番茄钵苗移栽探出式取钵机构设计与试验

为了降低番茄钵苗移栽过程取钵机构对秧苗钵土根系的损伤，同时避免机械式钵苗移栽机构设计特殊取苗轨迹与姿态的优化难题，提出了一种可与系列移栽机构配合使用的番茄钵苗探出式取钵机构，实现取苗各关键位置机构秧针以固定角度完成探出入钵、移动送苗及收回推秧工序。根据钵苗移栽取钵过程分析与设计要求，建立了探出式取钵机构力学分析模型，并获得影响秧针扎入钵土时驱动杆受最小驱动力的因素。基于Matlab App Designer平台开发了取钵机构计算机辅助分析设计软件，获得满足番茄钵苗移栽要求的取钵机构设计参数集。采用三因素五水平二次回归正交旋转中心组合试验方法，以驱动杆斜杆夹角、钵体含水率、入钵深度为试验因素，以钵体完整率和取苗成功率为评价指标，试制样机并搭建台架实施参数组合优化及验证试验，结果表明：探出式取钵机构可有效地配合取苗机构完成各项性能工作要求，在参数组合为驱动斜杆间夹角112°、钵体含水率57.5%、入钵深度28.4mm时作业效果最佳，钵体完整率为96.44%，取苗成功率为97.06%，满足钵苗移栽作业性能。

Design and Experiment of Extensible Type of Picking Seedling Pot Mechanism for Tomato Pot Seedling Transplanting

In order to lower the damage to the root system and pot soil of the seedling caused by the picking seedling pot mechanism in the tomato pot seedling transplanting process, and avoid the optimization problem of special seedling-picking trajectory and posture design of the mechanical pot seedling transplanting mechanism, the extensible type of picking seedling pot mechanism that can be used in conjunction with a series of transplanting mechanisms was proposed. It was achievable that the seedling needles of the mechanism at key positions of the picking seedling completed the process of protruding into the seedling pot, moving and delivering seedlings, and retrieving and pushing seedlings at a fixed angle. Based on the analysis and design requirements of the process of transplanting and picking seedling pot, the mechanical analysis model of the picking seedling pot mechanism was established, and the factors affecting the minimum driving force on the driving rod when the seedling needles protruding into the seedling pot were obtained. A computer-aided analysis and design software for the picking seedling pot mechanism was developed based on the Matlab App Designer platform, obtaining a set of picking seedling pot mechanism design parameters that met the requirements of tomato pot seedling transplantation. Using the three-factor five-level quadratic regression orthogonal rotation center combination test method, taking the angle of inclined rods, moisture content of seedling pot and depth into the pot as the test factors, and taking the integrity rate of the pot and the success rate of taking seedlings as the evaluation indexes, the prototype was trial manufactured and the bench was built to implement the parameter combination optimization and verification test. The results showed that the extensible type of picking seedling pot mechanism could effectively cooperate with the seedling picking mechanism to complete the performance requirements. The results showed that the operation effect was the best when the combination parameters included angle of the driving inclined rods was 112°, the moisture content of the seedling pot was 57.5%, and the depth into the pot was 28.4mm. The integrity rate of the seedling pot was 96.44%, and the success rate of picking seedlings was 97.06%, which met the performance of pot seedling transplanting.