全自动滑道式旱地钵苗移栽机构设计与试验

针对目前移栽机构取苗速度快导致钵苗易损伤和栽植器在栽植过程中水平方向与地面存在相对运动导致钵苗栽植直立度低等问题，设计了一种全自动滑道式旱地钵苗移栽机构，该机构通过滑道控制栽植臂实现取苗、送苗、栽植和复位功能，使取苗和栽植运动轨迹和运动速度达到最优状态。通过对移栽机构的理论分析，建立运动学模型。基于VB开发了计算机辅助优化设计软件，优化出一组满足理想移栽轨迹要求的机构参数，根据此参数对移栽机构进行整体设计，完成三维建模。应用ADAMS软件对移栽机构进行运动学仿真分析，验证了设计的合理性。在物理样机上利用高速摄像系统进行了轨迹验证试验，通过对比可知理论轨迹、仿真轨迹与样机工作轨迹基本一致，验证了机构设计的正确性。在栽植频率为62株/min工况下进行了机构性能试验，结果表明平均取苗成功率为95%、秧苗平均栽植直立度为82°、秧苗平均直立度合格率为93.4%，满足钵苗移栽要求。

Design and Experiment of Fully Automatic Slide-track Type Dryland Pot Seedling Transplanting Mechanism

Aiming at the problems of seedlings-damaging due to the high seedling speed, and low uprightness due to the relative horizontal movement in the transplanting process, a fully automatic slide-track type dryland pot seedling transplanting mechanism was designed. The functions of seedling retrieval, transportation, planting and resetting were realized by the slide-track mechanism, so that the movement trajectory and movement speed in the process of taking seedlings and planting reached the optimal state. Based on the theoretical analysis of the transplanting mechanism, the kinematics model were established. The computer-aided optimization design software was developed by using VB software, and a group of mechanism parameters that met the requirements of the ideal transplanting trajectory was obtained. According to the mechanism parameters, the layout design of the transplanting mechanism was carried out, and the 3D modeling were completed. The kinematics simulation analysis of the transplanting mechanism was carried out by using ADAMS software, which verified the rationality of the mechanism design. The trajectory verification process was carried out on the physical prototype using high-speed cameras. Comparison results showed that the theoretical trajectory and the simulated trajectory were consistent with the working trajectory of the prototype, which verified the correctness of the mechanism design. The mechanism performance experiment was carried out under the condition of planting frequency of 62 plants/min, and the results showed that the average seedling success rate was 95%, the average planting upright degree of the seedlings was 82°, and the average uprightness of seedlings qualified rate was 93.4% which met the requirements of dryland pot seedling transplanting.