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Design and Test of Multifunctional Vegetable Transplanting Machine
6th IFAC Conference on Sensing, Control and Automation for Agriculture 6th IFAC Conference on Sensing, Control and Automation for Available online at www.sciencedirect.com 6th IFAC Conference Conference on Sensing, Sensing, Control and Automation Automation for Agriculture 6th IFAC on Control and for December 4-6, 2019. Sydney, Australia Agriculture Agriculture December 4-6, 2019. Sydney, Australia December December 4-6, 4-6, 2019. 2019. Sydney, Sydney, Australia Australia
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IFAC PapersOnLine 52-30 (2019) 92–97
Design and Test of Multifunctional Vegetable Transplanting Machine Design and Test of Multifunctional Vegetable Transplanting Machine Design and Test of Vegetable Transplanting Machine Design TestGuantao of Multifunctional Multifunctional Vegetable Machine Yuanyuan Shao*.and Yi Liu**. Xuan***. Zhichao Hu****. XiangTransplanting Han**. Yongxian Wang**. Bin Chen *****.
Yuanyuan Shao*. Yi Liu**. Guantao Xuan***.Weiyang Zhichao Wang Hu****. Xiang Han**. Yongxian Wang**. Bin Chen *****. *****. Yuanyuan Zhichao Hu****. Xiang Yuanyuan Shao*. Shao*. Yi Yi Liu**. Liu**. Guantao Guantao Xuan***. Xuan***.Weiyang Zhichao Wang Hu****. Xiang Han**. Han**. Yongxian Yongxian Wang**. Wang**. Bin Bin Chen Chen *****. *****. *****. Weiyang Wang *****. Weiyang Wang *****. * College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, China; * College Mechanical Electronic Engineering, University, Taian210014, 271018,China China; Nanjing Instituteof Agriculturaland Mechanization, Ministry of Shandong AgricultureAgricultural and Rural Affairs, Nanjing (e-mail: ofofMechanical and Electronic Shandong Agricultural University, Taian 271018, China; ** College College Electronic Engineering, Engineering, Shandong Agricultural University, Taian 271018, China; Nanjing InstituteofofMechanical Agriculturaland Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China (e-mail: [email protected]) Nanjing Institute of Mechanization, Ministry of and Affairs, 210014, China (e-mail: Nanjing Institute of Agricultural Agricultural Mechanization, Ministry of Agriculture Agriculture and Rural Rural Affairs, Nanjing Nanjing 210014,China China(e-mail: (e-mail: [email protected]) ** College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, [email protected]) [email protected]) ** College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, China (e-mail: [email protected]) ** College Mechanical and Electronic Engineering, Shandong Agricultural University, Taian China (e-mail: Collegeofof ofMechanical Mechanicaland andElectronic ElectronicEngineering, Engineering, ShandongAgricultural AgriculturalUniversity; University,Shandong Taian 271018, 271018, ChinaEngineering (e-mail: [email protected]) *****College Shandong Intelligent [email protected]) [email protected]) *** College of Mechanical and Electronic Engineering, Shandong Agricultural University; Shandong Intelligent Engineering LaboratoryEngineering, of Agricultural Equipment, Taian 271018, China *** Shandong Agricultural University; Shandong *** College College of of Mechanical Mechanical and and Electronic Electronic Engineering, Shandong Agricultural University; Shandong Intelligent Intelligent Engineering Engineering Laboratory of Agricultural Equipment, Taian 271018, China (Corresponding author; e-mail: [email protected]) Laboratory of Agricultural Equipment, Taian 271018, China Laboratory of Agricultural Equipment, Taian 271018, China (Corresponding author; e-mail: [email protected]) **** Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China (Corresponding author; e-mail: [email protected]) (Corresponding author; e-mail: [email protected]) **** Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China (Corresponding author; e-mail:[email protected]) **** Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Nanjing **** Nanjing Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and (e-mail: Rural Affairs, Affairs, Nanjing 210014, 210014, China China (Corresponding author; e-mail:[email protected]) ***** Junyan Agricultural(Corresponding Machinery Co.,author; Ltd., Qingzhou 262500, China [email protected]) e-mail:[email protected]) e-mail:[email protected]) ***** Junyan Agricultural(Corresponding Machinery Co.,author; Ltd., Qingzhou 262500, China (e-mail: [email protected]) ***** Junyan Junyan Agricultural Agricultural Machinery Machinery Co., Co., Ltd., Ltd., Qingzhou Qingzhou 262500, 262500, China China (e-mail: (e-mail: [email protected]) [email protected]) ***** Abstract: In order to improve the efficiency of vegetable seedling transplantation and realize its high Abstract: In order to improve thedeveloped efficiency aof multi-functional vegetable seedling transplantation and realize its high quality transplanting, this paper vegetable pot seedling transplanting Abstract: In order order to to improve improve thedeveloped efficiency aof of multi-functional vegetable seedling seedling transplantation and realize realize its high high Abstract: In the efficiency vegetable transplantation and its quality transplanting, this paper vegetable pot seedling transplanting machine. The machine was mainly composed of duckbill type planter, fertilization mechanism, power quality transplanting, this paper developed aaofmulti-functional vegetable pot seedling transplanting quality transplanting, this paper developed multi-functional vegetable pot seedling transplanting machine. The machine was mainly composed duckbill type planter, fertilization mechanism, power transmission system, soilwas covering device, watering device, film covering and pipe laying mechanism, etc. machine. The machine mainly composed of duckbill type planter, fertilization mechanism, power machine. Thesystem, machine was mainly composed of film duckbill type covering planter, fertilization mechanism, power transmission soil covering device, watering device, film and pipe laying mechanism, etc. It could perform drip irrigation tape laying and covering, transplanting, fertilizing, soil covering, transmission system, soil covering device, watering device, film and pipe laying mechanism, etc. transmission soil covering device, device, filmtocovering covering laying mechanism, etc. It could perform drip irrigation tape laying andtime. film covering, transplanting, fertilizing, soil covering, watering andsystem, other working procedures atwatering one In order evaluateand thepipe work performance of the It could perform drip irrigation tape laying and film covering, transplanting, fertilizing, soil covering, It could perform drip irrigation tape laying and film covering, transplanting, fertilizing, soil covering, watering and other working procedures at one time. In order to evaluate the work performance of the machine, and fieldother tests were conducted with 35 day-old pepper and tomato seedlings as testable subjects. watering procedures one time. order to evaluate the work performance of watering and other working procedures at35 one time. In In order57, to72 evaluate the work as performance of the the machine, field tests working werewhen conducted withat day-old pepper and tomato seedlings testable subjects. The results showed that the planting frequency were and 88 seedlings/min, the seedlingmachine, field tests were conducted with 35 day-old pepper and tomato seedlings as testable subjects. machine, field tests were conducted with 35 day-old pepper and tomato seedlings as testable subjects. The results showed that when the planting frequency were 57, 72 and 88 seedlings/min, the seedlingstanding ratio decreased slightly with the increase ofwere planting frequency, the average the values were The results showed that the planting 57, and 88 seedlings/min, seedlingThe results showed that when when the planting frequency 57, 72 72 and 88 seedlings/min, the seedlingstanding ratio decreased slightly with the frequency increase ofwere planting frequency, the average values were 96.4%~98.6%. The coefficient of variation of seedling spacing and the mechanical damage degree of standing ratio decreased decreased slightly with the the of increase of spacing plantingand frequency, the average average values were 2 the standing ratio slightly with increase of planting frequency, values were 96.4%~98.6%. The coefficient of variation seedling the mechanical damage degree of , respectively. The average plastic film increased with average values of 1.6%~6% and 3.8~7.9 mm/m 2 96.4%~98.6%. The of of seedling spacing and the damage degree of 2, respectively. 96.4%~98.6%. The coefficient coefficient of variation variation of1.6%~6% seedling spacing and mm/m the mechanical mechanical damage degree of average plastic of film with average values and 3.8~7.9 2 values theincreased qualified rate of planting depthof were 97.2%~99.0%. Seedling-standing ratio andThe mechanical 2, respectively. The average plastic film increased with average values of 1.6%~6% and 3.8~7.9 mm/m , respectively. The average plastic film increased with average values of 1.6%~6% and 3.8~7.9 mm/m values of the qualified rate of planting depth were 97.2%~99.0%. Seedling-standing ratio and mechanical damage degree of plastic film of diamond duckbill type planter were better than flat duckbill type planter. values of the qualified rate of depth were Seedling-standing ratio and mechanical values ofdegree the qualified ratefilm of planting planting depth were 97.2%~99.0%. 