本文選題：移栽 + 組合式穴盤(pán)�。� 參考：《中國(guó)農(nóng)業(yè)大學(xué)》2017年博士論文

【摘要】：蔬菜在人們膳食結(jié)構(gòu)中占有十分重要的地位,是人體需要的維生素和礦物鹽的重要來(lái)源。蔬菜生產(chǎn)是農(nóng)業(yè)產(chǎn)出的重要組成部分,已成為中國(guó)農(nóng)業(yè)及農(nóng)村經(jīng)濟(jì)的支柱產(chǎn)業(yè)。蔬菜移栽可以節(jié)省農(nóng)時(shí)、提高產(chǎn)量和品質(zhì)。全自動(dòng)移栽機(jī)的使用可以解決蔬菜移栽環(huán)節(jié)出現(xiàn)的用工緊缺,成本高,效率低等問(wèn)題。本文提出一種新的取苗方式,并針對(duì)全自動(dòng)移栽機(jī)的核心部件進(jìn)行設(shè)計(jì)和優(yōu)化,在以下幾個(gè)方面進(jìn)行了相關(guān)試驗(yàn)與研究:1.對(duì)缽苗形態(tài)尺寸、基質(zhì)的抗壓性能、頂出力、摩擦系數(shù)、抗跌碎性能進(jìn)行試驗(yàn)和測(cè)量,研究可能影響取苗效果的相關(guān)缽苗物理特性,試驗(yàn)表明添加了粘結(jié)劑的進(jìn)口草炭粘聚能力更強(qiáng),適宜用作下壓式取苗方式的育苗基質(zhì);為防止缽苗提前脫落,正四棱臺(tái)形組合式穴盤(pán)的穴孔錐度應(yīng)選擇0.5°。2.綜合各種取苗方式的優(yōu)劣勢(shì)提出氣動(dòng)下壓式取苗方式。設(shè)計(jì)了一種底板可分離的正四棱臺(tái)形組合式穴盤(pán)。提出氣吹式取苗機(jī)構(gòu)和氣動(dòng)柔性下壓式取苗機(jī)構(gòu)兩種取苗機(jī)構(gòu)。進(jìn)行氣吹取苗試驗(yàn),發(fā)現(xiàn)氣吹取苗方式對(duì)缽體的損傷過(guò)大,最終摒棄氣吹取苗方案。提出柔性零件與剛性零件相結(jié)合的方法,在梯形頂頭上設(shè)計(jì)柔性避苗布,實(shí)現(xiàn)對(duì)秧苗莖桿的保護(hù),得到一種對(duì)秧苗和基質(zhì)損傷小、取苗效果好、體積小的氣動(dòng)柔性下壓式取苗機(jī)構(gòu)。3.對(duì)取苗頂桿進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,得到取苗頂桿的動(dòng)力學(xué)方程,借助Matlab計(jì)算出取苗頂桿完成一次取苗動(dòng)作所需的時(shí)間,利用作圖法求出取苗頂桿與供苗機(jī)構(gòu)驅(qū)動(dòng)的穴盤(pán)的相對(duì)運(yùn)動(dòng)軌跡。4.在傳統(tǒng)的吊杯式栽植機(jī)構(gòu)的基礎(chǔ)上提出了一種跑道形吊杯式零速栽植機(jī)構(gòu)。同樣采用了平行四桿機(jī)構(gòu)的運(yùn)動(dòng)特性保證吊杯在整個(gè)工作過(guò)程中始終保持豎直姿態(tài),其跑道形的運(yùn)動(dòng)軌跡可保證該機(jī)構(gòu)從吊杯插入土壤到吊杯完全張開(kāi)前的絕對(duì)速度始終為零,且吊杯離開(kāi)缽苗時(shí)處于完全打開(kāi)狀態(tài),從而避免了吊杯離開(kāi)時(shí)對(duì)缽苗的撥動(dòng)干擾,保證其較好的直立度。5.設(shè)計(jì)了與氣動(dòng)柔性下壓式取苗機(jī)構(gòu)匹配的供苗裝置。結(jié)合下壓式取苗機(jī)構(gòu)對(duì)供苗機(jī)構(gòu)的要求,設(shè)計(jì)了由兩段輸送帶組成,步進(jìn)電機(jī)驅(qū)動(dòng)的供苗機(jī)構(gòu)。根據(jù)取苗機(jī)構(gòu)的特殊要求,輸送帶上設(shè)計(jì)了裙邊形擋邊,倒"T"形隔條,滑靴型、滾輪型壓盤(pán)裝置等。6.設(shè)計(jì)了氣動(dòng)時(shí)序控制系統(tǒng)。對(duì)單片機(jī)進(jìn)行編程,用弱電控制強(qiáng)電的原則,通過(guò)對(duì)繼電器、電磁閥等元件的控制實(shí)現(xiàn)供苗機(jī)構(gòu)和取苗機(jī)構(gòu)的匹配運(yùn)行。7.搭建連續(xù)取苗試驗(yàn)臺(tái)并進(jìn)行連續(xù)取苗試驗(yàn),檢驗(yàn)氣動(dòng)下壓式取苗方式的可行性,驗(yàn)證取苗機(jī)構(gòu)、供苗機(jī)構(gòu),氣動(dòng)時(shí)序控制系統(tǒng)協(xié)同工作的性能。
[Abstract]:Vegetables play an important role in people's dietary structure and are important sources of vitamins and mineral salts needed by human body. Vegetable production is an important part of agricultural output and has become the pillar industry of Chinese agriculture and rural economy. Vegetable transplanting can save the time of farming and improve the yield and quality. The use of automatic transplanter can solve the shortage of labor, high cost and low efficiency in vegetable transplanting. In this paper, a new method of seedling extraction is put forward, and the design and optimization of the core parts of the automatic transplanting machine are carried out. The relevant experiments and studies are carried out in the following aspects: 1. The shape and size of the seedling, the compressive performance of the substrate, the ejection force, the friction coefficient and the crashing resistance were tested and measured to study the relative physical characteristics of the bowl seedling which may affect the seedling extraction effect. The results showed that the imported peat with binder had stronger cohesive ability and was suitable for seedling raising in the way of seedling extraction under pressure, and 0.5 擄. 