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Design and Experimental Research on Transplanter for Potted Tray Seedlings in Greenhouse

Author: ZhouZuo
Tutor: WangXiao
School: Nanjing Agricultural College
Course: Agricultural Biological Environmental and Energy Engineering
Keywords: transplanter manipulator PLC orthogonal experiment
CLC: S223.94
Type: Master's thesis
Year: 2009
Downloads: 185
Quote: 1
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Abstract


Transplanting has comprehensive benefits of the compensation effect of climate and make the crops’growth ahead of time, it also can make full use of light and heat resources, the economic and social benefits of transplanting are very substantial.At the same time, transplanting needs many operating steps, high technologies and 5-8 times labour force as much as direct seeding. Large-scale application of transplanting is limited under the conditions of labour force shortage and the survival ratio and growth status can not be guaranteed. The purpose of transplanting mechanical automation is not only to reduce the workforce, the more important thing is to reduce the operation difficulty and the cost of agricultural production, and ensure the quality of operationIn this study, a machine for transplanting potted tray seedlings and its control system were designed, motion simulation analysis and experimental study were carried out, through which some theories for further research and optimizing of the transplanter were achieved.The main research contents and conclusions are listed as follows:(1)According to the actual needs of this study, the easiest structure rectangular coordinates robot was selected as a design prototype of the transplanter. Mechanical structure major included:the horizontal axis, the vertical axis, the manipulator and the plug conveying system. The transplanter had 4 DOFs, the manipulator occupied 3 DOFs of the all:horizontal, vertical, close and release, the other one DOF was the feed of the plug conveying system. The transmission mode of the transplanter adopted screw drive, and the drive mode used stepping motors.(2) The manipulator had 2 design schemes:runner cam holding structure and wedge lever holding structure, both of them had compact structure and light weight.In the former scheme the range of the distance of grip fingers’end was 36-72mm,the transplanting successful rate of it was below 10%; while the wedge lever holding structure was adopted as the final scheme, the range of the distance of grip fingers’ end was 12～30mm in this scheme,and the average transplanting successful rate of it is 76.11%.(3)Manipulator trajectory plan in a plane was advanced, kinematics simulation of the transplanter was accomplished by ADAMS.By the use of ADAMS the time for trial and error adjusting the structure and control parameters could be reduced. From the real-time simulation performance curve of the joints, it could be seen that the manipulator could reach the planned point in the light of the planned path, and the course of the movement was stable. Using the planned operation mode, the run time of the manipulator was 0.362s less than the traditional transit way, and the work efficiency was about 15.33% higher. So it could be concluded that the trajectory plan was reasonable and effective, it laid the foundation for the control scheme.(4) Based on the trajectory plan, the control system was designed with PLC produced by HOLLYSYS company (type:LM3108).The experiment showed that the control scheme was right and feasible.(5) Assembly debugged the machine and validated rationality of the design of the structure and control system. The best work conditions of the transplanter were obtained by orthogonal experiment:Seedling height of 40mm, grab depth of 50mm, and the vertical distance between the end of the fingers of 25mm, that was the clamping force was about 3.877N.The experiment showed that, the clamping force impacted the successful rate mostly, and then was the grab depth, the seedling height affected the results slightly.

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CLC: > Agricultural Sciences > Agricultural Engineering > Agricultural machinery and implements > Planting machinery > Planting machine > Special planting machine
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