CAJ | 학술논문

针对目前吊篮式半自动蔬菜移栽机手工喂入效率低的问题，设计了一种具有双曲柄齿轮-五杆式钵苗取苗机构的蔬菜自动移栽机。同时，建立了该机取苗机构的运动数学模型，并对机构的运动学特性进行了分析，得出了取苗机构主要参数对取苗臂尖点轨迹和速度的影响规律；提出了蔬菜移栽自动取苗的设计优化目标，利用MATLAB优化软件，优选出了取苗机构的一组最佳参数组合。在此组合下，取苗机构取苗、拔苗段的运动轨迹几乎是直线且与钵苗的垂直度较高，取投苗点速度较低，满足蔬菜自动移栽机的取苗、喂苗要求。
침대목전조람식반자동소채이재궤수공위입효솔저적문제，설계료일충구유쌍곡병치륜-오간식발묘취묘궤구적소채자동이재궤。동시，건립료해궤취묘궤구적운동수학모형，병대궤구적운동학특성진행료분석，득출료취묘궤구주요삼수대취묘비첨점궤적화속도적영향규률；제출료소채이재자동취묘적설계우화목표，이용MATLAB우화연건，우선출료취묘궤구적일조최가삼수조합。재차조합하，취묘궤구취묘、발묘단적운동궤적궤호시직선차여발묘적수직도교고，취투묘점속도교저，만족소채자동이재궤적취묘、위묘요구。
In the present process of vegetable transplanting operation in China , the dibble-type semi-automatic trans-planter is the best available technology of applying mulch film with holes to transplanting vegetable potted seedlings . However , the dibble-type transplanter has very low efficiency because of the artificial feeding seedlings .Aiming at this problem , a new automatic transplanter for vegetable potted seedling was designed while the working principle of it was ex -pounded .It has the potted seedling pick-up mechanism with double crank geared five-bar linkages .The kinematics model of the pick-up mechanism was established by using the mathematical analysis method .The influence law of the structural parameters on the motion trajectory and relative velocity of the seedling pick-up arm cusp were obtained .The design of optimization objective for picking vegetable potted seedling was proposed .Meanwhile , the optimal parameter combination of the pick-up mechanism was obtained by using MATLAB based on the objective .With it, the path of the seedling pick-up arm inserting and pulling out the seedling pot were almost straight line , and were nearly perpendicular to potted seedling .Furthermore , the velocity of seedling taking and dropping cusps were very low .Then , the demands of picking and feeding potted seedling for vegetable automatic transplanter could be met .