全自动移栽机械关键部件研究现状及发展趋势
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摘要
育苗移栽技术的应用延长了作物生长期,有效避开了春倒寒期间的恶劣气候环境,具有对气候的补偿作用和使作物生长期提前的综合效应,经济效益和社会效益显著。全自动移栽机械的研发与改进是育苗移栽技术推广应用的有力保障,目前国内外移栽机械正向着智能化、专业化发展。为此,利用文献分析法和系统归纳法,将全自动移栽机械归纳为栽植系统、供苗系统和电气控制系统3个主要部分,阐述了各个系统的研究现状和发展水平,对比了各类典型全自动移栽机关键部件的基本原理、工作方式和适用范围;同时,重点介绍了栽植系统中开沟式、鸭嘴式和钻入式开穴开穴机构的优缺点和选用原则,供苗系统中自动排苗机构、自动取苗机构和自动投苗机构的运动轨迹和执行方式的优化措施;电气控制系统中PLC控制系统、单片机控制系统、自适应FuzzyPID控制系统的应用局限性;展望了全自动移栽机械的发展方向,为实现自动、高效、准确移栽作业提供参考。
The application of Seedlings transplanting technology extend the crop growth time,effectively avoid the cold during the cold weather environment,with the role of climate compensation and crop growth early comprehensive effect,its economic and social benefits are very impressive. The development and improvement of automatic transplanting machinery is a powerful guarantee for the popularization and application of Seedlings transplanting technology. At present,domestic and foreign transplanting machinery towards the intelligent,professional development. This paper uses literature analysis and system induction to generalize the transplanting machinery into three main parts: planting system,seedling system and electrical control system. The research status and development level of each system are expounded. The basic principles,working methods and application scope of the key components of the typical automatic transplanting machine are introduced. The advantages and disadvantages of the open-ditch type,duckbill type and drill-in hole opening mechanism,the optimization of the trajectory and the execution mode for the automatic seedling Tidy-up mechanism,the automatic seedling Pick-up mechanism and the automatic seedling drop-up mechanism,and the application limitation of the PLC control system,the microcomputer control system and the adaptive fuzzy-PID control system in the electrical control system are introduced emphatically. Looking forward to the development tendency of automatic transplanting machinery,in order to achieve automatic,efficient and accurate transplanting to provide theoretical experience.
The application of Seedlings transplanting technology extend the crop growth time,effectively avoid the cold during the cold weather environment,with the role of climate compensation and crop growth early comprehensive effect,its economic and social benefits are very impressive. The development and improvement of automatic transplanting machinery is a powerful guarantee for the popularization and application of Seedlings transplanting technology. At present,domestic and foreign transplanting machinery towards the intelligent,professional development. This paper uses literature analysis and system induction to generalize the transplanting machinery into three main parts: planting system,seedling system and electrical control system. The research status and development level of each system are expounded. The basic principles,working methods and application scope of the key components of the typical automatic transplanting machine are introduced. The advantages and disadvantages of the open-ditch type,duckbill type and drill-in hole opening mechanism,the optimization of the trajectory and the execution mode for the automatic seedling Tidy-up mechanism,the automatic seedling Pick-up mechanism and the automatic seedling drop-up mechanism,and the application limitation of the PLC control system,the microcomputer control system and the adaptive fuzzy-PID control system in the electrical control system are introduced emphatically. Looking forward to the development tendency of automatic transplanting machinery,in order to achieve automatic,efficient and accurate transplanting to provide theoretical experience.
引文
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[2]韩长杰,张学军,杨宛章,等.旱地钵苗自动移栽技术现状与分析[J].农机化研究,2011,33(11):238-240.
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[7]孙建生.傅里叶齿轮步行式水稻钵苗移栽机构分析与优化设计[D].杭州:浙江理工大学,2014.
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[11]王蒙蒙,宋建农,刘彩玲,等.蔬菜移栽机曲柄摆杆式夹苗机构的设计与试验[J].农业工程学报,2015(14):49-57.