2. In order to prevent the seedling from falling off early, the hole taper of the compound hole plate with four edges should be selected as 0.5 擄.2. Combined with the advantages and disadvantages of various seedling extraction methods, the pneumatic lower pressure seedling extraction method was put forward. In this paper, a kind of compound hole plate with four prisms is designed, which can be separated from the bottom plate. Two kinds of seedling extraction mechanism, pneumatic flexible and pneumatic pressure mechanism, are put forward. It was found that the damage to the bowl body was too great by the method of air blowing, and the scheme of seedling extraction by air blowing was abandoned. The method of combining flexible parts with rigid parts is put forward. The flexible seedling shedding cloth is designed on the top of trapezoid, which can protect the stem of seedling. The result shows that the damage to seedling and substrate is small, and the effect of seedling extraction is good. Compact pneumatic flexible pressure-extraction mechanism. 3. The kinematics and dynamics analysis of seedling top rod was carried out, and the dynamic equation of seedling top rod was obtained. The time needed to complete one seedling extraction was calculated by Matlab. The relative motion trajectory of the top stem of the seedling and the hole disk driven by the seedling donor mechanism is obtained by using the method of drawing. Based on the traditional hoist-type planting mechanism, a runway-shaped cup-type zero-speed planting mechanism is proposed. The kinematic characteristics of parallel four-bar mechanism are also used to ensure the vertical attitude of the suspension cup throughout the whole working process, and the track of the runway can ensure that the absolute velocity of the mechanism from the cup insertion into the soil to the complete opening of the suspension cup is always zero. When the cup leaves the bowl seedling, it is in a completely open state, thus avoiding the disturbance of the hoisting cup to the bowl seedling, and ensuring its good upright degree of .5. A seedling feeding device matched with pneumatic flexible pressure-taking mechanism was designed. According to the requirement of the seedling feeding mechanism, a seedling feeding mechanism is designed, which is composed of a two-stage conveyor belt and driven by a step motor. According to the special requirements of the seedling collecting mechanism, the conveyor belt is designed with skirt flange, inverted "T" shape partition, slipper type, roller press device and so on. The pneumatic timing control system is designed. The single chip computer is programmed, and the principle of weak electricity control is used to realize the matching operation of seedling feeding mechanism and seedling picking mechanism by controlling relay, solenoid valve and other components. A continuous seedling sampling test bench was built to test the feasibility of pneumatic pressure-extraction method and to verify the cooperative performance of seeding mechanism, seedling feeding mechanism and pneumatic timing control system.
【學(xué)位授予單位】：中國(guó)農(nóng)業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：S223.9

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本文編號(hào)：1974745