Research On The Automatic Putting Tray Apparatus In Seeding Greenhouse

As the largest planting area, the highest yield, the total output of most food crops, rice is the important guarantee for the development of the country. Tray seedlings is one of the main types of rice factory seeding, And the putting tray of rice seeding is still dominated by artificial plate work, in the growing season it is obvious problem of needing a lot of labor, high labor intensity, low efficiency, and high temperature, high humidity, poor working environment in greenhouse, limited greenhouse staff working space, especially the lack of some regional agricultural population and focus of labor shortage.In view of rice seeding in China putting tray application process problems such as the low degree of mechanization, and the working conditions, this paper puts forward the seeding greenhouse automatic putting tray manipulator, introducing robot technology into putting tray process, using robot Cartesian coordinates automatically putting tray, realize the rice seedling mechanization tray, automated operations, improve quality and putting tray efficiency, reduce labor intensity, realize mechanization production.This paper analyzes the seedling greenhouses putting tray device workflow, in view of tray seeding machine sowing methods for joint operations, the design of the seedling tray transport apparatus, according seedling greenhouses layout, design a set of two conveyor width, and rotating lifting device, according physical characterization of seedling tray, design a special end effectors, and Cartesian coordinate manipulator.This paper discussed various manipulator coordinate form, analysed of the mechanical structure of the manipulator, in view of the manipulator designing index and putting tray operating characteristics, determined the Cartesian coordinate form, under investigating the linear unit and the layout of Cartesian coordinate manipulator, designed the body of the4-DOF Cartesian manipulator for putting tray process.Based on D-H method, calculated the positive kinematics and inverse kinematics of the manipulator. Using the virtual modeling and simulation technology to design the manipulator, and the manipulator’ virtual prototype is set up. Based on the virtual prototype, the robot kinematics and putting tray process are simulated, the displacement change of the end effecter is also simulated to ensure a smooth working condition.After assembling the prototype, we measured the manipulator’ performance parameters and did a series of putting tray experiments, The results showed that the4-DOF manipulator of putting tray in greenhouse can meet the design index very well and complete the putting.