[12]李华,曹卫彬,李树峰,等.辣椒穴盘苗自动取苗机构运动学分析与试验[J].农业工程学报,2015,23(12):20-27.
[13]倪有亮,金诚谦,刘基,等.全自动移栽机取送苗系统的设计与试验[J].农业工程学报,2015,23(23):10-19.
[14]俞高红,陈志威,赵匀,等.椭圆-不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J].机械工程学报,2012,48(13):32-39.
[15]韩长杰,杨宛章,张学军,等.穴盘苗移栽机自动取喂系统的设计与试验[J].农业工程学报,2013,29(8):51-59.
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[18]何雪军,王进,陆国栋,等.自锁式茶梗夹持器设计[J].农业机械学报,2014,45(4):157-162.
[19]高国华,冯天翔,李福.斜入式穴盘苗移栽手爪:中国,CN103477768A[P].2014-01-01.
[20]孙国祥,汪小旵,何国敏,等.穴盘苗移栽机末端执行器设计与虚拟样机分析[J].农业机械学报,2010(10):48-53,47.
[21]颜华,陈科,王海峰,等.TRIZ创新方法在旱地高速移栽技术研究中的应用[J].农机化研究,2017,39(1):197-201.
[22]俞高红,黄小艳,叶秉良,等.旋转式水稻钵苗移栽机构的机理分析与参数优化[J].农业工程学报,2013(3):16-22.
[23]俞高红,俞腾飞,叶秉良,等.一种旋转式穴盘苗取苗机构的设计[J].机械工程学报,2015(7):67-76.
[24]崔巍,方宪法,赵亮,等.齿轮-五杆取苗装置机构优化与试验验证[J].农业机械学报,2013,44(8):74-77.
[25]曹卫彬,赵宏政,杨萌,等.一种行星轮式穴盘苗移栽机自动取苗装置:中国,CN106068844A[P].2016-11-09.
[26]王侨,曹卫彬,张振国,等.穴盘苗自动取苗机构的自适应模糊PID定位控制[J].农业工程学报,2013(12):32-39.
[27]Rubaai A,Castro-Sitiriche M J,Ofoli A R.Design and Implementation of Parallel Fuzzy PIDController for HighPerformance Brushless Motor Drives:An Integrated Environment forRapid Control Prototyping[J].IEEE Transactions on Industry Applications,2008,44(4):1090-1098.
[28]Liu D X.PID control and program realizing method[J].Chinese Journal of Nei jiang Teacher's College,2005,20(6):12-14.
[29]杨传华,方宪法,杨学军,等.基于PLC的蔬菜钵苗移栽机自动输送装置[J].农业机械学报,2013(S1):19-23,18.
[30]吴俭敏,张小超,金鑫,等.苗盘钵苗自动识别及控制装置的设计与试验[J].农业工程学报,2015(1):47-52.
[31]邵琰,钱东平.STC89C52RC单片机在幼苗移栽机控制系统中的应用[J].农机化研究,2010,32(5):121-124.
[32]魏新华,包盛,刘晓凯,等.穴盘苗全自动移栽机运动协调控制系统设计与移栽试验[J].农业机械学报,2016(12):1-7,52.
[2]韩长杰,张学军,杨宛章,等.旱地钵苗自动移栽技术现状与分析[J].农机化研究,2011,33(11):238-240.
[3]耿端阳.我国北方地区机械化育苗移栽技术应用与发展[J].农机化研究,2001(3):23-24.
[4]卢勇涛,李亚雄,刘洋,等.国内外移栽机及移栽技术现状分析[J].新疆农机化,2011(3):29-32.
[5]于晓旭,赵匀,陈宝成,等.移栽机械发展现状与展望[J].农业机械学报,2014,45(8):44-52.
[6]陈宝成,尹大庆,吕程,等.移栽农机具概况与发展思考[J].农机化研究,2015,37(3):258-263.
[7]孙建生.傅里叶齿轮步行式水稻钵苗移栽机构分析与优化设计[D].杭州:浙江理工大学,2014.