97.2%~99.0%. Seedling-standing ratiotest andresults mechanical damage ofmet plastic of diamond duckbill type planter were better than flatfield duckbill type planter. The test results the requirements of mechanical industry standards. The were damage degree of plastic film of diamond duckbill type planter were better than flat duckbill type planter. damage degree of plastic film of diamond duckbill type planter were better than flat duckbill type planter. The test results met the requirements of mechanical industry standards. The field test results were basically consistent with the ADAMS simulation results. The structure of the transplanter was reasonable The test results met the requirements of mechanical industry standards. The field test results were The test results met the requirements of mechanical industry standards. The field test results were basically consistent with the ADAMS simulation results. The structure of the transplanter was reasonable and the performance wasthe stable. The simulation watering device, covering device, filmtransplanter covering and pipe laying basically consistent with ADAMS results. The structure of the was reasonable basically consistent with the ADAMS simulation results. The structure of the transplanter was reasonable and the performance was stable. The watering device, covering device, film covering and pipe laying mechanism of the transplanter which could carried functions each part and the the performance performance was stable. stable.were The coordinated, watering device, device, covering device, out filmthe covering andofpipe pipe laying and was The watering covering device, film covering and laying mechanism of met the the transplanter coordinated, which could carried out the functions of each part accurately and agronomicwere requirements of vegetable seedling transplantation. mechanism of the transplanter were coordinated, which could carried out the functions of each mechanism of met the the transplanter coordinated, which could carried out the functions of each part part accurately and agronomicwere requirements of vegetable seedling transplantation. accurately and met of seedling transplantation. © 2019, IFAC (International Federation ofADAMS Automatic Control) Hosting by Elsevier Ltd. All rights reserved. accurately and met the the agronomic agronomic requirements of vegetable vegetable seedling transplantation. Keywords: Transplanting machine;requirements simulation; Field test; Multifunctional; Duckbill type. Keywords: Transplanting machine; ADAMS simulation; Field test; Multifunctional; Duckbill type. Keywords: Transplanting Transplanting machine; machine; ADAMS ADAMS simulation; simulation; Field Field test; test; Multifunctional; Multifunctional; Duckbill Duckbill type. type. Keywords: the survival rate of seedlings. Han etc. (Han 2018) added an 1. INTRODUCTION the survival rate of seedlings. etc. to (Hanthe2018) added an intermittent holes drilling Han device chain-clamp 1. INTRODUCTION the survival survival rate rate of seedlings. seedlings. Han etc. (Han (Han 2018) 2018) added an an the of Han etc. added intermittent holes drilling device to the chain-clamp 1. INTRODUCTION transplanting machine. Jin etc. (Jin 2012) optimized the 1. AtINTRODUCTION present, most of the transplanters have single functions in intermittent holes drilling device to the chain-clamp intermittent holes drilling device to the chain-clamp transplanting machine. Jin etc. (Jin 2012) optimized the type transplanting machine on2012) the film, and solved At present, transplanters singlecover functions in duckbill China. Theymost needof tothe tillage the land,have fertilize, plastic transplanting machine. Jin etc. optimized the At present, most of the transplanters have single functions in transplanting machine. Jinpulling etc. (Jin (Jin 2012) optimized the duckbill typeoftransplanting machine on theHowever, film, andmost solved At present, most of the transplanters have single functions in the problem tearing and the film. of China. They need to tillage the land, fertilize, cover plastic film and lay drip irrigation tape before transplanting, and then duckbill type transplanting machine on the film, and solved China. They need to tillage the land, fertilize, cover plastic duckbill type transplanting machine on the film, and solved the problem of tearing and pulling the film. However, most of China. They need to tillage the land, fertilize, cover plastic the above studies were of low integration, and could not film and lay drip irrigation tape before transplanting, and then water artificial after transplanting. These lead to multifarious the problem of tearing and pulling the film. However, most of film and lay drip irrigation tape before transplanting, and then the problem of tearing and pulling the film. However, most of the above studies were of low integration, and could not film and layprocedures, dripafter irrigation tape affects before transplanting, and then complete the transplanting, fertilization, film covering, water artificial transplanting. These leadwork to multifarious operation which the efficiency the above studies were of low integration, and could not water artificial artificial after after transplanting. transplanting. These These lead lead to to multifarious multifarious the above studies were of low integration, and could not complete the transplanting, fertilization, film covering, water other processes at fertilization, one time. Theyfilm required other operation procedures, which affects the work efficiency watering seriously (Han et al., 2007; Wang et al., 2007). complete and the transplanting, covering, operation procedures, which affects the theother transplanting, covering, watering and processes at fertilization, one time. Theyfilm required other operation procedures, which affects the work work efficiency efficiency complete seriously (Han et al., 2007; Wang et al., 2007). units to enter land many times, which increased the damage watering and other processes at one time. They required other seriously (Han al., et 2007). watering and other processes at one time. They required other units to enter land many times, which increased the damage seriously in (Han etworld al., 2007; 2007; Wang et al., al., 2007). Scholars the et have Wang also done a lot of research on the of soiltobyenter rolling (Feng et times, al., 1998). units land many which increased increased the the damage damage Scholars in the world have also done a lot of research on the units to enter land many times, which of soil by rolling (Feng et al., 1998). realization of multi-functional integration of transplanters. Scholars in the world have also aa lot of on by (Feng et 1998). Scholars in of the world havedeveloped also done done ofofresearch research on the the of realization integration transplanters. of soil by rolling rolling (Feng the et al., al.,multi-functional 1998). In soil order to realize and integrated ISEKI Co., Ltd.multi-functional in Japan thelotsmall transplanting realization of multi-functional integration of transplanters. In order to realize the multi-functional and integrated realization of multi-functional integration of transplanters. operation of transplanting machine, meet the agronomic ISEKI Co., Ltd. in Japan developed the small transplanting machineCo., with crank-rocker and duckbill type planter (Yu et In order to realize the multi-functional and integrated ISEKI Ltd. in Japan developed the small transplanting In order to realize the multi-functional and integrated operation of transplanting machine, meet the agronomic ISEKI Co., Ltd. in Japan pre-trenching developed theand small transplanting oftransplanting vegetable transplanting, this paper innovated machine with crank-rocker and duckbill type planter (Yu Li et requirements al., 2014), which avoided holes drilling; operation of machine, meet the agronomic machine with crank-rocker and duckbill type planter (Yu et operation of transplanting machine, meet the agronomic requirements of vegetable transplanting, this paper innovated machine with crank-rocker and duckbill type planter (Yu et the film covering and pipe laying mechanism, duckbill type al., 2014), which avoided pre-trenching and holes drilling; Li etc. (Li 2017) combined irrigation tape film covering of vegetable transplanting, this paper innovated al., 2014), 2014), which avoideddrip pre-trenching andand holes drilling; Li requirements requirements of vegetable transplanting, this paper innovated the film covering and pipe laying mechanism, duckbill type al., which avoided pre-trenching and holes drilling; Li planting mechanism, developed a multi-functional vegetable etc. (Li 2017) combined drip irrigation tape and film covering with transplanting. The OTMA transplanter produced by the film covering and pipe laying mechanism, duckbill type etc. (Li 2017) combined drip irrigation tape and film covering the film covering and pipe laying mechanism, duckbill type planting mechanism, developed a multi-functional vegetable etc. (Li 2017) combined drip irrigation tape and film covering machinedeveloped which integrated drip irrigation tape with transplanting. The OTMA transplanter produced by transplanting Checchi & Magli Company in Italy (Lu et al., 2011) had planting mechanism, a multi-functional vegetable with transplanting. The OTMA transplanter produced by planting mechanism, developed a multi-functional vegetable transplanting machine which integrated drip irrigation tape with transplanting. The OTMA transplanter produced by Checchi & Magli Company in Italy (Lu et al., 2011) had laying, film-covering, fertilization, transplanting, soil automatic water application device for hole, which improved transplanting machine integrated drip Checchi Magli Company in al., had transplanting machine which which integrated transplanting, drip irrigation irrigation tape tape film-covering, fertilization, soil Checchi & &water Magli Companydevice in Italy Italy (Lu etwhich al., 2011) 2011) had laying, automatic application for (Lu hole,et improved laying, film-covering, fertilization, transplanting, soil automatic automatic water water application application device device for for hole, hole, which which improved improved laying, film-covering, fertilization, transplanting, soil
2405-8963 © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Copyright 2019 responsibility IFAC 92 Control. Peer review©under of International Federation of Automatic Copyright © 2019 IFAC 92 10.1016/j.ifacol.2019.12.503 Copyright 92 Copyright © © 2019 2019 IFAC IFAC 92
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covering and watering. We studied the transplanting performance of the machine with different planting frequency and different planter types.
water the transplanted transplantation.
