关节式蔬菜育苗穴盘播后自动摆放机设计

为解决中国蔬菜育苗播种后人工摆放穴盘劳动强度大的难题，设计了关节式蔬菜育苗穴盘播后自动摆放机，并对机器的关键部件进行了理论分析及设计计算。确定了以关节式机械手作为摆盘执行机构，对其进行了数学建模并得到了摆盘机械手运动学方程。在单因素试验的基础上，进行Box-Behnken Design响应面优化试验设计，探求了穴盘输送高度、输送角度、输送速度3个关键参数对穴盘间距合格率、穴盘摆正率、穴盘排齐率3个评价指标的影响规律，利用Design-Expert软件对试验结果进行方差分析，建立了评价指标与各影响因素的数学回归模型，并进行响应面分析，得到了影响摆盘效果的3个关键参数的最佳组合为：穴盘输送速度为60 mm/s，穴盘输送角度为31°，穴盘输送高度为40 mm。并对优选出的最佳摆盘参数组合进行了试验验证分析，试验结果为：穴盘间距合格率97.6%，穴盘摆正率96.5%，穴盘排齐率95.7%，试验结果与理论预测值的误差绝对值均低于5%，表明摆盘执行机构在最佳工艺参数组合下工作平稳可靠，满足穴盘摆放技术要求。该研究可为全自动化、智能化穴盘摆放机的设计提供参考。

Design of joint-style automatic machine for placing planted vegetable seeding tray

Abstract: A great deal of soft seeding trays is required nursing seedlings industry, but transporting and placing these trays always have been done by hands in most companies in China. In recent years, some universities and research institutes have begun to pay attention to factory seedling technology and related equipment, but the existing equipment have shown a few problems, such as covering large floor areas, no mobility and lack of flexibility. In order to deal with the above problems, this paper puts forward an automatic joint-style placement machine. The overall structure and working principle of joint-style placement machine were described, and the performance tests were done. In this machine, chassis walking steering device, lifting device, stacking, rotating and pushing device, and placement device were arranged to solve the problem of placing soft tray after sowing the vegetable seeds. In the chassis walking steering device, the diagonal arrangement of the steering wheel could guarantee the machine to turn in radius 0. In the lifting device, lifting scissors mechanism was used to adjust the height of the whole machine to suit to the height of the seeding planter machine, which could make the connecting between the seedling planter and the automatic joint-style placement machine easily and automatically. Stacking, rotating and pushing device could store 20 trays in the automatic joint-style placement machine, which could save the time for transporting the trays. The more important functions of stacking, rotating and pushing device were switching trays position and pushing trays out to the ground or other place smoothly. Placement device lay in the end of the machine. A joint-style type of mechanical arm and a small conveyer belt were used as the manipulator which adapted to different placing height of the trays. Based on these structural characteristics, the joint-style automatic machine for placing planted vegetable seeding tray could be used for placing soft seeding trays and moving independently, and the stacking, transporting and placing trays would be finished together in one time. High integration and flexibility were the most important features. The mathematical modeling was performed, and the kinematics equation of the manipulator was obtained referencing robotics space D-H method. According to the structural parameters and the machine working principle, 3 key parameters affecting the performance of the joint-style automatic machine placing sowed tray were chosen and analyzed respectively. 3 test factors included conveying height, conveying angle and conveying speed. Through the single factor test, range of the 3 key parameters was determined. Furthermore, Design-Expert software was used to design an orthogonal test including 3 test factors and 3 response indicators. The test index included the qualified rate of trays spacing, tray straighten rate and tray aligned rate. Analyzing the test data and the variance, a mathematical regression equation of the response indicators and influencing factors was established, presenting the effects of the test factors on the qualified rate of trays spacing, tray straighten rate and tray aligned rate. Response surface analysis was performed and the best combination of the 3 key parameters affecting the tray placement effect was obtained. The optimal combination of the 3 key factors for tray placement were as follows: the tray conveying speed was 60 mm/s, the tray conveying angle was 31°, the tray conveying height was 40 mm. Under the optimal condition, the corresponding tests were done and the test result was as follows: the qualified rate of the tray spacing was 97.6%, the tray straighten rate was 96.5%, and the tray aligned rate was 95.7%, respectively. The test results showed that the placement method was reasonable and the joint-style automatic machine placing sowed tray was stable and reliable. This research work can greatly improve the production efficiency for placing soft seeding tray and promote the development of mechanized seedling industry in China.