| The containernursing is a scientific technology, which was applied to nursery and wood'product. And following by the containernursing'production, from container earthing, strickling, jolting solid, seeding, to earthing up,to spewing, watering, and so on, between all the steps ,the automatization system used for instead of handcraft operation(include of mechanisation, concatenation, photoelectricity servomechanism), that was intituled nernursing product line.At present, most of the nernursing product line for our country used was depended on importation. For the area of nursery is limited, and the expense of good-sized whole automatism nernursing product line is very costly, the most equipment for our importation is medium-sized or in miniature. The upper labor such as clearing up the seedling plate has only to rely on handcraft operation, and the repeated simpleness labor is heavy and inanimate, and easy to bringing fatigue and debasing efficiency.Because of that above, my problem want to study a manipulator for nernursing servomechanism to transmittal and placement, as well as it's control's automatization system. It works as the back facility of the medium-sized or in miniature containernursing equipment. It insteads of the handcraft operation, releases of labour force, and advances efficiency and reliability. The problem divides into two parts: 1, The manipulator's mechanism-structure design and its motion-emulation, 2, The manipulator's SCM servomechanism's software and hardware design.This topic contains 3 innovation orders: 1, make use of the Pro/MECHANICA mold to carry on the sport to imitate an analysis to the machine hand system;2, leads robot system into seedling breeding product line's, it acts as the makeup of this half- servomechanism, instead of man to do the a mass of repetitious simple work.3, leads the phonetic-control into the cotrol system , control the robot system's action about turn on and turn off the machine, and the seedling dish number etc. |
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