辣椒穴盘苗主动打穴与持苗移栽机构机理研究

Punching transplanters were always used to pepper transplant in Xinjiang province, there are all punch-press type use a cone-shaped structure, the depth of transplant was inconsistent and influenced by soil type and moisture content, the eccentric-disc type punching transplanter was very common, but this structure works like polygon rolling, it is difficult to feeding when the transplanter working fast. To solve the existing transplanter problems, the project team try to carry out research on drilling den and hold-seedling-transplant in full time, it is a new method for transplant compare to tradition transplanter. The problem of nouniform depth transplant would be solve by drilling den type transplanter. After analyze this device mechanism, the project team will building a parameters optimization model, and got a drilling den design principle according to experiment. Moreover, the project team will use manipulator transplant and let the seedlings are holding all the time before the seedlings were put in the hole, this type transplanter looks like a human hand transplanting, and make the seedling transfer on time. The paths of manipulator order was reasonable planed, it will set up a collaborative control strategy for drilling den and manipulator hold-seedling transplant in full time. According to experimental research and data analysis about the drilling den and hold-seedling manipulator, it is useful for new equipment research base on the key technology theory and basic test data.

新疆的辣椒作物种植通常采用先铺膜，在气温和墒情满足后进行打穴移栽。现有的打穴栽植器鸭嘴均为被动冲压式打穴，栽植深度受土壤类型和含水率影响较大，常用的偏心盘式打穴栽植器工作过程中有明显的多边形滚动效应，不利于高速移栽状态下进行喂苗。项目组拟针对现有栽植装备存在的问题，开展主动打穴与全程持苗移栽的理论和试验研究，探索移栽技术实现的新工艺路线；以主动打穴的方式解决冲压打穴深度不均匀的问题，分析主动打穴的成穴机理，建立土壤主动打穴机构参数优化模型，结合试验分析得出主动打穴装置设计原则；模仿人工移栽的形式，采用机械手全程持苗移栽，避免穴盘苗自由下落转移产生的落苗不准现象，通过合理规划机械手持苗移栽的路径顺序，建立打穴与持苗移栽分步进行的协同控制策略；对主动打穴和持苗移栽新的移栽工艺特性进行试验研究和数据分析，为主动打穴移栽新装备研究提供关键技术理论和基础试验数据。

项目针对目前穴盘苗栽植过程出现甩苗以及落苗不可靠等问题，开展了主动打穴和全程持苗移栽两项关键技术研究。项目执行期间，分别研究了膜下土壤的物理特性，（如组成、坚实度、温湿度等）和不同打穴方式对作物缓苗期生长状况的影响，试验表明，打穴方式对秧苗的生长状况影响小，受土壤紧实度、湿度和类别的影响，穴孔形的成功率不同；研究过程中，设计了取土式打穴机构和多杆式打穴机构两种，并根据取投苗路径实际需求，提出了一种如“鹰嘴”的取投苗运动轨迹，创新性设计了步进-六杆供苗装置，建立了取投苗机械手的运动学模型。制作3轮取土打穴与持苗装置，系统采用电控和气动元件辅助机械零件工作，使穴盘苗的输送及栽植工作更加准确、可靠，并对主动打穴和持苗移栽进行组合特性试验，分析试验结果，得出整机的最佳作业效率为60株/min，行进速度为400mm/s，进行田间试验后，测得株距合格率92.2%，符合旱地栽植标准，倒伏率为17.2%，能够基本满足辣椒苗移栽的要求。另外，针对栽植器打穴深度不同造成辣椒苗栽植深度的差异，课题组设计一种滚筒式覆土自动调节装置，利用覆土滚筒进行覆土，利用超声波传感器检测取土盘入土深度，推算出取土量，通过PLC控制电动推杆的伸缩量改变覆土圆盘的深浅，从而改变覆土量。