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穴盤移栽指鏟式末端執(zhí)行器苗缽基質(zhì)抓取仿真與試驗(yàn)
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國家重點(diǎn)研發(fā)計(jì)劃項(xiàng)目(2017YFD0700800)和廣東省重點(diǎn)領(lǐng)域研發(fā)計(jì)劃項(xiàng)目(2019B020222004)


Simulation and Test of Seedling Pot Grabbing by Spade End-effector
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    針對針式末端執(zhí)行器夾持移栽后穴孔內(nèi)基質(zhì)殘留較多的問題,設(shè)計(jì)了一種指鏟式末端執(zhí)行器,通過增大指鏟與苗缽基質(zhì)的接觸面積,減少穴孔內(nèi)基質(zhì)的殘留。通過靜力學(xué)分析找出末端執(zhí)行器提取苗缽后基質(zhì)殘留的原因:基質(zhì)間的最大內(nèi)聚力小于由基質(zhì)與穴盤間的粘附力和苗缽重力合成的總阻力時,苗缽出現(xiàn)破裂,基質(zhì)塌陷?;陔x散單元法,通過EDEM(Enhanced discrete element method)仿真分析了指鏟式末端執(zhí)行器對土壤基質(zhì)的抓取過程,發(fā)現(xiàn)隨著土壤基質(zhì)內(nèi)聚力的提高基質(zhì)殘留的現(xiàn)象得到改善;將基質(zhì)配比和含水率條件作為主要影響因素,通過組合測盤試驗(yàn)測量在不同基質(zhì)配比和含水率試驗(yàn)條件下的粘附力和內(nèi)聚力變化,尋找內(nèi)聚力大于粘附力的基質(zhì)配比和含水率條件。試驗(yàn)表明,當(dāng)相對含水率為60%、基質(zhì)配比為6∶3∶1(泥炭∶蛭石∶珍珠巖)時,內(nèi)聚壓強(qiáng)和粘附壓強(qiáng)的差值最大,在該條件下,指鏟式末端執(zhí)行器對劣質(zhì)苗缽穴孔基質(zhì)的平均剔凈率達(dá)到70.8%,優(yōu)于其他作業(yè)條件,可剔除穴孔內(nèi)大部分基質(zhì)。

    Abstract:

    In the mechanical replugging task in greenhouse, the residual matrix in plastic pan would not be beneficial for healthy seedling replugging which was caused by the endeffector removing bad seeding in previous transplanting procedure. A kind of spade endeffector was developed relatively to the needletype for the removing task. The aim was to reduce the residual matrix in the cell by increasing the contact area between the endeffector and matrix. The reasons of residual matrix in the endeffector grabbing procedure were deduced by the statics. The seedling pot would break and the matrix would collapse while the maximum cohesion in matrix was less than the total resistance which was synthesized by the gravity of seedling pot and the adhesion between the matrix and plug tray. Based on the discrete element analysis method, the seedling pot grabbing procedure by the spade endeffector was simulated by the enhanced discrete element method (EDEM). It was found that the performance of residual matrix was reduced while the cohesion of soil matrix was increased. Therefore, taking the matrix ratio and relative moisture content as the main factors and designing the experiment through the combined disc tests to measure the matrix adhesion and cohesion in the different main factors of matrix ratio and relative moisture. The aim was to find the conditions of matrix ratio and relative moisture while the cohesion was bigger than adhesion. The difference between cohesion and adhesion was the largest under the conditions of 60% of relative moisture content and 6∶3∶1 (peat∶vermiculite∶perlite) of matrix ratio. The average matrix removal rate by the spade endeffector reached 70.8%, which was superior to other conditions. Most of the matrix in the plastic hole can be removed under the conditions.

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童俊華,石虎峰,武傳宇,丁煜華,趙雄,王榮揚(yáng).穴盤移栽指鏟式末端執(zhí)行器苗缽基質(zhì)抓取仿真與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2019,50(8):107-116. TONG Junhua, SHI Hufeng, WU Chuanyu, DING Yuhua, ZHAO Xiong, WANG Rongyang. Simulation and Test of Seedling Pot Grabbing by Spade End-effector[J]. Transactions of the Chinese Society for Agricultural Machinery,2019,50(8):107-116.

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  • 收稿日期:2019-02-28
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  • 在線發(fā)布日期: 2019-08-10
  • 出版日期: 2019-08-10
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