| With the development of China’s economic,the planting area and output value of the flower industry in China have been steadily increasing.In line with the new trend of "replacing humans with machines" in various industries,all kinds of flower transplanting machines are gradually put into use in the production process of flower industry.Aiming at the characteristics of domestic flower industry,this thesis studied the transplanting mechanism,analyzed the agronomic requirements of flower potting transplanting and completed the trajectory design,took the five-bar mechanism as the carrier to complete the mechanism optimization,structural design and virtual simulation,and used the photoelectric sensor to realize the automatic identification function,designed a light and simple flower potting transplanting mechanism,and trial-produced the prototype to complete the mechanism transplanting test.The main research contents of this thesis are as follows:(1)The agronomic requirements of the transplanting trajectory at the key points in the transplanting process were analyzed,and a transplanting trajectory more suitable for the hard potting seedling tray was designed.The five-bar mechanism was anlyzed to obtain the functional relationship between the parameters of the mechanism,and the modeling of the transplanting mechanism was set.(2)The mechanism was slipt into bar group EDF and bar group ABC for optimization,the pose requirements at key points and the kinematic requirements in the transplanting process of the transplanting mechanism were analyzed to determined the optimization objective and constraint condition of bar group EDF and bar group ABC.Based on genetic algorithm,the mechanism optimization programs were compiled respectively.The length of each bar of the mechanism was 77 mm,274mm,111 mm,217mm,319 mm and 295 mm,and the coordinates of the mechanism frame were(177mm,582mm),(93mm,300mm),and the motion law of the original parts of the mechanism in the transplanting cycle was obtained in addition.(3)Aiming at the problem of too large seedling planting angle,the internal structure of the transplanting arm of the transplanting mechanism was designed,and the camlinkage mechanism was designed to adjust the posture of the seedling picking part to keep it vertical at the seedling planting point,so as to ensure the seedling planting effect.The five-bar mechanism and transplanting arm were designed,the three-dimensional models and two-dimensional drawings of shaft,rod,transplanting arm housing and other components were drawn,and the mechanism simulation was completed by ADAMS to verify the accuracy of the mechanism structure design.(4)The test-bed was built and the design of mechanism control system was completed.The angular displacement curve of the motor was interpolated by the numerical differentiation method to realize the real-time synchronous linkage control of the two motors.The design of automatic recognition system was completed,and the photoelectric reflection sensor was used to detect the empty hole in the bowl seedling tray,so that the mechanism could skip this picking point in the transplanting process.(5)The whole system of the mechanism was debugged and some problems had been solved in the debugging process.The mechanism idling experiment was completed,the actual trajectory of the mechanism was obtained,and it was compared with the design trajectory which verified the accuracy of the control system design.The transplanting experiment was completed,the seedling picking angles at the four picking points were100.2 °,92.5 °,87.1 °,80.9 °,and the planting angle at the planting point was 90.1 °,which was consistent with the design requirement,and the experimental results were analyzed,which verify the feasibility of the transplanting mechanism designed in this thesis. |
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