Design And Test Of Factory Hydroponic Lettuce Planting Tray Handling Equipment Based On Three Dimensional Dislocation Cultivation Rack

Factory hydroponic lettuce production mainly includes sowing,seedlings,transplanting,handling,harvesting and other links,and realizing the mechanization of the whole link of industrial hydroponic lettuce production can greatly improve the production efficiency of lettuce.At present,domestic factory lettuce production has achieved a certain degree of mechanization in the sowing and seedling links,but most of the handling links rely on manual operations.In recent years,for single-layer flat cultivation and vertical multi-layer cultivation mode,some lettuce planting tray handling equipment has been developed at home and abroad,but there is still a lack of special lettuce handling equipment for the three-dimensional dislocation cultivation system.The three-dimensional dislocation cultivation system can not affect the light of lettuce,taking into account the increase of the number of cultivated plants per unit area and develop a lettuce cultivation method,due to the different heights of the cultivation rack The horizontal position of the cultivation trough is different,for vertical multi-layer The handling device developed by cultivation is not necessarily suitable for threedimensional dislocation cultivation.Based on the background of the glass greenhouse of summer vegetable horticultural industrial park,this paper proposes a handling scheme based on the layout of the greenhouse and the structural characteristics of three-dimensional dislocation cultivation,and develops a set of planting tray handling device.The main research contents are as follows:(1)Overall scheme design of handling device.Aiming at the characteristics of different horizontal positions of cultivation tanks of different heights of three-dimensional dislocation cultivation racks,a new method of pushing the colonization tray is proposed,which avoids the interference between the colonization cup and the plugs of the cultivation tank during pushing.Based on the shape characteristics of the mature leafy vegetable colonization plate,the single-side gripper and tray retrieval scheme was adopted to reduce the damage of mature leafy vegetables during the process of taking the plate.(2)Structural design and simulation of handling device.Based on the handling scheme,a lettuce handling device for three-dimensional dislocation cultivation rack was designed,and the theoretical analysis of the motion stability of the colonization cup during the upper plate was carried out,and the factors affecting the stability of the colonization cup were analyzed from the aspects of geometric condition constraint and force analysis,and the above parameters were imported into ADAMS for dynamic simulation to verify whether the above factors were selected correctly.The force analysis and A NSYS static simulation were carried out after the end effector grasped the colonization plate in the plate taking link to verify the rationality of the end effector design.(3)Design of handling device control system.Combined with the handling scheme and the mechanical structure of the handling device,the control process of the handling device was designed,and the selection of relevant components was completed with PLC as the control core,and the hardware design of the control system was completed.Using the modular programming idea,the handling process is divided into several different action modules,the flow chart is drawn for the above action modules,the PLC control program is written,and the touch screen human-computer interaction interface is designed.(4)Performance test of handling device.Based on the Box-B ehnken experimental design method,the factors affecting the handling success rate of the handling device were explored,and Design.was used The software of Expert12 establishes the regression equation of the influencing factors and test indicators,uses the Optimization module to find the optimal parameter combination and verifies the test.The test results show that when the horizontal installation error of the cultivation tank is 0-5mm,the angle of the guide plate is 60°,and the advancing speed is 0.22m/s,the success rate of the upper plate can reach 99.33%.The horizontal installation error of the cultivation tank is 0-5mm,propulsion speed 0.06 m/s,belt width 517 mm,the success rate of tray retrieval is 9to 8%.Through the performance test of the upper plate and the plate taking device,it can be seen that the handling device has stable operating performance,which meets the needs of three-dimensional dislocation cultivation of lettuce in the facility,and has practical application value for improving the unmanned production level of lettuce.