Desigh And Research Of Seedling Separation Mechanism And Control System Of Vegetable Automatic Transplanter

seedling Separation mechanism is a key part of automated transplanters.In China,a majority of transplanters use spinning cup of separation mechanism,there has problems with this structure,such as cups and support platform have large friction damage,seedlings’ horizontal movement affects its casting motion,cannot transplant immediately after casting and so on.Transplanter is not widely used because of its single structure,research on mature separation system has been less than other structures.As an important part of transplanter,innovative research is necessary.This paper aims at some problems in separation mechanism of transplanter,designing an overall system by machine,electricity and gas,also coordinating picking-up and planting mechanism,realizing automatic control of transplanter.Main research contents as follows:(1)Put forward a method of reciprocating seedling separation and zero-speed casting,design a basic structure with a crank slider by motor control and cylinder assist,with zero-speed casting and separation features,applies to mainly used trays and line spacing.Aims at diffirent trays,we use two kinds of quantity of separation cups,determine the size and position relationship of each part,calculate the maximum moment of mechanism through mechanical and kinematic analysis at last.(2)Ensure the accuracy of horizontal positioning of seedling cup by feedback control of Closed-loop stepper motor itself,guarantee initial position positioning accuracy of cups by sensor sensing crank.Coordinating cooperation of cylinders and whole mechanisms,research trigger timing and hold time of cylinders and solenoid valves.(3)Through the analysis of picking mechanism,mainly aims at casting process,design a program of casting seedlings to separation mechanism,by coordinating with the picking mechanism,ensure parts of machine don’t interfere each other.Through the analysis of planting mechanism,design a motion control system for separation mechanism casting seedlings to planting mechanism,reduce loss and breakage rate of seedlings after passing the separation mechanism.(4)Analyze the control and precision requirements of separation seedling mechanism,select electrical components such as programmable controllers,motors,sensors,etc.Further improve the efficiency of mechanism through research of timing,improve detail parameters of control system,write and debug PLC control program.(5)Statistics success rate of two key timings under different conditions by test,adjust relevant timers in control program in accordance with test results.Finally,test reliability of separation mechanism,test with different planting frequencies by 72 and128 holes trays,statistics the success rate of casting and seedling separation.Test results that:in the case of separation rates from 60 to 120 plants/min,the average success rate of seedlings passing through separation mechanism is 97.35%.