蔬菜钵苗取苗机构运动分析与参数优化

摘要

In the present process of vegetable transplanting operation in China , the dibble-type semi-automatic trans-planter is the best available technology of applying mulch film with holes to transplanting vegetable potted seedlings . However , the dibble-type transplanter has very low efficiency because of the artificial feeding seedlings .Aiming at this problem , a new automatic transplanter for vegetable potted seedling was designed while the working principle of it was ex -pounded .It has the potted seedling pick-up mechanism with double crank geared five-bar linkages .The kinematics model of the pick-up mechanism was established by using the mathematical analysis method .The influence law of the structural parameters on the motion trajectory and relative velocity of the seedling pick-up arm cusp were obtained .The design of optimization objective for picking vegetable potted seedling was proposed .Meanwhile , the optimal parameter combination of the pick-up mechanism was obtained by using MATLAB based on the objective .With it, the path of the seedling pick-up arm inserting and pulling out the seedling pot were almost straight line , and were nearly perpendicular to potted seedling .Furthermore , the velocity of seedling taking and dropping cusps were very low .Then , the demands of picking and feeding potted seedling for vegetable automatic transplanter could be met .%针对目前吊篮式半自动蔬菜移栽机手工喂入效率低的问题，设计了一种具有双曲柄齿轮-五杆式钵苗取苗机构的蔬菜自动移栽机。同时，建立了该机取苗机构的运动数学模型，并对机构的运动学特性进行了分析，得出了取苗机构主要参数对取苗臂尖点轨迹和速度的影响规律；提出了蔬菜移栽自动取苗的设计优化目标，利用MATLAB优化软件，优选出了取苗机构的一组最佳参数组合。在此组合下，取苗机构取苗、拔苗段的运动轨迹几乎是直线且与钵苗的垂直度较高，取投苗点速度较低，满足蔬菜自动移栽机的取苗、喂苗要求。