【摘要】 针对现有自动移栽机供盘、收盘仍需人工操作，自动化程度低等问题，提出一种基于多传感器融合的移栽机连续供盘收盘方法，设计了移栽机连续供盘与收盘装置。对横向送盘机构、纵向步进移盘机构、垂直连续取落盘机构、双开合收盘机构及控制系统进行了设计及优化，运用Box-Behnken中心组合试验研究了接盘倾斜角、进盘气压、穴底距对苗盘衔接连续率的作用规律，通过方差分析、响应面分析得出进盘气压为0.37 MPa、落盘倾斜角为27.29°、穴底距为5.26 mm时，苗盘衔接连续率最优，达96.81%,以移盘偏差为指标开展移盘拨齿位置准确度试验，得出移盘最大偏差为14.17%。满足移栽机最高栽植效率的条件下使用最优参数组合进行田间试验，结果表明，栽植效率达128株/min时，苗盘衔接连续率为95%,叠盘成功率为99%。各项性能均满足移栽机工作要求。提出的连续供盘收盘方法可显著提高移栽机的自动化程度。更多还原

【Abstract】 Aiming at the issue of manual operation required for feeding and stacking trays in existing automatic transplanters, which results in a low level of automation, a method for continuous feeding and stacking trays in transplanters was proposed. A device for continuous feeding and stacking trays in transplanters was designed based on multi-sensor fusion technology, and the structure and working principle of the device were analyzed. The design and optimization of the horizontal tray feeding mechanism, longitudinal stepwise tray moving mechanism, vertical continuous tray picking and placing mechanism, dual opening and closing tray stacking mechanism, and control system were carried out. Kinematic models for each stage of the tray movement were established. The Box-Behnken central combination test was used to study the role of tray tilt angle, tray feed air pressure, hole bottom distance on the continuous rate of seedling tray articulation, and the design of orthogonal tests through analysis of variance and response surface analysis showed that when the tray feed air pressure was 0.37 MPa, the tray drop tilt angle was 27.29°, and the hole bottom distance was 5.26 mm, the optimal rate of seedling tray articulation was 96.81%, to transfer disk deviation as an indicator to carry out the transfer disk toggle position accuracy test concluded that the maximum deviation of the step transfer disk was 14.17%. Under the condition of meeting the highest planting efficiency of the transplanter, the optimal parameter combination was used to conduct field tests, and the results showed that when the planting efficiency reached 128 plants/min, the continuous rate of seedling tray articulation was 95%, and the success rate of stacking trays was 99%. All the performances met the working requirements of the transplanter. The proposed method of continuous tray supply and collection can significantly improve the automation degree of the transplanter, and the research result can provide technical support for the research and development of tray supply and collection of the transplanter.更多还原