韩绿化,毛罕平,胡建平,徐静云,赵峥嵘,马国鑫.温室穴盘苗自动移栽机设计与试验[J].农业机械学报,2016,47(11):59-67.
Han Lühua,Mao Hanping,Hu Jianping,Xu Jingyun,Zhao Zhengrong,Ma Guoxin.Design and Test of Automatic Transplanter for Greenhouse Plug Seedlings[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):59-67.
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温室穴盘苗自动移栽机设计与试验   [下载全文]
Design and Test of Automatic Transplanter for Greenhouse Plug Seedlings   [Download Pdf][in English]
投稿时间:2016-04-13  
DOI:10.6041/j.issn.1000-1298.2016.11.008
中文关键词:  温室  穴盘苗  移栽机  位移传感器
基金项目:基金项目: 〖HTSS〗〖ZK(〗国家自然科学基金项目(51475216)、“十二五”国家科技支撑计划项目(2013BAD08B03)、江苏省科技支撑计划项目(BE2014373)、江苏省农业科技自主创新资金项目(CX(15)1033-5)、江苏省现代农业装备与技术协同创新中心项目(NZXT02201402)和江苏省高校优势学科建设工程项目(苏财教(2014)37号)
作者单位
韩绿化 江苏大学
江苏省农业装备与智能化高技术研究重点实验室 
毛罕平 江苏大学
江苏省现代农业装备与技术协同创新中心 
胡建平 江苏大学
江苏省现代农业装备与技术协同创新中心 
徐静云 江苏大学
江苏省现代农业装备与技术协同创新中心 
赵峥嵘 江苏大学
江苏省农业装备与智能化高技术研究重点实验室 
马国鑫 江苏大学
江苏省农业装备与智能化高技术研究重点实验室 
中文摘要:针对种苗从高密度穴盘移植到低密度穴盘,或者从穴盘直接移植到花盆的温室穴盘苗移栽生产需要,设计了一种轻简型自动移栽机。利用成熟的直线模组和无杆气缸组合设计出自动移栽机械臂,驱动取苗末端执行器往复于来源盘和目标盘进行取苗、移苗、栽苗操作,采用双排链传动实现穴盘和花盆输送,对穴盘苗的夹取操作采用气动两指四针钳夹式夹钵取苗方法。根据所设计的移栽机工作要求,构建电气控制系统。试制样机,开展试验研究。采用直线位移传感器系统检测分析机器取苗移栽移位性能,结果显示对于128/72孔穴盘苗,移栽效率分别达到1221株/h和1025株/h,运用单样本t检验法分析得到实测取苗移位间隔与理论设定穴孔间隔无显著差别,标准差低于0.5,整机工作精度准确。以当地自行培育的种苗为移栽对象,进行温室穴盘苗移栽生产试验,对比分析自动取苗移栽效能,结果显示多种穴盘苗移栽成功率平均达到90.70%,苗钵夹取破碎率低于5%,自动取苗移栽效果较好。
Han Lühua  Mao Hanping  Hu Jianping  Xu Jingyun  Zhao Zhengrong  Ma Guoxin
Jiangsu University;Jiangsu Province Synergistic Innovation Center of Modern Agricultural Equipment and Technology,Jiangsu University;Jiangsu Province Synergistic Innovation Center of Modern Agricultural Equipment and Technology,Jiangsu University;Jiangsu Province Synergistic Innovation Center of Modern Agricultural Equipment and Technology,Jiangsu University;Jiangsu Province Synergistic Innovation Center of Modern Agricultural Equipment and Technology,Jiangsu University;Jiangsu Province Synergistic Innovation Center of Modern Agricultural Equipment and Technology and Jiangsu University;Jiangsu Province Synergistic Innovation Center of Modern Agricultural Equipment and Technology
Key Words:greenhouse  plug seedling  transplanter  displacement sensor
Abstract:The seedlings in greenhouse at a certain stage are transplanted from high density trays into low density flats for further growth and development. To meet the demands of transplant production in greenhouse, a simple type automatic transplanter for plug seedlings was designed. The transplanter consisted of a manipulator, an end effector and two conveyors. The manipulator consisting of a motor, a linear modules and a rodless cylinder, moved the end effector to the desired working position for extracting, transferring and discharging a seedling. The conveyors were designed to move the plug tray/pot to the end effectors working space. It was the pallet type double row chain transmission units. The end effector was a pincette type mechanism using two fingers and four pins for picking up seedlings. When the end effector extracted seedlings from the tray cells, its two cylinder fingers push out four pick up pins to penetrate into the root soil deeply and then close making the pick up pins hold the soil of the seedlings firmly for lifting. When the end effector released seedlings at the discharge point, its two cylinder fingers open making the pick up pins loosen the soil of the seedlings and then pulled the pick up pins back for discharging. According to the requirement of automatic transplanting of greenhouse seedlings, the electric control system was configured for the prototype. The step transmission for picking up seedlings was examined with the linear displacement sensor. The test results indicated that the transplanting rate was about 1221 seedlings per hour for the 128 cell tray and 1025 seedlings per hour for the 72 cell tray, respectively. The statistical analysis of one sample t test showed that there was no significant difference in the step transmissions between the testing value and the theoretical value, and the standard deviation was less than 0.5. The performance tests were further conducted to evaluate the machine efficiency. For the four locally produced vegetable seedlings, the average success ratio in picking up seedlings was up to 90.70%, and the soil damage ratio was less than 5%. The performance of transplanting was satisfactory.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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