Abstract: Aiming at the agronomic requirements for directional transplanting of strawberries with high ridges, a transplanting machine is designed, which can make holes mechanically and manually identify the direction of the back of the strawberry seedlings. Based on PLC, the whole machine control system is designed, including the constant speed walking control system of the transplanter, the front wheel steering control system, the hole drilling control system and other task modules. The whole machine adopts a DC brushless motor as the driving element of the chassis. According to the output value of the motor's own encoder, the walking speed, the planting distance and the punching frequency of drilling are coordinated and controlled. The stepping motor is used as the driving element of the drilling mechanism. The switch positions the hole punching mechanism, and the hole punching process is completed through the cooperation of the two, and the strawberry seedling transplanting is completed under the cooperative operation of man and machine. The test results show that when the single row transplanting efficiency is 15 plants /min, with plant spacing of 150 mm, 200 mm, and 250 mm, the qualified rates of plant spacing, hole depth, and aperture are all above 95%, with a coefficient of variation of less than 5%. The success rate of hole drilling is also above 95%, which is in line with the industry standard of transplanting machine, the effect of hole drilling and transplanting meets agronomic requirements.

Key words: strawberry transplanter, control system, punching mechanism, planting machinery

摘要： 针对草莓高起垄定向移栽农艺要求,设计一种机械打穴、人工识别草莓苗弓背方向后定向穴栽的移栽机。基于可编程控制器(PLC）设计整机控制系统,包括移栽机定速行走控制系统、前轮转向控制系统、打穴控制系统等任务模块。整机采用直流无刷电机作为底盘的驱动元件,根据电机自带编码器的输出值进行行走速度、栽植株距和打穴频率的协调控制,采用步进电机作为打穴机构的驱动元件,由接近开关对打穴机构进行定位,通过二者配合完成打穴过程,在人机协同作业下,完成草莓苗移栽。试验结果表明:当单行移栽效率为15株/min,株距为150 mm、200 mm、250 mm时,株距合格率、孔深合格率、孔径合格率均在95%以上,其变异系数均小于5%,打穴成功率均大于95%,符合移栽机行业标准,打穴移栽效果满足农艺要求。

关键词: 草莓移栽机, 控制系统, 打穴机构, 种植机械