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seedlings
and
complete
the
Table 1. Main technical parameters of transplanting machine
2. THE STRUCTURE AND WORKING PRINCIPLE OF THE MACHINE
Items Length×width×height/mm×mm×mm Working breadth/mm Seedling height for planting /mm Planting form Sprinkling amount Fertilization amount Work rows Row spacing/mm seedling spacing/mm Number of transplant workers
2.1 The Whole Machine Structure According to the agronomic requirements of vegetable seedling transplanting, the structure of the multifunctional vegetable transplanter was shown in Fig.1. The number of rows of seedling tray was two, and the main mechanisms were symmetrically distributed on both sides of the central line. They were mainly composed of fertilization mechanism, watering system, film-covering and pipe laying mechanism, soil covering device, duckbill type planting mechanism, rotating seedling cup and so on.
Parameters 2788×1690×2440 80 100-300 Duckbill type 300-800kg/mu 20-40kg/mu 2 300-600 100-800 3
3. DESIGN OF KEY STRUCTURAL COMPONENTS 3.1 Design of Soil Covering Mechanism The soil-covering mechanism was installed behind the film covering mechanism, which was mainly composed of the soil-covering drum, the soil-covering disc, the regulating mechanism, the retaining plate and the guide plate. The structure sketch was shown in Fig. 2. As the unit advances, the covering disc covered the film edge with soil while pushing the soil into the cover drum. Soils were transported to the retaining plate by the guide plate and leak out from the crevice. They evenly fell on the surface of the film, random group advance to form a soil tape. Because the width of mulching film of double-row transplanter was relatively large, adding two soil tapes in the middle of mulching film could play the role of pressing film, and prevented bad weather from blowing up mulching film to affect the growth of seedlings.
1. Drip irrigation tape 2. Fertilizer box 3. Film covering mechanism 4. Covering roller 5. Velocimeter 6. Duckbill type planter 7. Seedling Frame 8. Rotary seedling Cup 9. Seat 10. Watering Mechanism 11. Press wheel Fig. 1. Transplanting machine structure 2.2 Working Principle Before the transplanter worked in the field, a section of the plastic film and drip irrigation tape were manually buried in the soil. When working, tractors above 50 kW were used to pull, drip irrigation tape and film were laid along with the advance of the unit. The fertilizer box used the external force wheel to put the fertilizer into the field. Then the soil-covered disc covered the edge of the film, and the soil-covered roller covered the film surface. The output power of the tractor was transmitted to the transmissions of the transplanter through the universal coupling. The transmissions drove the duckbill type planter and rotate the seedling cup through the gear chain. The seedling cup rotated clockwise. The operators put the seedlings into the seedling cup in turn. When the seedling cup rotated over the duckbill type planter, the bottom cover spread, the seedlings fell into the planter and were planted in the soil. The solenoid valve controlled the watering device
1. Regulating mechanism 2. Soil guide plate 3. Retaining plate 4. Soil-covering drum 5. Soil-covering disc Fig. 2. Soil covering mechanism 3.2 Design of duckbill type planting mechanism Planting mechanism was the core component of transplanter, which was related to the efficiency and quality of transplanter. The function of the planting mechanism was to catch the seedlings falling from the seedling cup and transplant them into the soil. The working requirement was to make holes on the film without damaging the film as far as possible, and to keep the plant distance, plant depth and upright degree stable. 93
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As shown in Fig.3, the planting mechanism was mainly composed of sprocket transmission mechanism, balance weight iron, picking up cup and duckbill type planter. For this transplanter, two kinds of duckbilled type planters were designed, one was diamond duckbill type planter and the other was flat duckbill type planter, as shown in Figure 4.
3.3 Design of Intelligent Watering System Since the survival rate of seedlings could be greatly improved by watering in the hole immediately after transplanting, the transplanter had an intelligent watering system in the hole. The watering system was the main component of the transplanter, which was used to realize the hole watering after fertilization and transplantation. The system consisted of water tank, drain pipe, 24 V battery, proximity switch, solenoid valve, diving pump, etc. When the transplanting machine worked, the power switch was turned on and the induction metal sheet reached the switch position, the solenoid valve received an electric signal from the proximity switch. After the solenoid valve was turned on, the sprinkler mechanism sprayed water once.
1. Transmission mechanism 2. Connecting rod mechanism 3. Balance weight iron 4. Picking up cup 5. Duckbilled type planter
4. ANALYSIS OF MOTION TRAJECTORY DUCKBILL TYPE PLANTER BASED ON ADAMS
OF
In order to verify the stability and structure rationality of duckbill type planter, ADAMS software was used to simulate it. The geometric model of duckbill type planter introduced into ADAMS software was shown in Fig.6. The motion of the planting mechanism relative to the transplanter was circular. Because of the tractor's traction speed, the absolute motion track of the duckbill type planter was a cycloid.
Fig. 3. Transplanting machine structure
The model in ADAMS was set up to carry out motion simulation in term of low speed, medium speed and high speed. The corresponding values were 0.5 km/h, 1.0 km/h and 1.5 km/h respectively and the planting trajectory was measured. Fig.7-9 were planting trajectory under three different forward speeds. It could be seen that the seedling spacing increased with the increase of the unit forward speed, 292.21 mm, 428.35 mm and 554.31 mm, respectively. The seedling spacing and depth were stable under the condition of uniform advance of the unit.
Fig. 4. Two kinds of duckbilled type planter. As shown in Fig.5, the duckbilled type planter was composed of crank BC, AD and connecting rod CE, AB and DF. The crank BC and AD, as the original parts, rotated counter clockwise at the same speed around point B and point A, respectively, to drive the movement of other rods so as to drive the duckbill to move according to the predetermined trajectory. When the duckbill moved to the highest point of the trajectory T1, the seedlings falling from the seedling cup were picked up and continued to move downward. When the duckbill moved to the lowest point of the trajectory, the duckbill opened and the seedlings were planted in the soil. The duckbill moved upward until it left the seedlings, and the duckbill closed.
Fig. 6. Planting mechanism model in ADAMS
Fig. 5. The sketch of duckbill type planter. Fig. 7. Planting trajectory with low-speed forward
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criterion. The number of seedlings with qualified erectility accounted for the proportion of total seedlings. The angle between the main stem and the ground of 20 transplanted vegetable seedlings was measured by universal angle ruler. The seedling-standing ratio H was calculated by equation 4. H 1
Fig. 8. Planting trajectory with medium-speed forward
n 100% N
(4)
Where，the number of unqualified seedlings was n , and the number of total seedlings was N . 5.3 Mechanical damage degree of plastic film Because the transplanter punches in the film before transplanting, the plastic film will be damaged mechanically after transplanting. The mechanical damage degree of plastic film directly affects the growth of seedlings after transplanting. In the transplanted area, 20 points were selected as test points, and the breakage length of plastic film was measured by electronic vernier caliper (Fig. 10) and calculated according to equation 5.
