温室穴盘苗自动移栽机设计与试验

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。     

蔬菜穴盘苗自动精确移栽组合式取苗机构设计与测试

Precision planting is one key point of precision agriculture.A doorframe type swing seedling pick-up device for the automatic precise field transplanter was designed and tested in a laboratory.The seedling device could automatically extract seedlings from growing trays, transfer them, and release them into the planting unit where they were to be precisely transplanted into the ground.It consisted of a path manipulator and two grippers.The path manipulator for seedling extraction was constructed with creative design of Ⅱ-type mechanism combination in series.It consisted of an oscillating guide linkage mechanism and a grooved globoidal cam mechanism.According to the planned seedling pick-up trajectory, the design of the path manipulator for seedling extraction was finished with a set of the closed loop vector equation.The gripper was a pincette-type mechanism using the pick-up pins to penetrate into the root mass for seedling extraction.It consisted of multiple pick-up pins, U-type pull rod, shaft, stop block, compression spring and frame.The mechanical dimensions of the gripper were determined by the tray size and plant characteristic with a set of rectangular equations and the boundary constraint conditions.The final gripper was developed on the basis of cultural practice for vegetable seedling in China.A prototype of the seedling pick-up device was constructed to examine whether its working efficacy was satisfactory or not.According to the analysis on the work process, the seedling pick-up device could precisely complete a work cycle of approaching, penetrating, extracting, transferring, erecting and discharging a seedling.Taking pepper seedlings, tomato seedlings and cucumber seedlings as the transplanting objects, the performance tests were conducted to evaluate the practicality and adaptability of the pick-up device.The laboratory evaluation showed that the pick-up device equipped with two grippers could extract 70 seedlings per minute with an average success ratio of 90.49%.The quality of extracting seedlings was satisfactory.     

基于Micro-CT的黄瓜苗坨夹取破损检测及取苗参数优化

为了减小自动移栽时取苗爪夹取苗坨的破损,利用X射线Micro-CT对处于夹取状态的黄瓜苗坨进行检测,用阈值分割方法将根系和孔隙从断层图片中分割提取并三维重构。在垂直和水平方向将苗坨划分成6等份,对根系和孔隙的体积和分布密度进行统计,得出夹取过程中根系未发生显著位移,根系的作用是将基质缠绕包裹住,防止苗坨散坨;孔隙的体积和分布密度变化非常显著,新生孔隙的聚集和裂缝的形成是导致苗坨破损的主要原因。苗坨中夹针收缩移动的区域、夹针的顶端部位和苗坨的顶部是破损的主要部位,用这3个区域孔隙体积的增加量作为评价苗坨破损量的指标,对圆形和扁形2种夹针,在夹针直径为2、2.5和3 mm,夹取初始角为7°、9°和11°时进行扫描试验,得出在夹针收缩量为5 mm时,减小夹针直径和增大夹持初始角可以减小苗坨破损量,相同夹取条件下圆针夹取苗坨的破损量小于扁针;在夹取力等于苗坨屈服点的抗压力7.31 N时,圆针和扁针的收缩量分别为4.75和4.26 mm,此时孔隙体积的增加量分别为843.7和786.1 mm~3,扁针夹取苗坨的破损量小于圆针。以苗坨质量损失25%作为考核指标,在自动取苗机构上进行试验,结果表明,在夹针直径为2 mm,夹取力和夹取初始角分别为7.31 N和11°时,苗坨的破损率为6.3%,小于其他参数的试验结果,与Micro-CT扫描分析的结论一致。     

ANSYS的生物质成型机环模结构分析

根据生物质压块环模成型机的成型过程和机理分析,研究了环模的受力状况,分析了物料变化对攫入角β选取的影响;建立了环模挤压力学模型,借助ANSYS有限元分析软件对环模孔进行了力学分析。研究结果表明,环模锥形孔对生物质原料的成型影响较大,且在锥点处y向应力最大,减小应力的最佳开孔角度为9°~1 4°。该研究能够为改善生物质压块成型机环模的受力状况、降低环模的磨损、延长环模的使用寿命提供理论依据。     

机械移栽黄瓜穴盘苗育苗品质评价与试验

为了得到兼顾生长质量和机械移栽性能的黄瓜穴盘苗，以育苗基质配比（草炭∶珍珠岩∶蛭石混合体积比为2∶1∶1、3∶1∶1和4∶1∶1）、基质压实度（基质与穴孔的体积比为1.0、1.2和1.4）和营养液浓度（营养液电导率为1.0、1.2、1.4mS/cm）为因素开展正交试验。进行压缩和拉拔试验，测量黄瓜穴盘苗的抗压力和脱盘力；计算黄瓜穴盘苗的壮苗指数；利用X射线μCT扫描仪对苗钵进行检测和根系三维重构，在垂直方向用根系分布密度最小和最大值的比值表达根系均匀程度，水平方向上用外围根系分布密度表达根系包裹苗钵的紧密程度。通过方差分析可知各因素对试验指标有不同程度的影响。以苗钵的抗压力、脱盘力、壮苗指数、根系均匀系数和外围根系分布密度为优化目标，用综合评分法得出当育苗基质配比为3∶1∶1、基质压实度为1.2、营养液电导率为1.2mS/cm时，育苗品质最优。在取苗频率为43、48、53株/min时进行取苗试验，结果表明，在该组因素组合条件下，苗钵破损率分别为3.6%、3.9%和4.3%，取苗成功率为97.2%、96.1%和94.8%，优于其它因素组合的试验结果，与综合评分方法优选的结果一致。