魏新华,包盛,刘晓凯,刘成良,毛罕平.穴盘苗全自动移栽机运动协调控制系统设计与移栽试验[J].农业机械学报,2016,47(12):1-7,52.
Wei Xinhua,Bao Sheng,Liu Xiaokai,Liu Chengliang,Mao Hanping.Design and Experiment on Potted-seedling Automatic Transplanter Control System for Motion Coordinating[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(12):1-7,52.
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穴盘苗全自动移栽机运动协调控制系统设计与移栽试验   [下载全文]
Design and Experiment on Potted-seedling Automatic Transplanter Control System for Motion Coordinating   [Download Pdf][in English]
投稿时间:2016-05-10  
DOI:10.6041/j.issn.1000-1298.2016.12.001
中文关键词:  穴盘苗  自动移栽  多运动同步协调控制  定位控制  PLC
基金项目:国家自然科学基金项目(51475216)、国家高技术研究发展计划(863计划)项目(2013AA10230704)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
魏新华 江苏大学 
包盛 江苏大学 
刘晓凯 江苏大学 
刘成良 上海交通大学 
毛罕平 江苏大学 
中文摘要:为实现穴盘苗全自动移栽机取苗、移盘和植苗动作驱动系统的分离,简化移栽机机械传动系统结构,以提高其可靠性和作业质量,基于PLC设计了一套穴盘苗全自动移栽机运动协调控制系统,并进行了实际移栽试验。试验结果表明:在运动协调控制系统的控制下,实现了步进电动机驱动苗盘横向进给运动、伺服电动机驱动取苗机械手纵向往复运动、取苗机械手气动垂直取/放苗动作和气动喂苗动作的控制及其与机械驱动植苗动作的同步配合,穴盘苗全自动移栽机可以实现40株/(min·行)的取/放苗速度,在整机单行移栽39.9株/min的平均移栽速度下,样机完成取/放苗过程并最终将钵苗成功喂入栽植器的喂苗成功率达到96.9%。
Wei Xinhua  Bao Sheng  Liu Xiaokai  Liu Chengliang  Mao Hanping
Jiangsu University,Jiangsu University,Jiangsu University,Shanghai Jiao Tong University and Jiangsu University
Key Words:potted seedling  automatic transplant  multiple motion synchronization and coordination control  positioning control  PLC
Abstract:In order to achieve the separation of three different motion driving systems, which are seedling fetching, plant moving and seedling planting on potted-seedling automatic transplanter, simplify the mechanical transmission system structure, and improve the reliability and quality of operations, a potted-seedling automatic transplanter control system for motion coordinating was designed based on PLC. This system accomplishes synchronous coordination of seedling disk lateral feeding motion driving by stepper motor, seedling fetching manipulator longitudinal reciprocating motion driving by servo motor, control of pneumatic perpendicular fetching/casting seedling motion of seedling fetching manipulator and pneumatic feeding seedling motion, and mechanical driving planting motion, which simplifies the mechanical transmission system, at the same time, further raises the positioning precision of the seedling fetching and the seedling moving flexibility, reduces the loss of the seedling matrix and improves the transplanting effect. The working principle of potted-seedling automatic transplanter is expounded, the design of hardware system and software system of the motion coordination control system is discussed in detail, and the actual transplanting test is carried out. Experimental results show that under the control of motion coordination control system, potted-seedling automatic transplanter can achieve 40 strains/(min·row) fetching/casting seedling rate, at the overall single row transplanting average rate of 39.9 strains/min, prototype completes fetching/casting seedling process, ultimately, the success rate of feeding seedlings into planting device is 96.9%.

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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