The Technology And Experimental Study Of Fully Automatic High Speed Transplantation Of Cave Plate

At present,China’s vegetable cultivation is still dominated by manual cultivation methods,with a low degree of mechanisation,which to a certain extent restricts the development of the vegetable industry and makes it difficult to meet the increasing social demand.In order to improve production efficiency,further reduce labour intensity and reduce production costs,this paper focuses on the study of automatic seedling picking and dropping transplanting machines.In response to the problems of low mechanization,large size of equipment,poor operational efficiency,labour intensity and high costs of the current main transplanting equipment,we carry out research on automatic high-speed transplanting technology and experiments for cavity trays,and design a whole-row top-out-pinching automatic stalk picking and dropping device,the main contents of which are as follows:(1)The seedlings were grown in cavity trays for the experiment,and the seedlings were tested for topping out,using the substrate ratio,substrate water content and seedling age as orthogonal test factors to investigate their effects on topping force,topping displacement and substrate integrity,and to determine the best seedling parameters:seedling age 45 days,substrate ratio peat soil,vermiculite,perlite=3:1:1,water content 50%,when the topping force was between The physical characteristics of the seedlings in the cavity trays were studied,with a mean stalk thickness of 3.66mm,a mean plant height of 165.9mm and a mean whole plant weight of 24.25g.The advantages and disadvantages of the existing seedling extraction methods were analysed and compared,and the tilted ejector-clamped stalk extraction method was identified.(2)Structural design of the seedling picking and dropping device.The design of a whole row of stalk clamping and seedling taking method,the planning of the overall action flow of seedling taking,the determination of the overall structure of the seedling taking and throwing device,the selection of each executive component,the establishment of the overall seedling feeding and taking and throwing model,through ADAMS kinematic simulation,the seedling taking claw displacement,velocity,acceleration curve and motion trajectory,to verify the reasonableness of the trajectory design of the seedling taking and throwing mechanism.(3)Build the control system of the seedling picking and dropping device,analyse the control system requirements according to the mechanism principle,determine the overall scheme of the control system,design the control system of the opening and closing air circuit of the seedling picking claw and the motor control circuit.The hardware part of the control system is selected,the stepper motor control algorithm is designed,and the software design is developed for the control system of the seedling picking and dropping device to realise the coordinated control of the components of the seedling picking mechanism.(4)Assembled the complete seedling picking and dropping device,mounted the test stand on the upland gap mobile working platform,and conducted seedling picking trajectory experiments and seedling picking performance tests respectively to verify the rationality of the theoretical design and simulation analysis as well as the practical feasibility of the device.