[8]刘安.蔬菜钵苗移栽机取苗机构的动力学分析与试验研究[D].杭州:浙江理工大学,2014.
[9]崔巍,徐盼,王海峰,等.旱地自动移栽技术发展现状及分析[J].农机化研究,2015,37(6):1-5.
[10]赵晓伟,郭辉,张静,等.新疆旱地移栽机的现状及发展趋势[J].新疆农机化,2014(3):25-29.
[11]王蒙蒙,宋建农,刘彩玲,等.蔬菜移栽机曲柄摆杆式夹苗机构的设计与试验[J].农业工程学报,2015(14):49-57.
[12]李华,曹卫彬,李树峰,等.辣椒穴盘苗自动取苗机构运动学分析与试验[J].农业工程学报,2015,23(12):20-27.
[13]倪有亮,金诚谦,刘基,等.全自动移栽机取送苗系统的设计与试验[J].农业工程学报,2015,23(23):10-19.
[14]俞高红,陈志威,赵匀,等.椭圆-不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J].机械工程学报,2012,48(13):32-39.
[15]韩长杰,杨宛章,张学军,等.穴盘苗移栽机自动取喂系统的设计与试验[J].农业工程学报,2013,29(8):51-59.
[16]赵匀,陈建能,张国凤,等.杠杆顶出式有序丢秧机构和秧盘复型装置:中国,CN1943297[P].2007-04-11.
[17]吴崇友,卢晏,涂安富,等.播秧机工作原理与使用经济效果[J].农业工程学报,2000(5):60-63.
[18]何雪军,王进,陆国栋,等.自锁式茶梗夹持器设计[J].农业机械学报,2014,45(4):157-162.
[19]高国华,冯天翔,李福.斜入式穴盘苗移栽手爪:中国,CN103477768A[P].2014-01-01.
[20]孙国祥,汪小旵,何国敏,等.穴盘苗移栽机末端执行器设计与虚拟样机分析[J].农业机械学报,2010(10):48-53,47.
[21]颜华,陈科,王海峰,等.TRIZ创新方法在旱地高速移栽技术研究中的应用[J].农机化研究,2017,39(1):197-201.
[22]俞高红,黄小艳,叶秉良,等.旋转式水稻钵苗移栽机构的机理分析与参数优化[J].农业工程学报,2013(3):16-22.
[23]俞高红,俞腾飞,叶秉良,等.一种旋转式穴盘苗取苗机构的设计[J].机械工程学报,2015(7):67-76.
[24]崔巍,方宪法,赵亮,等.齿轮-五杆取苗装置机构优化与试验验证[J].农业机械学报,2013,44(8):74-77.
[25]曹卫彬,赵宏政,杨萌,等.一种行星轮式穴盘苗移栽机自动取苗装置:中国,CN106068844A[P].2016-11-09.
[26]王侨,曹卫彬,张振国,等.穴盘苗自动取苗机构的自适应模糊PID定位控制[J].农业工程学报,2013(12):32-39.
[27]Rubaai A,Castro-Sitiriche M J,Ofoli A R.Design and Implementation of Parallel Fuzzy PIDController for HighPerformance Brushless Motor Drives:An Integrated Environment forRapid Control Prototyping[J].IEEE Transactions on Industry Applications,2008,44(4):1090-1098.
[28]Liu D X.PID control and program realizing method[J].Chinese Journal of Nei jiang Teacher's College,2005,20(6):12-14.
[29]杨传华,方宪法,杨学军,等.基于PLC的蔬菜钵苗移栽机自动输送装置[J].农业机械学报,2013(S1):19-23,18.
[30]吴俭敏,张小超,金鑫,等.苗盘钵苗自动识别及控制装置的设计与试验[J].农业工程学报,2015(1):47-52.
[31]邵琰,钱东平.STC89C52RC单片机在幼苗移栽机控制系统中的应用[J].农机化研究,2010,32(5):121-124.
[32]魏新华,包盛,刘晓凯,等.穴盘苗全自动移栽机运动协调控制系统设计与移栽试验[J].农业机械学报,2016(12):1-7,52.
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