扰动激励作用下甘薯裸苗自动有序分苗机理与试验研究

Sweet potato slips are soft, thin and tangled, which restrict the development of slip singulation technology. Slip singulation depends extensively on manual labor with high labour intensity and low production efficiency. There are three influential factors found in slip singulaition study. The first one is that slips are put orderly, the second one is disturbance and incentive to slips to collide with each other, and the third one is mechanical paw acted as hand. Among them, sweet potato slip is an important physical object. The project was carried out by the analysis of the mechanical and morphological characteristics of slips firstly, and the growth of damaged slips was investigated in the field experiment for slips pretreatment. Through structure, shape and angle parameters optimization, slips were fed smoothly and orderly spread in asymmetric folds like "V" type slip bin. The "nose" type bionic slips clamping claw was designed and driven by slip singulaiton mechanism, which pierced into the bottom of slip bin, disturbed slips and extract the slip out of the bin. The intrinsic relationship between structure parameters and motion was revealed by establishing the mathematical model of slip singulation mechanism. Finally slip singulaiton device was set up and slip singulaiton tests were executed. This study provides a theoretical and experimental basis for the realization of sweet potato transplanter, and also has important guidance and reference value for the automatic singulation of other crops.

甘薯裸苗具有软、柔、细的个体特征与群体缠绕特性，制约了自动分苗技术的发展，目前甘薯移栽都采用手工分苗方式，耗工量大，生产效率低。甘薯裸苗分苗研究中发现，利于机械分苗的因素主要有三个：一是薯苗有序铺放；二是扰动激励薯苗使之产生动态碰撞及运动分离；三是具有能实现人手拇指、食指分取苗动作的机械手爪。其中，薯苗是影响上述因素的重要物理主体，本项目从分析测试薯苗力学特性及形态特征入手，通过田间试验研究薯苗损伤对其生长发育的影响，确定利于分苗的薯苗预处理形式。通过非对称皱褶状“V”型苗箱角度、板形等参数优化，研究薯苗喂入流畅性与有序铺放。设计一种“鼻”形仿生夹苗手爪，研究手爪扰动激励对薯苗的输送与分离作用，建立分苗机构数学模型，揭示分苗机构结构参数与分苗运动的内在关系，进而研制一种与薯苗高度契合的自动分苗试验台架，为实现甘薯全自动移栽提供理论和试验基础，对其它作物裸苗自动分离也具有重要指导和借鉴价值。

甘薯裸苗具有软、柔、细的个体特征与群体缠绕特性，制约了自动分苗技术的发展。目前，甘薯移栽大都采用手工分苗方式，耗工量大，生产效率低。项目从分析适栽期甘薯高剪苗的力学特性及形态特征入手，明晰了甘薯裸苗损伤强度与机械作用、品种及生物学特性等之间的规律，以解决薯苗群体缠绕为出发点，开展甘薯裸苗多方位分离技术研究。主要包括：一、通过非对称皱褶状“V”型苗箱角度、板形等结构参数优化，实现薯苗喂入流畅性与有序铺放；二、研究苗箱的激励方法和手段，使薯苗相互碰撞，在运动中有序渐次分离；三、设计了一种能自动连续实现分苗、取苗、投苗的机械手爪及其控制系统，探究手爪扰动激励对薯苗的输送与分离作用。最后，在仿真优化和试验测试的基础上，研制了一种与薯苗个体性状及群体特征高度契合的自动分苗装置，集薯苗有序铺放、扰动激励和机械手分离夹取为一体，完成薯苗自动有序分离，为实现甘薯全自动移栽提供理论和试验基础，对其它作物裸苗自动分离也具有重要指导和借鉴价值。