两自由度机械手式穴盘水稻秧苗行抛机作业机理及关键技术研究

项目名称： 两自由度机械手式穴盘水稻秧苗行抛机作业机理及关键技术研究

项目编号： No.31471418

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 农业科学

项目作者： 马瑞峻

作者单位： 华南农业大学

项目金额： 83万元

中文摘要： 为了适应水稻有序抛秧移栽种植模式，研究了一种人机结合的只有2自由度的机械手式工厂化育秧穴盘水稻秧苗抛秧移栽机，该机由人工驾驶实现作业路径的规划，后续拔抛秧作业则完全由单片机编程控制的机械手及其配套部件配合自动完成。深入研究机械手拔抛穴盘水稻秧苗的作业机理，对机械臂结构进行优化；对秧苗到位自动检测的机理进行研究，通过试验优选出最佳的检测方案，与送秧机构相配合，实现高的到位精度；在对机械手拔起穴盘水稻秧苗力学理论分析基础上，对机械手末端执行器秧夹的结构及其夹指指面软性黏贴材料和形状进行优化设计，并通过试验验证其是否能够实现一次同时拔起多穴（6-7穴）秧苗的性能要求；对秧苗通过分秧滑道的通过性能及影响因素，通过后秧苗在田间的定植情况进行研究，考察其分布均匀性等指标是否满足田间种植的农艺要求；研究开发机械手自动控制硬软件系统，满足农机具实际使用需求。本项目的研究成果可为今后机具的产品化奠定基础。

中文关键词： 机械手；水稻秧苗；抛秧移栽；机理；机电一体化

英文摘要： In order to adapt the new planting mode of rice seedlings orderly throwing transplant, a manipulator type of orderly throwing transplanter was developed. The manipulator has only two degrees of freedom, a horizontal movemwent and one vertical movement. Its end effector is a gripper. The transplanter is operated by a person to determine the trajectory planning of the traveling path, and the subsequent work can be finished automatically by the manipulator and other matching parts which are controlled by a single chip microcomputer. The manipulator can grip and pull up rice seedlings from the plastic cell-tray raised at industrial nursery and orderly throwing transplanted rice seedlings into paddy through the chutes. This project will give a more detail reserach on mechanism of manipulator working and structrue optimal design of manipulator. Two independent manipulator units can be merged together to make use of one horizontal movement mechanism and one motor to drive vertial movement according to their working trajectory.The automatic detection of rice seedings arriving at the pulling position and the accuracy control of conveying mechanism intermittent moving were studied. The photoelectric sensor (or magnetoelectric sensor) was adopted to directly (or indirectly) detect rice seedlings arrived at the position being gripped by manpulator.The main working part, the gripper of the manipulator and end-effector were studied. The structure of gripper and the shape and material of the finger were optimally designed in order to meet the performance requirement of pulling up six or seven rice seedlings simultaneously one time. The performance of rice seedings passing through the separating chutes were researched and the experiment of rice seedlings distribution in paddy was done in order to inspect whether uniformity and other indexes met the agronomic requirements of field planting. The automatic control system of the manipulator's motion was also researched. Achievement of the project will benefit the machine productization.

英文关键词： Manipulator;Rice seedlings;Throwing transplanting;Mechanism;Mechantronics