Fig. 9. Planting trajectory with high-speed forward 5. METHOD OF FIELD TEST
np
5.1 Coefficient of variation of seedling spacing Sp
The coefficient of variation of seedling spacing was an important criterion for evaluating the uniformity of seedling spacing, which could reflect the planting precision of transplanter. The coefficient of variation of seedling spacing was the percentage of the standard deviation of the actual seedling spacing and the average of the seedling spacing measured in a certain planting interval. Twenty consecutive vegetable seedlings after transplantation were selected and their seedling spacing was measured by meter scale. The coefficient of variation of seedling spacing was calculated as follows. SX
CX
X
1
(5)
LB
Where, S p was mechanical damage degree of plastic film, mm/m2; li was the length of the breakage at the first place, mm; n p was the number of test points. L was the length of the test area, m; B was the width of the test area, m.
(1)
100%
nc 1 X X nc 1 i 1 i
SX
li i
2
(2)
nc
X=
Xi i 1
nc
100%
Fig. 10. Measurement method of film damage length.
(3)
Where, C X is the coefficient of variation of seedling spacing,%; S X is the standard deviation of seedling spacing, mm; X is
5.4 Qualification Rate of Planting Depth The percentage of qualified seedlings in total seedling number was qualified rate of transplanting depth. The measurement method of planting depth was to measure the vertical distance from the intersection point of seedling and soil surface to the root of seedling (Wang et al., 2016). The planting depth was considered to be qualified within the theoretical depth of (+2 cm). 20 transplanted seedlings were selected to measure their planting depth by electronic vernier caliper, and the eligibility rate of planting depth was calculated by equation 6.
seedling spacing average, mm; nc is number of actual measured seedling spacing, strain; X i is actual measured seedling spacing, mm. 5.2 Seedling-standing ratio The seedling-standing of seedlings refers to the upright state of seedlings after transplantation. The angle between the stem and the ground of seedlings was taken as the evaluation 95
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Z
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Q' 100% Q
results of tomato seedlings and pepper seedlings, which indicated that the transplanter could meet the needs of different vegetable varieties.
(6)
Where, Z was qualified rate of transplanting depth, %; Q ' was the number of qualified seedlings, seedlingt; Q was the total number of plants, seedling.
Table 2. (a) Main technical parameters of transplanting machine Forward speed/ (km·h-1) 0.49 1.03 1.49
6. TEST RESULTS AND ANALYSIS Field test was conducted on June 1, 2019 in the testal field of Junyan Agriculture Machinery Co., Ltd., Qingzhou ， Shandong Province，China. The test land was 100m long and 75m wide. The soil was flat and weedless. The outdoor temperature was 37℃. The test seedlings were pepper seedlings and tomato seedlings. The seedlings were cultured in a standard 7×15 holes pot tray. The seedling age was 35 days. In the test, the tractor was connected by three-point rear suspension. Ten seedlings were removed before and after the removal and twenty seedlings in the middle were selected as sampling points to record data. Three groups were measured and the average value was obtained. The field test of the prototype was shown in Fig. 11.
Planting frequency /(seedlings·min-1)
Seedling-standing ratio Pepper Tomato
57 72 88
98.6 98.8 97.0
99.2 98.2 96.4
Table 2. (b) Main technical parameters of transplanting machine Coefficient of variation of seedling spacing pepper Tomato 1.6 3.5 3.4 3.4 4.9 6
Qualified rate of seedling depth Pepper 99.0 98.6 98.4
Tomato 98.8 97.2 97.6
Mechanical damage degree of plastic film Pepper Tomato 4.4 3.8 4.8 4.4 7.9 7.3
Fig. 12 (a) was a break-line diagram of seedling spacing at three forward speeds. With the increase of the forward speed of the unit, the fluctuation of the broken line became more and more intense, which indicated that the greater the forward speed, the more unstable the seedling spacing and the greater the coefficient of variation of the seedling spacing. It colud be concluded that the seedling spacing was more stable when the unit advances at low speed. Fig. 12 (b) was a bar chart of seedling spacing under three forward speeds. It could be seen from the figure that the gap between maximum and minimum seedling spacing was small and almost consistent with the simulation results at low speed. The gap increased at medium speed, and the difference between maximum and minimum spacing was obvious. The gap was further enlarged at high speed, and the difference between the maximum and minimum seedling spacing values and simulation results was obvious.
Fig. 11. Transplanting test. 6.1 Planting test with different planting frequencies AR926 speed tester was used in this test. Reflective stickers were pasted on the tire of tractor respectively and planting mechanism. The rotary speed of tire and duckbill type planter were measured by the tester, and the forward speed and planting frequency of the transplanter were calculated. In this test, three kinds of forward speeds, low speed, medium speed and high speed, were set. The actual speeds were 0.49, 1.03 and 1.49 km/h, respectively and the corresponding planting frequencies were 57, 72 and 88 seedilngs/min. The testal data are shown in Tab.2. From Tab.2, it can be seen that with the increase of tractor speed, the planting frequency increased from 57 seedlings/min to 88 seedlings/min, the seedling-standing ratio decreased from 99.2% to 96.4%, the coefficient of variation of seedling spacing increased from 1.6% to 6%, the mechanical damage degree of plastic film increased from 3.8 mm/m2 to 7.9 mm/m2, and the qualified rate of planting depth did not change significantly, with an average of 97.4%~99.0%. All test results meet the requirements of mechanical industry standards. There was no significant difference between the
Fig. 12. (a) Seedling spacing of tests at three speeds; (b) Column diagram of seedling spacing contrast under three speed 6.2 Planting test with different type of planters
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Planting tests were carried out with two types of duckbill planters in Fig. 4. The test was divided into two parts: the diamond duckbill type planter and the flat duckbill type planter. As shown in Table 3 (a) and (b), there was no significant difference between the variation coefficient of seedling spacing and the qualified rate of planting depth with two type planter, but the seedling-standing ratio of diamond duckbill was slightly higher than that of flat duckbill, and the mechanical damage degree of plastic film was significantly lower than that of flat duckbill. It could be seen from this that the diamond duckbill type planter was not easy to damage the plastic film, and the seedlings after planting had a good upright degree. Considering comprehensively, the diamond duckbill type planter’s performance was better than that of flat duckbill type planter.
that of the flat duckbill planter. The working parts of the multi-functional vegetable seedling transplanting machine were coordinated and the working performance was good. (3) ADAMS software was used to simulate the seedling spacing of the transplanter model. The simulation results of the seedling spacing were 292.21 mm, 428.35 mm and 554.31 mm at low, medium and high speed, respectively. The simulation results were basically consistent with the field test. These indicated that the structure of the transplanting machine was reasonable and the performance was stable. ACKNOWLEDGEMENT The study was supported by National Natural Science Foundation of China (Nos. 31701325, 31671632).
