Design And Research Of Pine Seedling Transplanting Machine For Plantation

The improvement of forest resources is one of the important measures to achieve the goal of double carbon.Because Pinus tabulaeformis has the characteristics of drought resistance,wind resistance and insensitivity to temperature,it has been widely planted in Northeast China,Central Plains and Northwest China.Therefore,it is a better choice to use Pinus tabulaeformis as the main tree species for afforestation.At present,most of the Pinus tabulaeformis seedlings in China are planted manually,but there are problems with uneven transplanting quality and low efficiency in manual transplanting.At the same time,the research and development of mechanical transplanting technology for Pinus tabulaeformis seedlings in China is slow,and there are few practical machinery related to it,which seriously restricts the development of Pinus tabulaeformis plantation.In this paper,a kind of plantation Pinus tabulaeformis seedling transplanting machine is designed,and the related problems such as planting mechanism and replanting path planning are analyzed and studied.In this paper,the morphological characteristics and mechanical properties of Pinus tabulaeformis seedlings were tested,and the results of the test were analyzed by mathematical statistics.Based on the analysis results,the feasibility of the clamping seedling scheme was verified.According to the actual transplanting operation conditions and test analysis results,the overall structure layout and working principle of the plantation seedling transplanting machine are designed,and the core components of the power system,track chassis,seedling picking mechanism and seedling tray transmission mechanism are designed.In this paper,a new type of double crank seven bar planting mechanism is designed.The mathematical model is established by analytical method,and the mobility of double crank seven bar mechanism is analyzed.Based on MATLAB APP Designer,the influence of mechanism parameters on motion trajectory in double crank seven bar planting mechanism was analyzed.The orthogonal test of parameter optimization of planting mechanism was designed to obtain the optimal parameter combination of each structural component,and compared with the initial parameters to verify the rationality of parameter optimization.The static simulation analysis of the double crank seven bar planting mechanism was carried out by using ANSYS Workbench to check its strength and stiffness.Based on ADAMS,the kinematics simulation analysis of the double crank seven bar planting mechanism is carried out,and the rationality of its motion trajectory is studied.The model of the double crank sevenbar planting mechanism was made,and the motion trajectory bench test was designed to obtain the motion trajectory of the duckbill planter and verify the accuracy of the theoretical optimization design of the double crank seven-bar planting mechanism.Based on STM32 microcontroller,the overall scheme of the control system of Pinus tabulaeformis seedling transplanting machine is designed.A path planning of transplanting machine based on bidirectional Dijkstra algorithm is proposed.The path planning is realized with the obstacle avoidance function of A~* algorithm.The algorithm function is realized based on C + + programming and OpenCV,and the map is drawn.The simulation comparison of the replanting path before and after optimization is carried out to verify the effectiveness of the improved algorithm for replanting path optimization.