PLC port is allocated,and the control line is wired.In the aspect of software,based on GX Works2.It is easy to operate,and the control program of the whole row seedling picking device of transplanter is compiled.(5)Based on the two-dimensional drawings,the experiment platform of the whole row seedling collecting device of the transplanter was built,and the experiment was carried out at the same time.Taking different clamping angle,different bowl moisture content and different matrix ratio as the influencing factors,through multiple groups of experiments,it was shown that: when the clamping angle was 7°,the bowl moisture content was 65%,and the matrix ratio(vermiculite,peat,perlite)was 2:2:1.The maximum success rate of seedling was 96.88%,and the injury rate and the failure rate were 1.56% and 1.56% respectively.The transplanter can stably complete the work.