Table 3. (a) Main technical parameters of transplanting machine Duckbill shape Diamond duckbill Flat duckbill
Seedling-standing ratio Pepper Tomato 98.0 99.2 96.3
97.3
REFERENCES
Coefficient of variation of seedling spacing Pepper Tomato 3.9 3.6 3.7
Feng J., Gu S.K., Zeng A.J. (1998). Study on transplanter with chute and seedling aid springs (PartⅡ): Judgingtargets system for transplanters. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 14(2), 73-77 Han C.J., Yang W.Z., Si M.L. (2007). Design and Adjustment of Turnplate-Type Dropping Seedling Mechanism. Journal of Xinjiang Agricultural University, 30(02):74-76 Han C.J., Xu Y., Zhang J., You J. and Guo H. (2018) Design and test of semi-automatic transplanter for watermelon seedlings raised on compression substrate. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 34(13):54-61 Jin X., Li S.J., Yang S.J., Yan H., Wu J.M., Mao Z.H. (2012). Motion Analysis and Parameter Optimization for Pot Seedling Planting Mechanism Based on Up-film Transplanting. Transactions of the Chinese Society for Agricultural Machinery,43(S1):29-34 Li H., Cao W.B., Li S.F., Liu J.D., Chen B.B., and Ma X.X. (2017). Development of 2ZXM-2 automatic plastic film mulching plug seedling transplanter for vegetable. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 33(15): 23-33 Lu Y.T., Li Y.X. Liu Y., Li B., Wang T. (2011). Current Situation of Transplanter and Transplanting Technology at Home and Abroad. Agricultural mechanization in Xinjiang, 03:29-32 Wang J.L., Gao Y.Z., Li C.H. (2007). Experimental study of mechanized transplanting bare root upright degree. Journal of Agricultural Mechanization Research, 45(08):44-53 Wang Y.W., Tang Y.H., Wang J. (2016). Parameter optimization for dibble-type planting apparatus of vegetable pot seedling transplanter in high-speed condition. Transactions of the Chinese Society for Agricultural Machinery, 47(1), 91-100 Yu X.X., Zhao Y., Chen B.C., Zhou M.L., Zhang H. and Zhang Z.C. (2014). Current Situation and Prospect of Transplanter. Transactions of the Chinese Society for Agricultural Machinery, 45(08):44-53
3.1
Table 3. (b) Main technical parameters of transplanting machine Qualified rate of planting depth Pepper Tomato 99.6 98.8 97.4 97.8
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Mechanical damage degree of plastic film Pepper Tomato 3.7 4.0 5.8 5.1
7. CONCLUSIONS (1) The paper developed a multi-functional vegetable pot seedling transplanting machine, which could perform the links of drip irrigation tape laying, film-covering, soil covering, fertilizing, transplanting, fixed-point watering and so on at one time. It could save manpower and material resources, reduce the number of tractors entering the ground and the repeated compaction damage to the land. (2) Field tests showed when the advancing speed of the unit were 0.49, 1.03 and 1.49 km/h, the corresponding planting frequencies were 57, 72 and 88 seedlings/min respectively. With the increase of the forward speed, the planting frequency increased, the seedling-standing ratio decreased, which average values was 96.4~98.6%. The variation coefficient of seedling spacing and the mechanical damage degree of plastic film increased with the average values of 1%~6% and 3.8~7.9mm/m2, respectively. The qualified rate of planting depth were relatively stable, with an average of 97.2%~99.0%. The diamond duckbill planter was superior to the flat duckbill planter in terms of the seedling-standing ratio and the mechanical damage degree of plastic film, so the performance of the diamond duckbill planter was superior to 97
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Design and Test of Multifunctional Vegetable Transplanting Machine Design and Test of Multifunctional Vegetable Transplanting Machine Design and Test of Vegetable Transplanting Machine Design TestGuantao of Multifunctional Multifunctional Vegetable Machine Yuanyuan Shao*.and Yi Liu**. Xuan***. Zhichao Hu****. XiangTransplanting Han**. Yongxian Wang**. Bin Chen *****.
Yuanyuan Shao*. Yi Liu**. Guantao Xuan***.Weiyang Zhichao Wang Hu****. Xiang Han**. Yongxian Wang**. Bin Chen *****. *****. Yuanyuan Zhichao Hu****. Xiang Yuanyuan Shao*. Shao*. Yi Yi Liu**. Liu**. Guantao Guantao Xuan***. Xuan***.Weiyang Zhichao Wang Hu****. Xiang Han**. Han**. Yongxian Yongxian Wang**. Wang**. Bin Bin Chen Chen *****. *****. *****. Weiyang Wang *****. Weiyang Wang *****. * College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, China; * College Mechanical Electronic Engineering, University, Taian210014, 271018,China China; Nanjing Instituteof Agriculturaland Mechanization, Ministry of Shandong AgricultureAgricultural and Rural Affairs, Nanjing (e-mail: ofofMechanical and Electronic Shandong Agricultural University, Taian 271018, China; ** College College Electronic Engineering, Engineering, Shandong Agricultural University, Taian 271018, China; Nanjing InstituteofofMechanical Agriculturaland Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China (e-mail: [email protected]) Nanjing Institute of Mechanization, Ministry of and Affairs, 210014, China (e-mail: Nanjing Institute of Agricultural Agricultural Mechanization, Ministry of Agriculture Agriculture and Rural Rural Affairs, Nanjing Nanjing 210014,China China(e-mail: (e-mail: [email protected]) ** College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, [email protected]) [email protected]) ** College of Mechanical and Electronic Engineering, Shandong Agricultural University, Taian 271018, China (e-mail: [email protected]) ** College Mechanical and Electronic Engineering, Shandong Agricultural University, Taian China (e-mail: Collegeofof ofMechanical Mechanicaland andElectronic ElectronicEngineering, Engineering, ShandongAgricultural AgriculturalUniversity; University,Shandong Taian 271018, 271018, ChinaEngineering (e-mail: [email protected]) *****College Shandong Intelligent [email protected]) [email protected]) *** College of Mechanical and Electronic Engineering, Shandong Agricultural University; Shandong Intelligent Engineering LaboratoryEngineering, of Agricultural Equipment, Taian 271018, China *** Shandong Agricultural University; Shandong *** College College of of Mechanical Mechanical and and Electronic Electronic Engineering, Shandong Agricultural University; Shandong Intelligent Intelligent Engineering Engineering Laboratory of Agricultural Equipment, Taian 271018, China (Corresponding author; e-mail: [email protected]) Laboratory of Agricultural Equipment, Taian 271018, China Laboratory of Agricultural Equipment, Taian 271018, China (Corresponding author; e-mail: [email protected]) **** Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China (Corresponding author; e-mail: [email protected]) (Corresponding author; e-mail: [email protected]) **** Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China (Corresponding author; e-mail:[email protected]) **** Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Nanjing **** Nanjing Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and (e-mail: Rural Affairs, Affairs, Nanjing 210014, 210014, China China (Corresponding author; e-mail:[email protected]) ***** Junyan Agricultural(Corresponding Machinery Co.,author; Ltd., Qingzhou 262500, China [email protected]) e-mail:[email protected]) e-mail:[email protected]) ***** Junyan Agricultural(Corresponding Machinery Co.,author; Ltd., Qingzhou 262500, China (e-mail: [email protected]) ***** Junyan Junyan Agricultural Agricultural Machinery Machinery Co., Co., Ltd., Ltd., Qingzhou Qingzhou 262500, 262500, China China (e-mail: (e-mail: [email protected]) [email protected]) ***** Abstract: In order to improve the efficiency of vegetable seedling transplantation and realize its high Abstract: In order to improve thedeveloped efficiency aof multi-functional vegetable seedling transplantation and realize its high quality transplanting, this paper vegetable pot seedling transplanting Abstract: In order order to to improve improve thedeveloped efficiency aof of multi-functional vegetable seedling seedling transplantation and realize realize its high high Abstract: In the efficiency vegetable transplantation and its quality transplanting, this paper vegetable pot seedling transplanting machine. The machine was mainly composed of duckbill type planter, fertilization mechanism, power quality transplanting, this paper developed aaofmulti-functional vegetable pot seedling transplanting quality transplanting, this paper developed multi-functional vegetable pot seedling transplanting machine. The machine was mainly composed duckbill type planter, fertilization mechanism, power transmission system, soilwas covering device, watering device, film covering and pipe laying mechanism, etc. machine. The machine mainly composed of duckbill type planter, fertilization mechanism, power machine. Thesystem, machine was mainly composed of film duckbill type covering planter, fertilization mechanism, power transmission soil covering device, watering device, film and pipe laying mechanism, etc. It could perform drip irrigation tape laying and covering, transplanting, fertilizing, soil covering, transmission system, soil covering device, watering device, film and pipe laying mechanism, etc. transmission soil covering device, device, filmtocovering covering laying mechanism, etc. It could perform drip irrigation tape laying andtime. film covering, transplanting, fertilizing, soil covering, watering andsystem, other working procedures atwatering one In order evaluateand thepipe work performance of the It could perform drip irrigation tape laying and film covering, transplanting, fertilizing, soil covering, It could perform drip irrigation tape laying and film covering, transplanting, fertilizing, soil covering, watering and other working procedures at one time. In