【作者】 李伟；

【导师】 王璐；

【作者基本信息】 安徽工业大学 ， 机械工程（专业学位）， 2020， 硕士

【摘要】 当代农业发展的新趋势是工厂智能化生产,随着科技的突飞猛进,蔬菜工厂也普遍实现了机械自动化,但穴盘苗的抓取和移栽仍然采用人工操作。因此,针对目前穴盘育苗过程中存在的穴盘苗难以掌握、移栽强度大等问题,进行了抓苗移栽机系统的设计与研究。主要研究内容如下:(1)根据抓苗移栽机系统的现场工作环境和客户的预期性能要求,分析了系统需求。通过对比分析目前的穴盘苗移栽设备,对整体系统方案进行了深入的设计与分析,并具体研究了相应的技术路线,从而使设计的合理性得到了保障。(2)具体进行了抓苗移栽机系统不同结构的设计工作,在Solidworks软件平台操作下,进行虚拟样机的绘制,主要包括以下几个部分:移栽机架、托盘库、拨叉机构、托盘导向机构、托盘输送装置、托盘限位装置、抓手结构等。以托盘输送装置为研究对象开展了相应的结构分析、同步带的选型以及校核与驱动电机设备的选择工作。通过有限元的分析方法具体分析了部分关键零部件,确保其能够较好地满足强度要求。(3)进行了抓苗移栽机系统控制模块的设计工作,上位机与下位机分别使用的是触摸屏、可编程控制器PLC。首先,分析整个控制部分的软硬件需求,确定电气元件的类型。采用模糊控制和传统PID相结合的算法对闭环伺服定位控制系统进行相应的控制处理,并通过Matlab/Simulink完成仿真工作,并具体对比分析相应的传统PID,从而确保其合理性满足相应的要求。依照前期的设计要求对其电气原理图进行相关的描述,需要完成的主要工作是对控制器PLC进行程序编写。(4)在进行移栽机架的静力学以及模态分析的过程中主要使用的软件为ANSYS Workbench,基于仿真结果进行刚度以及强度的验证。随后,将移栽机装配成样机,并对样机进行测试,看其是否能达到定位精度,是否能平稳运行,是否能抓取每个苗杯,是否能达到令人满意的移栽效果。收集从测试中获得的数据并分析测试结果。实际测试表明,该装置整体运行可靠,抓取和移动准确,能够长时间抓取和移栽苗木。更多还原

【Abstract】 The new trend of contemporary agricultural development is the intelligent production of factories.As technology advances rapidly,vegetable factories have generally realized mechanical automation.However,the grasping and transplanting of hole tray seedling still adopts manual operation.Therefore,the design and research of the transplant system of the hole tray seedling were carried out in view of the problems such as difficulty in mastering the hole tray seedling and high transplanting intensity in the current process of the hole tray seedling.The main research contents are as follows:According to the site working environment and customer’s expected performance requirements,the system requirements are analyzed.Through the comparative analysis of the current hole tray seedling transplanting equipment,the overall system scheme has been thoroughly designed and analyzed,and the corresponding technical route has been specifically studied,so as to ensure the rationality of the design.The design work of different structures of grasping seedling transplanting system was carried out.Under the operation of Solidworks software platform,the virtual prototype drawing was carried out,mainly including the following parts: transplanting frame,pallet warehouse,fork shifting mechanism,pallet guide mechanism,pallet conveying device,pallet limit device,and gripping structure,etc.The corresponding structural analysis was carried out on the pallet conveying device,the selection of synchronous belt and the selection of checking and driving motor equipment are carried out.Some key parts are analyzed by finite element method to ensure that they can meet the strength requirements.Design of control module of seedling catching and transplanting system is carried out,The upper computer and the lower computer respectively use touch screen and programmable controller PLC.First,analyze the hardware and software requirements of the whole control part and determine the type of electrical components.The closed loop servo positioning control system is controlled by fuzzy control and traditional PID algorithm,and the simulation work is completed by Matlab/Simulink,and the corresponding traditional PID,are compared and analyzed,so as to ensure its rationality to meet the corresponding requirements.The electrical schematic diagram is described in accordance with the design requirements in the early stage,and the main work to be completed is to program the controller PLC.ANSYS Workbench is the main software used in the process of statics and modal analysis of the transshipment rack,and stiffness and stiffness verification are carried out based on verification results.Then,the transplanter is assembled into a prototype,and the prototype is tested to see if it can achieve the positioning accuracy,run smoothly,grab each seedling cup,and achieve satisfactory transplanting effect.Collect data from tests and analyze test results.The actual test shows that the device is reliable in overall operation,accurate in grasping and moving,and capable of grasping and transplanting seedlings for a long time.更多还原