Design And Experiment Of Small-Scale Automatic Transplanter For Small And Medium-Sized Agriculture

Due to the constraints of historical conditions and technical level,the vegetable production of greenhouse agriculture has been mainly cultivated in small and medium-sized facilities in China.Most of these facilities are low and small in size,mainly based on artificial planting.Subject to the size of the field transplanting machinery,it is difficult to use directly for large transplanting machinery in such facilities.Moreover,the existing open field planting vegetable plug seedling transplanting machines are mainly traction or self-propelled,which are driven by internal combustion engine.Even if the small size,it is easy to cause air pollution when working in the small and medium-sized facilities agriculture,which affects the quality of vegetables.In response to these problems,this paper intends to design a small wireless remote control unmanned automatic transplanting machine to meet the needs of small and medium-sized facilities agriculture for automated open field transplanting machines.The main research work of this paper is as follows:Firstly,overall design of small-scale automatic transplanting machine for small and medium-sized facilities.Aiming at the working environment and size of small and medium-sized facilities agriculture,a small automatic transplanting machine for plugging seedlings capable of working in two direct rows was designed to realize the feeding of the plugs,the automatic transplanting function of the picking,transporting,distributing,introducing,planting and covering the seedlings.According to the component composition,the transplanter was divided into five parts,such as moving box feeding part,seedling part,distributing part,planting part and transplanter chassis.For the body type,the unmanned wireless remote control method was adopted to operate the whole machine movement by using the remote controller,which can cancel the passenger space,reduce the height of the whole machine,and simplify the chassis driving demand.For environmental protection,lithium battery was used as the power source without pollution.Secondly,design and dynamic analysis of seedling parts of transplanting machine.A new type of transplanting machine diamond shaped variable distance seedling unit was designed.The dynamics simulation of the variable pitch mechanism was carried out through ADAMS,and the model of the primary variable pitch drive cylinder was selected according to the simulation result..What's more,the push-pull force measurement was performed onthe variable distance mechanism using a push-pull force gauge to further confirm the selection of the variable pitch drive cylinder.Then,design and analysis of the transplanter chassis.Detailed mechanical design and structural design of the transplanter chassis were finished,including: front axle steering mechanism,the frame and rear wheel drive system.In addition,the layout and working principle of wireless remote control and electric drive chassis were explained.Moreover,static mechanical analysis and modal analysis of the frame of the transplanter chassis were carried out through ANSYS,which can be seen that the overall structure of the frame satisfies the static and dynamic performance.Next,design of the whole machine control system.The control system of the whole transplanter was designed,including the overall design,hardware design and software design of the control system.Finally,prototype testing and analysis.The prototype was manufactured and the relevant prototype was tested.The mechanical performance test showed that the vibration of the moving parts was the smallest,the vibration of the seedling parts was the largest,and it had no obvious resonance phenomenon on the chassis frame during the operation of the whole machine.The success rate of the seedlings showed that the comprehensive success rate of the seedlings decreased with the increase of planting frequency.When the planting frequency was 60 plants/min/row,the success rate of picking was 98.6%,the success rate of seedlings was 98.6%,and the whole success rate is 96.5%.The principle planting test showed that the seedling lodging phenomenon appeared more during the planting process,and the planting pass rate decreased with the increase of planting frequency.When the planting frequency was 60 plants/min/row,the planting pass rate was 94.4%.The test of the three principle prototypes shows that the movement of the components of the whole machine is coordinated,the control system is designed reasonably,and the overall design requirements of the automatic transplanter are met.