order to evaluate the work performance of the machine, and fieldother tests were conducted with 35 day-old pepper and tomato seedlings as testable subjects. watering procedures one time. order to evaluate the work performance of watering and other working procedures at35 one time. In In order57, to72 evaluate the work as performance of the the machine, field tests working werewhen conducted withat day-old pepper and tomato seedlings testable subjects. The results showed that the planting frequency were and 88 seedlings/min, the seedlingmachine, field tests were conducted with 35 day-old pepper and tomato seedlings as testable subjects. machine, field tests were conducted with 35 day-old pepper and tomato seedlings as testable subjects. The results showed that when the planting frequency were 57, 72 and 88 seedlings/min, the seedlingstanding ratio decreased slightly with the increase ofwere planting frequency, the average the values were The results showed that the planting 57, and 88 seedlings/min, seedlingThe results showed that when when the planting frequency 57, 72 72 and 88 seedlings/min, the seedlingstanding ratio decreased slightly with the frequency increase ofwere planting frequency, the average values were 96.4%~98.6%. The coefficient of variation of seedling spacing and the mechanical damage degree of standing ratio decreased decreased slightly with the the of increase of spacing plantingand frequency, the average average values were 2 the standing ratio slightly with increase of planting frequency, values were 96.4%~98.6%. The coefficient of variation seedling the mechanical damage degree of , respectively. The average plastic film increased with average values of 1.6%~6% and 3.8~7.9 mm/m 2 96.4%~98.6%. The of of seedling spacing and the damage degree of 2, respectively. 96.4%~98.6%. The coefficient coefficient of variation variation of1.6%~6% seedling spacing and mm/m the mechanical mechanical damage degree of average plastic of film with average values and 3.8~7.9 2 values theincreased qualified rate of planting depthof were 97.2%~99.0%. Seedling-standing ratio andThe mechanical 2, respectively. The average plastic film increased with average values of 1.6%~6% and 3.8~7.9 mm/m , respectively. The average plastic film increased with average values of 1.6%~6% and 3.8~7.9 mm/m values of the qualified rate of planting depth were 97.2%~99.0%. Seedling-standing ratio and mechanical damage degree of plastic film of diamond duckbill type planter were better than flat duckbill type planter. values of the qualified rate of depth were Seedling-standing ratio and mechanical values ofdegree the qualified ratefilm of planting planting depth were 97.2%~99.0%. 97.2%~99.0%. Seedling-standing ratiotest andresults mechanical damage ofmet plastic of diamond duckbill type planter were better than flatfield duckbill type planter. The test results the requirements of mechanical industry standards. The were damage degree of plastic film of diamond duckbill type planter were better than flat duckbill type planter. damage degree of plastic film of diamond duckbill type planter were better than flat duckbill type planter. The test results met the requirements of mechanical industry standards. The field test results were basically consistent with the ADAMS simulation results. The structure of the transplanter was reasonable The test results met the requirements of mechanical industry standards. The field test results were The test results met the requirements of mechanical industry standards. The field test results were basically consistent with the ADAMS simulation results. The structure of the transplanter was reasonable and the performance wasthe stable. The simulation watering device, covering device, filmtransplanter covering and pipe laying basically consistent with ADAMS results. The structure of the was reasonable basically consistent with the ADAMS simulation results. The structure of the transplanter was reasonable and the performance was stable. The watering device, covering device, film covering and pipe laying mechanism of the transplanter which could carried functions each part and the the performance performance was stable. stable.were The coordinated, watering device, device, covering device, out filmthe covering andofpipe pipe laying and was The watering covering device, film covering and laying mechanism of met the the transplanter coordinated, which could carried out the functions of each part accurately and agronomicwere requirements of vegetable seedling transplantation. mechanism of the transplanter were coordinated, which could carried out the functions of each mechanism of met the the transplanter coordinated, which could carried out the functions of each part part accurately and agronomicwere requirements of vegetable seedling transplantation. accurately and met of seedling transplantation. © 2019, IFAC (International Federation ofADAMS Automatic Control) Hosting by Elsevier Ltd. All rights reserved. accurately and met the the agronomic agronomic requirements of vegetable vegetable seedling transplantation. Keywords: Transplanting machine;requirements simulation; Field test; Multifunctional; Duckbill type. Keywords: Transplanting machine; ADAMS simulation; Field test; Multifunctional; Duckbill type. Keywords: Transplanting Transplanting machine; machine; ADAMS ADAMS simulation; simulation; Field Field test; test; Multifunctional; Multifunctional; Duckbill Duckbill type. type. Keywords: the survival rate of seedlings. Han etc. (Han 2018) added an 1. INTRODUCTION the survival rate of seedlings. etc. to (Hanthe2018) added an intermittent holes drilling Han device chain-clamp 1. INTRODUCTION the survival survival rate rate of seedlings. seedlings. Han etc. (Han (Han 2018) 2018) added an an the of Han etc. added intermittent holes drilling device to the chain-clamp 1. INTRODUCTION transplanting machine. Jin etc. (Jin 2012) optimized the 1. AtINTRODUCTION present, most of the transplanters have single functions in intermittent holes drilling device to the chain-clamp intermittent holes drilling device to the chain-clamp transplanting machine. Jin etc. (Jin 2012) optimized the type transplanting machine on2012) the film, and solved At present, transplanters singlecover functions in duckbill China. Theymost needof tothe tillage the land,have fertilize, plastic transplanting machine. Jin etc. optimized the At present, most of the transplanters have single functions in transplanting machine. Jinpulling etc. (Jin (Jin 2012) optimized the duckbill typeoftransplanting machine on theHowever, film, andmost solved At present, most of the transplanters have single functions in the problem tearing and the film. of China. They need to tillage the land, fertilize, cover plastic film and lay drip irrigation tape before transplanting, and then duckbill type transplanting machine on the film, and solved China. They need to tillage the land, fertilize, cover plastic duckbill type transplanting machine on the film, and solved the problem of tearing and pulling the film. However, most of China. They need to tillage the land, fertilize, cover plastic the above studies were of low integration, and could not film and lay drip irrigation tape before transplanting, and then water artificial after transplanting. These lead to multifarious the problem of tearing and pulling the film. However, most of film and lay drip irrigation tape before transplanting, and then the problem of tearing and pulling the film. However, most of the above studies were of low integration, and could not film and layprocedures, dripafter irrigation tape affects before transplanting, and then complete the transplanting, fertilization, film covering, water artificial transplanting. These leadwork to multifarious operation which the efficiency the above studies were of low integration, and could not water artificial artificial after after transplanting. transplanting. These These lead lead to to multifarious multifarious the above studies were of low integration, and could not complete the transplanting, fertilization, film covering, water other processes at fertilization, one time. Theyfilm required other operation procedures, which affects the work efficiency watering seriously (Han et al., 2007; Wang et al., 2007). complete and the transplanting, covering, operation procedures, which affects the theother transplanting, covering, watering and processes at fertilization, one time. Theyfilm required other operation procedures, which affects the work work efficiency efficiency complete seriously (Han et al., 2007; Wang et al., 2007). units to enter land many times, which increased the damage watering and other processes at one time. They required other seriously (Han al., et 2007). watering and other processes at one time. They required other units to enter land many times, which increased the damage seriously in (Han etworld al., 2007; 2007; Wang et al., al., 2007). Scholars the et have Wang also done a lot of research on the of soiltobyenter rolling (Feng et times, al., 1998). units land many which increased increased the the damage damage Scholars in the world have also done a lot of research on the units to enter land many times, which of soil by rolling (Feng et al., 1998). realization of multi-functional integration of transplanters. Scholars in the world have also aa lot of on by (Feng et 1998). Scholars in of the world havedeveloped also done done ofofresearch research on the the of realization integration transplanters. of soil by rolling rolling (Feng the et al., al.,multi-functional 1998). In soil order to realize and integrated ISEKI Co., Ltd.multi-functional in Japan thelotsmall transplanting realization of multi-functional integration of transplanters. In order to realize the multi-functional and integrated