蔬菜移栽机顶夹式取苗装置末端执行器设计与试验

为解决顶夹式取苗出现的顶苗失败、钵体被夹持时受压变形、破损等问题，以顶夹式取苗末端执行部件为研究对象，建立顶苗和夹苗过程力学分析模型，得出影响取苗效果的主要因素包括顶针直径、顶针长度、顶苗速度和夹苗加载距离。通过试验测定钵体相关物理性能参数，在EDEM软件中选用EEPA接触模型建立钵体颗粒模型。利用EDEM仿真模拟顶苗与夹苗过程，采用Box-Behnken设计法和单变量控制法分别进行顶苗和夹苗仿真试验设计，利用Design-Expert软件分析得到优化参数组合为：顶针直径1.9mm、顶针长度18mm、顶苗速度0.3m/s和夹苗加载距离4mm。在频率100株/min下进行取投苗性能验证试验，经过优化的取苗末端执行部件取投苗成功率93.25%，钵体完整度良好，满足叶菜类蔬菜穴盘苗自动旱地移栽取苗要求。

Design and Experiment of End Effector of Seedling Taking by Jacking and Clampling of Vegetable Transplanter

In order to solve the problems of jacking seedling failure, compression deformation and damage when the lump of mud is clamped, taking jacking and clamping components as the research object. Mechanical analysis models of jacking and clamping the lump of mud were established. Needle diameter, needle length, velocity, and compression distance were the main factors affecting the effect of seedling taking extraction by mechanical analysis. The related physical properties of the lump of mud were measured by experiments. The EEPA contact model used in the EDEM software was used as the contact model between particles, between particles and tray, and between particles and seedling taking parts. And the particle model was established to simulate the real lump of mud. EDEM software was used to simulate the process of jacking and clamping seedlings. Box-Behnken design method and univariate control method were used to design the simulation experiment of jacking and clamping seedlings. The optimized parameter combination that was obtained by using Design-Expert software were needle diameter of 1.9mm, needle length of 18mm, jacking velocity of 0.3m/s and compression distance of 4mm. The seedling taking performance verification tests was carried out, and the seedling taking frequency was 100 plants/min. The seedling taking success rate of the optimized end-effector was 93.25%, and the lump of mud of the bowl was good. The results of this experiment met the requirement of automatic dry land transplanting of leaf vegetable pothole seedlings.