| The flower industry has become an emerging industry,in which flower transplanting technology plays a very good role in reducing crop growth cycle,ensuring uniform crop quality,and increasing production and income.However,the mechanical equipment for transplanting domestic flowers is not perfect.In some remote areas,artificial transplanting is still the mainstay,and the cost for flower farmers is greatly increased.Flower seedling transplanting belongs to the category of seedling transplanting.At present,foreign seedling transplanting equipment is roughly divided into two types,one is transplanting equipment with robot or mechanical arm as carrier,and the other is electro-hydraulic gas integration.Automated assembly line.However,these two types of transplanting equipment have common problems: the equipment is too expensive,the circuit is complicated,the equipment maintenance cost is high,the agricultural facility standards are not uniform,and the after-sales service is not perfect.The domestic research on transplanting equipment started late,although some achievements were made,but it was not promoted.As an innovative mechanism,the hybrid drive mechanism has the advantages of large load bearing,stable operation,convenient manufacture and low cost compared with the traditional mechanism.It also has the characteristics that the full servo drive mechanism can realize complex motion law and the mechanism has flexible output.There are many researches on hybrid drive mechanisms,but the application of the mechanism is limited to presses.Therefore,the paper combines the five-bar mechanism with the hybrid drive,and carries out the analysis of agricultural transplanting operation,the optimization of mechanism parameter,structural design and simulation,the design of control system.A hybrid-driven pot-plant mechanism with integration of the taking and planting flower seedlings was designed and applied to agricultural flower transplanting.The main research contents are as follows:(1)The conditions of the crank of the five-bar mechanism and the conditions for avoiding the singular configuration are analyzed,and the corresponding constraints are provided for the optimization of the mechanism.The working space of the five-bar mechanism is analyzed,which provides a design index for the forward design of the five-bar mechanism.(2)According to the agronomic requirements of flower transplanting,a “tip-shaped” transplanting trajectory was designed,and the mathematical model of the mechanism reversed was established according to the transplanting trajectory.Then the optimized design of the mechanism was carried out,and the optimization program was written based on Matlab.It solves the various configuration parameters of the mechanism and the motion laws of the two motives.(3)Proe is used to design the structure of hybrid drive five-bar transplanting mechanism,the designed parts are assembled and imported into the simulation software Adams.The motion simulation of the mechanism is carried out,and the theoretical trajectory is compared to verify the correctness of the structural design.After verification,the prototype is machined.(4)The control system of the mechanism is designed.There is a functional relationship between the movements of the two original moving parts of the five-bar discizing mechanism.The DDA linear interpolation is used to fit the motion function of the mechanism to realize the synchronous linkage control of the two motors.The feedback pulse of the encoder of the motor realizes closed-loop control of the mechanism,eliminating the cumulative error and ensuring the accurate operation of the mechanism.(5)The idling debugging of the mechanism was carried out to solve the problems existing in the operation,and the motion trajectory of the actuating end of the mechanism was obtained by using high-speed photographic analysis software,which was consistent with the simulation results and verified the correctness of the control system design.Then the transplanting operation experiment was carried out,and the mechanism was initially realized integration of taking and planting flower seedlings. |
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