realization of multi-functional integration of transplanters. operation of transplanting machine, meet the agronomic ISEKI Co., Ltd. in Japan developed the small transplanting machineCo., with crank-rocker and duckbill type planter (Yu et In order to realize the multi-functional and integrated ISEKI Ltd. in Japan developed the small transplanting In order to realize the multi-functional and integrated operation of transplanting machine, meet the agronomic ISEKI Co., Ltd. in Japan pre-trenching developed theand small transplanting oftransplanting vegetable transplanting, this paper innovated machine with crank-rocker and duckbill type planter (Yu Li et requirements al., 2014), which avoided holes drilling; operation of machine, meet the agronomic machine with crank-rocker and duckbill type planter (Yu et operation of transplanting machine, meet the agronomic requirements of vegetable transplanting, this paper innovated machine with crank-rocker and duckbill type planter (Yu et the film covering and pipe laying mechanism, duckbill type al., 2014), which avoided pre-trenching and holes drilling; Li etc. (Li 2017) combined irrigation tape film covering of vegetable transplanting, this paper innovated al., 2014), 2014), which avoideddrip pre-trenching andand holes drilling; Li requirements requirements of vegetable transplanting, this paper innovated the film covering and pipe laying mechanism, duckbill type al., which avoided pre-trenching and holes drilling; Li planting mechanism, developed a multi-functional vegetable etc. (Li 2017) combined drip irrigation tape and film covering with transplanting. The OTMA transplanter produced by the film covering and pipe laying mechanism, duckbill type etc. (Li 2017) combined drip irrigation tape and film covering the film covering and pipe laying mechanism, duckbill type planting mechanism, developed a multi-functional vegetable etc. (Li 2017) combined drip irrigation tape and film covering machinedeveloped which integrated drip irrigation tape with transplanting. The OTMA transplanter produced by transplanting Checchi & Magli Company in Italy (Lu et al., 2011) had planting mechanism, a multi-functional vegetable with transplanting. The OTMA transplanter produced by planting mechanism, developed a multi-functional vegetable transplanting machine which integrated drip irrigation tape with transplanting. The OTMA transplanter produced by Checchi & Magli Company in Italy (Lu et al., 2011) had laying, film-covering, fertilization, transplanting, soil automatic water application device for hole, which improved transplanting machine integrated drip Checchi Magli Company in al., had transplanting machine which which integrated transplanting, drip irrigation irrigation tape tape film-covering, fertilization, soil Checchi & &water Magli Companydevice in Italy Italy (Lu etwhich al., 2011) 2011) had laying, automatic application for (Lu hole,et improved laying, film-covering, fertilization, transplanting, soil automatic automatic water water application application device device for for hole, hole, which which improved improved laying, film-covering, fertilization, transplanting, soil
2405-8963 © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Copyright 2019 responsibility IFAC 92 Control. Peer review©under of International Federation of Automatic Copyright © 2019 IFAC 92 10.1016/j.ifacol.2019.12.503 Copyright 92 Copyright © © 2019 2019 IFAC IFAC 92
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covering and watering. We studied the transplanting performance of the machine with different planting frequency and different planter types.
water the transplanted transplantation.
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seedlings
and
complete
the
Table 1. Main technical parameters of transplanting machine
2. THE STRUCTURE AND WORKING PRINCIPLE OF THE MACHINE
Items Length×width×height/mm×mm×mm Working breadth/mm Seedling height for planting /mm Planting form Sprinkling amount Fertilization amount Work rows Row spacing/mm seedling spacing/mm Number of transplant workers
2.1 The Whole Machine Structure According to the agronomic requirements of vegetable seedling transplanting, the structure of the multifunctional vegetable transplanter was shown in Fig.1. The number of rows of seedling tray was two, and the main mechanisms were symmetrically distributed on both sides of the central line. They were mainly composed of fertilization mechanism, watering system, film-covering and pipe laying mechanism, soil covering device, duckbill type planting mechanism, rotating seedling cup and so on.
Parameters 2788×1690×2440 80 100-300 Duckbill type 300-800kg/mu 20-40kg/mu 2 300-600 100-800 3
3. DESIGN OF KEY STRUCTURAL COMPONENTS 3.1 Design of Soil Covering Mechanism The soil-covering mechanism was installed behind the film covering mechanism, which was mainly composed of the soil-covering drum, the soil-covering disc, the regulating mechanism, the retaining plate and the guide plate. The structure sketch was shown in Fig. 2. As the unit advances, the covering disc covered the film edge with soil while pushing the soil into the cover drum. Soils were transported to the retaining plate by the guide plate and leak out from the crevice. They evenly fell on the surface of the film, random group advance to form a soil tape. Because the width of mulching film of double-row transplanter was relatively large, adding two soil tapes in the middle of mulching film could play the role of pressing film, and prevented bad weather from blowing up mulching film to affect the growth of seedlings.
1. Drip irrigation tape 2. Fertilizer box 3. Film covering mechanism 4. Covering roller 5. Velocimeter 6. Duckbill type planter 7. Seedling Frame 8. Rotary seedling Cup 9. Seat 10. Watering Mechanism 11. Press wheel Fig. 1. Transplanting machine structure 2.2 Working Principle Before the transplanter worked in the field, a section of the plastic film and drip irrigation tape were manually buried in the soil. When working, tractors above 50 kW were used to pull, drip irrigation tape and film were laid along with the advance of the unit. The fertilizer box used the external force wheel to put the fertilizer into the field. Then the soil-covered disc covered the edge of the film, and the soil-covered roller covered the film surface. The output power of the tractor was transmitted to the transmissions of the transplanter through the universal coupling. The transmissions drove the duckbill type planter and rotate the seedling cup through the gear chain. The seedling cup rotated clockwise. The operators put the seedlings into the seedling cup in turn. When the seedling cup rotated over the duckbill type planter, the bottom cover spread, the seedlings fell into the planter and were planted in the soil. The solenoid valve controlled the watering device
1. Regulating mechanism 2. Soil guide plate 3. Retaining plate 4. Soil-covering drum 5. Soil-covering disc Fig. 2. Soil covering mechanism 3.2 Design of duckbill type planting mechanism Planting mechanism was the core component of transplanter, which was related to the efficiency and quality of transplanter. The function of the planting mechanism was to catch the seedlings falling from the seedling cup and transplant them into the soil. The working requirement was to make holes on the film without damaging the film as far as possible, and to keep the plant distance, plant depth and upright degree stable. 93
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As shown in Fig.3, the planting mechanism was mainly composed of sprocket transmission mechanism, balance weight iron, picking up cup and duckbill type planter. For this transplanter, two kinds of duckbilled type planters were designed, one was diamond duckbill type planter and the other was flat duckbill type planter, as shown in Figure 4.
3.3 Design of Intelligent Watering System Since the survival rate of seedlings could be greatly improved by watering in the hole immediately after transplanting, the transplanter had an intelligent watering system in the hole. The watering system was the main component of the transplanter, which was used to realize the hole watering after fertilization and transplantation. The system consisted of water tank, drain pipe, 24 V battery, proximity switch, solenoid valve, diving pump, etc. When the transplanting machine worked, the power switch was turned on and the induction metal sheet reached the switch position, the solenoid valve received an electric signal from the proximity switch. After the solenoid valve was turned on, the sprinkler mechanism sprayed water once.
1. Transmission mechanism 2. Connecting rod mechanism 3. Balance weight iron 4. Picking up cup 5. Duckbilled type planter
4. ANALYSIS OF MOTION TRAJECTORY DUCKBILL TYPE PLANTER BASED ON ADAMS
OF
In order to verify the stability and structure rationality of duckbill type planter, ADAMS software was used to simulate it. The geometric model of duckbill type planter introduced into ADAMS software was shown in Fig.6. The motion of the planting mechanism relative to the transplanter was circular. Because of the tractor's traction speed, the absolute motion track of the duckbill type planter was a cycloid.
Fig. 3. Transplanting machine structure
The model in ADAMS was set up to carry out motion simulation in term of low speed, medium speed and high speed. The corresponding values were 0.5 km/h, 1.0 km/h and 1.5 km/h respectively and the planting trajectory was measured. Fig.7-9 were planting trajectory under three different forward speeds. It could be seen that the seedling spacing increased with the increase of the unit forward speed, 292.21 mm, 428.35 mm and 554.31 mm, respectively. The seedling spacing and depth were stable under the condition of uniform advance of the unit.
