| The new trend of contemporary agricultural development is the intelligent production of factories.As technology advances rapidly,vegetable factories have generally realized mechanical automation.However,the grasping and transplanting of hole tray seedling still adopts manual operation.Therefore,the design and research of the transplant system of the hole tray seedling were carried out in view of the problems such as difficulty in mastering the hole tray seedling and high transplanting intensity in the current process of the hole tray seedling.The main research contents are as follows:According to the site working environment and customer’s expected performance requirements,the system requirements are analyzed.Through the comparative analysis of the current hole tray seedling transplanting equipment,the overall system scheme has been thoroughly designed and analyzed,and the corresponding technical route has been specifically studied,so as to ensure the rationality of the design.The design work of different structures of grasping seedling transplanting system was carried out.Under the operation of Solidworks software platform,the virtual prototype drawing was carried out,mainly including the following parts: transplanting frame,pallet warehouse,fork shifting mechanism,pallet guide mechanism,pallet conveying device,pallet limit device,and gripping structure,etc.The corresponding structural analysis was carried out on the pallet conveying device,the selection of synchronous belt and the selection of checking and driving motor equipment are carried out.Some key parts are analyzed by finite element method to ensure that they can meet the strength requirements.Design of control module of seedling catching and transplanting system is carried out,The upper computer and the lower computer respectively use touch screen and programmable controller PLC.First,analyze the hardware and software requirements of the whole control part and determine the type of electrical components.The closed loop servo positioning control system is controlled by fuzzy control and traditional PID algorithm,and the simulation work is completed by Matlab/Simulink,and the corresponding traditional PID,are compared and analyzed,so as to ensure its rationality to meet the corresponding requirements.The electrical schematic diagram is described in accordance with the design requirements in the early stage,and the main work to be completed is to program the controller PLC.ANSYS Workbench is the main software used in the process of statics and modal analysis of the transshipment rack,and stiffness and stiffness verification are carried out based on verification results.Then,the transplanter is assembled into a prototype,and the prototype is tested to see if it can achieve the positioning accuracy,run smoothly,grab each seedling cup,and achieve satisfactory transplanting effect.Collect data from tests and analyze test results.The actual test shows that the device is reliable in overall operation,accurate in grasping and moving,and capable of grasping and transplanting seedlings for a long time. |
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