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当前位置: 首页 > 文章 > 基于五杆机构的丹参膜上移栽机构设计与试验 农业机械学报 2018 (9) 55-65
Position: Home > Articles > Design and Test of Transplanting Mechanism on Mulch-film of Salvia miltiorrhiza Based on Five-bar Mechanism Transactions of the Chinese Society for Agricultural Machinery 2018 (9) 55-65

基于五杆机构的丹参膜上移栽机构设计与试验

作  者：
徐高伟;刘宏新;荐世春;史嵩;何腾飞
单  位：
山东省农业机械科学研究院;东北农业大学工程学院
关键词：
丹参;膜上移栽;五杆机构;移栽机构
摘  要：
针对丹参人工移栽作业效率和质量较低、劳动强度较大、现有膜上移栽机不适合丹参裸苗移栽等问题,为保证丹参裸苗机械化移栽立苗率,结合"丹参大垄双行覆膜高效生产技术"提出的农艺要求,设计了一种五杆式丹参移栽机构,在建立五杆机构的工况约束条件和自由运动约束条件的基础上,结合机构运动学模型利用Matlab建立人机交互可视化辅助界面;借助辅助界面研究栽植器端点的区域轨迹分布特性和机构参数对栽植器端点运动轨迹的影响规律,根据机构运动轨迹要求,通过数值循环比较得到满足丹参膜上移栽要求的五杆机构各构件参数;运用LA-S系列植物图像分析系统测量丹参植株形态的特征参数并根据特征参数设计鸭嘴栽植器各参数。样机试验结果表明:基于五杆机构的丹参膜上移栽机构在满足丹参移栽农艺要求的同时能保证丹参裸苗移栽的大升程轨迹、立苗率要求和作业质量,丹参移栽机构的立苗合格率为97.3%、立苗优良率为94.0%、漏栽率为2.5%、株距变异系数为6.5%、栽植深度合格率为94.6%。
译  名：
Design and Test of Transplanting Mechanism on Mulch-film of Salvia miltiorrhiza Based on Five-bar Mechanism
作  者：
XU Gaowei;LIU Hongxin;JIAN Shichun;SHI Song;HE Tengfei;College of Engineering,Northeast Agricultural University;Shandong Academy of Agricultural Machinery Sciences;
关键词：
Salvia miltiorrhiza;;transplanting on mulch-film;;five-bar mechanism;;transplanting mechanism
摘  要：
In order to solve the problem that artificial transplanting of Salvia miltiorrhiza with disadvantage of low efficiency and quality,high labor intensity,and the existing transplanter is not suitable for transplanting nude-seedlings of Salvia miltiorrhiza,and to ensure the erectness rate of mechanized transplanting naked-seedlings of Salvia miltiorrhiza,a kind of five-bar Salvia miltiorrhiza transplanting mechanism was designed,on the basis of establishing the working-conditions constraint and free movement constraint condition of five-bar mechanism and combining the kinematic model,the visual auxiliary interface of the human-computer interaction was established by using Matlab(Matrix Laboratory). With the help of the auxiliary interface,trajectory location method was used to study the regional trajectory distribution characteristics of the implant endpoint and the influence of the mechanism parameters on the trajectory,according to the trajectory requirements of mechanism,the parameters of five-bar mechanism was got to meet the transplanting requirements of Salvia miltiorrhiza through the numerical cycle comparison method. LA-S series plant image analysis system was used to measure the morphological parameters of Salvia miltiorrhiza,the parameters of duckbill transplanter was designed according to it. Prototype test showed that the transplanting mechanism of Salvia miltiorrhiza based on the five-bar mechanism could meet the requirements of transplanting Salvia miltiorrhiza which can ensure the high-lift trajectory,the operation quality and seedling rate of Salvia miltiorrhiza,the seedling qualified rate was 97. 3%,the excellent seedling rate was 94%,the leakage rate was 2. 5%,the plant spacing variation coefficient was 6. 5%,and the planting depth qualified rate was 94. 6%.

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