Research Of Full-automatic Transplanter’s Grabing And Feeding Mechanism

Plug seedling has the advantages of high emergence rate,good uniformity,easy management,and protection of the agricultural ecological environment,which represents the development direction of modern seedling technology and is favored by the majority of the planters.Transplanter is a follow-up transplanting machine of plug seedlings,whose automation degree affects the transplanting efficiency.Traditional transplanter is semi-automatic and artificially fed into the seedlings and the degree of automation is not high.Starting from the analysis of the grabing and feeding mechanism of full-automatic transplanter,this paper analyzes and studies the composition,working principle,advantages and disadvantages of the existing automatic transplanter.In order to obtain the ideal speed of the grabing and feeding seedlings,the trajectory of the grabing and feeding seedlings is optimized,and grabing and feeding seedlings structure achieving the trajectory is designed.By analyzing and studying other components of the grabing and feeding seedlings mechanism,the whole full-automatic transplanter grabing and feeding seedlings mechanism is designed.By analyzing the functional requirements of the grabing and feeding seedlings mechanism of full-automatic transplanter,the key mechanisms such as the grabing seedlings mechanism,the seedling manipulator,the feeding baffles mechanism,the delivering seedlings mechanism,and the pressing seedlings plate device are designed.Through the calculation of technical parameters,the overall structural position relationship and configuration selection of key components are determined,The kinematics simulation analysis of the grabing and feeding mechanismis carried out by using Adams Software,the changing regulation of the movement parameters such as velocity,acceleration and displacement of the framed-shaped rack under the effect of incomplete gear can be obtained.By establishing the double-degree-of-freedom dynamic model of incomplete gears and framed-shaped rack,the influencing regulation of the incomplete gear on the framed-shaped rack on the contact moment between the incomplete gear and the framed-shaped rack can be obtained.By establishing the single-degree-of-freedom dynamic model of framed-shaped rack,the influencing regulation of rail viscous damping on the lateral vibration displacement of the framed-shaped rack when the incomplete gear and framed-shaped rack are meshed can be obtained.Through hardware design,the hardware selection of the control system has been completed,including the selection of PLC controllers,drivers,stepper motors,switching power supplies,and cylinder solenoid valves.Combined with the working principle and overall control concept of the automatic transplanter,the electrical schematic design is completed.By ladder programmed and debugged,the software design is completed.By setting up the full-automatic transplanter grabing and feeding mechanism experimental platform,the experiment verifies the reliability and rationality of the grabing and feeding mechanism.The test shows that the mechanism is feasible,and the grabing and feeding function can be realized according to the design.and the feeding rate of the full-automatic transplanter designed and manufactured is 120 tree/min.