Design And Research On The Seedling Pick-up And Transferring System Of The Transplanter

Seedling picking and transferring device is the key equipment to realize automatic transplanting.The performance of seedling picking and transferring device will have an important influence on the effect of seedling picking and transferring.On the basis of summarizing the research status of seedling picking mechanism at home and abroad,this paper combined with the existing seedling picking and dropping device,designed a seedling picking and dropping system according to the requirements,the research contents mainly include(1)The basic structure and working principle of transplanter are introduced.Based on the basic structure and working principle of the transplanter,a seedling picking and transferring device was designed,the basic structure and working principle of the seedling picking and dropping device were introduced,and the basic parameters of the seedling picking and dropping device were determined.(2)A four-claw seedling picking mechanism driven by brushless DC servo motor was designed.By analyzing its movement process,the optimized objective function and constraint conditions were proposed.PSO-SA optimization algorithm was used to solve the optimization problem of seedling pick-up mechanism.The parameters of the key components of the optimized seedling picking manipulator were obtained,and the kinematics and dynamics simulation of the optimized seedling picking mechanism were carried out.The results showed that the trajectory,velocity,acceleration and clamping force of the optimized seedling picking manipulator could meet the requirements.(3)The overall design scheme of the control system of the seedling picking and dropping device was put forward and the seedling picking and transferring scheme was determined.The hardware of the control system was determined,and the seedling pick-up mechanism,lifting device and horizontal rail motor were determined.The power supply,sensor and controller of the control system are selected.The software of the control system is designed,and the program of the control system is designed based on Arduino IDE.(4)The experiment platform of the control system was set up and the experiment was carried out.The experimental results showed that the average success rate of seedling extraction reached 84.46%,and the average rate of seedling injury was as low as 5.13%.Therefore,the performance of the control system is stable and can meet the requirements of transplanting.