Fig. 4. Two kinds of duckbilled type planter. As shown in Fig.5, the duckbilled type planter was composed of crank BC, AD and connecting rod CE, AB and DF. The crank BC and AD, as the original parts, rotated counter clockwise at the same speed around point B and point A, respectively, to drive the movement of other rods so as to drive the duckbill to move according to the predetermined trajectory. When the duckbill moved to the highest point of the trajectory T1, the seedlings falling from the seedling cup were picked up and continued to move downward. When the duckbill moved to the lowest point of the trajectory, the duckbill opened and the seedlings were planted in the soil. The duckbill moved upward until it left the seedlings, and the duckbill closed.
Fig. 6. Planting mechanism model in ADAMS
Fig. 5. The sketch of duckbill type planter. Fig. 7. Planting trajectory with low-speed forward
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criterion. The number of seedlings with qualified erectility accounted for the proportion of total seedlings. The angle between the main stem and the ground of 20 transplanted vegetable seedlings was measured by universal angle ruler. The seedling-standing ratio H was calculated by equation 4. H 1
Fig. 8. Planting trajectory with medium-speed forward
n 100% N
(4)
Where，the number of unqualified seedlings was n , and the number of total seedlings was N . 5.3 Mechanical damage degree of plastic film Because the transplanter punches in the film before transplanting, the plastic film will be damaged mechanically after transplanting. The mechanical damage degree of plastic film directly affects the growth of seedlings after transplanting. In the transplanted area, 20 points were selected as test points, and the breakage length of plastic film was measured by electronic vernier caliper (Fig. 10) and calculated according to equation 5.
Fig. 9. Planting trajectory with high-speed forward 5. METHOD OF FIELD TEST
np
5.1 Coefficient of variation of seedling spacing Sp
The coefficient of variation of seedling spacing was an important criterion for evaluating the uniformity of seedling spacing, which could reflect the planting precision of transplanter. The coefficient of variation of seedling spacing was the percentage of the standard deviation of the actual seedling spacing and the average of the seedling spacing measured in a certain planting interval. Twenty consecutive vegetable seedlings after transplantation were selected and their seedling spacing was measured by meter scale. The coefficient of variation of seedling spacing was calculated as follows. SX
CX
X
1
(5)
LB
Where, S p was mechanical damage degree of plastic film, mm/m2; li was the length of the breakage at the first place, mm; n p was the number of test points. L was the length of the test area, m; B was the width of the test area, m.
(1)
100%
nc 1 X X nc 1 i 1 i
SX
li i
2
(2)
nc
X=
Xi i 1
nc
100%
Fig. 10. Measurement method of film damage length.
(3)
Where, C X is the coefficient of variation of seedling spacing,%; S X is the standard deviation of seedling spacing, mm; X is
5.4 Qualification Rate of Planting Depth The percentage of qualified seedlings in total seedling number was qualified rate of transplanting depth. The measurement method of planting depth was to measure the vertical distance from the intersection point of seedling and soil surface to the root of seedling (Wang et al., 2016). The planting depth was considered to be qualified within the theoretical depth of (+2 cm). 20 transplanted seedlings were selected to measure their planting depth by electronic vernier caliper, and the eligibility rate of planting depth was calculated by equation 6.
seedling spacing average, mm; nc is number of actual measured seedling spacing, strain; X i is actual measured seedling spacing, mm. 5.2 Seedling-standing ratio The seedling-standing of seedlings refers to the upright state of seedlings after transplantation. The angle between the stem and the ground of seedlings was taken as the evaluation 95
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Q' 100% Q
results of tomato seedlings and pepper seedlings, which indicated that the transplanter could meet the needs of different vegetable varieties.
(6)
Where, Z was qualified rate of transplanting depth, %; Q ' was the number of qualified seedlings, seedlingt; Q was the total number of plants, seedling.
Table 2. (a) Main technical parameters of transplanting machine Forward speed/ (km·h-1) 0.49 1.03 1.49
6. TEST RESULTS AND ANALYSIS Field test was conducted on June 1, 2019 in the testal field of Junyan Agriculture Machinery Co., Ltd., Qingzhou ， Shandong Province，China. The test land was 100m long and 75m wide. The soil was flat and weedless. The outdoor temperature was 37℃. The test seedlings were pepper seedlings and tomato seedlings. The seedlings were cultured in a standard 7×15 holes pot tray. The seedling age was 35 days. In the test, the tractor was connected by three-point rear suspension. Ten seedlings were removed before and after the removal and twenty seedlings in the middle were selected as sampling points to record data. Three groups were measured and the average value was obtained. The field test of the prototype was shown in Fig. 11.
Planting frequency /(seedlings·min-1)
Seedling-standing ratio Pepper Tomato
57 72 88
98.6 98.8 97.0
99.2 98.2 96.4
Table 2. (b) Main technical parameters of transplanting machine Coefficient of variation of seedling spacing pepper Tomato 1.6 3.5 3.4 3.4 4.9 6
Qualified rate of seedling depth Pepper 99.0 98.6 98.4
Tomato 98.8 97.2 97.6
Mechanical damage degree of plastic film Pepper Tomato 4.4 3.8 4.8 4.4 7.9 7.3
Fig. 12 (a) was a break-line diagram of seedling spacing at three forward speeds. With the increase of the forward speed of the unit, the fluctuation of the broken line became more and more intense, which indicated that the greater the forward speed, the more unstable the seedling spacing and the greater the coefficient of variation of the seedling spacing. It colud be concluded that the seedling spacing was more stable when the unit advances at low speed. Fig. 12 (b) was a bar chart of seedling spacing under three forward speeds. It could be seen from the figure that the gap between maximum and minimum seedling spacing was small and almost consistent with the simulation results at low speed. The gap increased at medium speed, and the difference between maximum and minimum spacing was obvious. The gap was further enlarged at high speed, and the difference between the maximum and minimum seedling spacing values and simulation results was obvious.
Fig. 11. Transplanting test. 6.1 Planting test with different planting frequencies AR926 speed tester was used in this test. Reflective stickers were pasted on the tire of tractor respectively and planting mechanism. The rotary speed of tire and duckbill type planter were measured by the tester, and the forward speed and planting frequency of the transplanter were calculated. In this test, three kinds of forward speeds, low speed, medium speed and high speed, were set. The actual speeds were 0.49, 1.03 and 1.49 km/h, respectively and the corresponding planting frequencies were 57, 72 and 88 seedilngs/min. The testal data are shown in Tab.2. From Tab.2, it can be seen that with the increase of tractor speed, the planting frequency increased from 57 seedlings/min to 88 seedlings/min, the seedling-standing ratio decreased from 99.2% to 96.4%, the coefficient of variation of seedling spacing increased from 1.6% to 6%, the mechanical damage degree of plastic film increased from 3.8 mm/m2 to 7.9 mm/m2, and the qualified rate of planting depth did not change significantly, with an average of 97.4%~99.0%. All test results meet the requirements of mechanical industry standards. There was no significant difference between the
Fig. 12. (a) Seedling spacing of tests at three speeds; (b) Column diagram of seedling spacing contrast under three speed 6.2 Planting test with different type of planters
96
IFAC AGRICONTROL 2019 December 4-6, 2019. Sydney, Australia
Yuanyuan Shao et al. / IFAC PapersOnLine 52-30 (2019) 92–97
Planting tests were carried out with two types of duckbill planters in Fig. 4. The test was divided into two parts: the diamond duckbill type planter and the flat duckbill type planter. As shown in Table 3 (a) and (b), there was no significant difference between the variation coefficient of seedling spacing and the qualified rate of planting depth with two type planter, but the seedling-standing ratio of diamond duckbill was slightly higher than that of flat duckbill, and the mechanical damage degree of plastic film was significantly lower than that of flat duckbill. It could be seen from this that the diamond duckbill type planter was not easy to damage the plastic film, and the seedlings after planting had a good upright degree. Considering comprehensively, the diamond duckbill type planter’s performance was better than that of flat duckbill type planter.
that of the flat duckbill planter. The working parts of the multi-functional vegetable seedling transplanting machine were coordinated and the working performance was good. (3) ADAMS software was used to simulate the seedling spacing of the transplanter model. The simulation results of the seedling spacing were 292.21 mm, 428.35 mm and 554.31 mm at low, medium and high speed, respectively. The simulation results were basically consistent with the field test. These indicated that the structure of the transplanting machine was reasonable and the performance was stable. ACKNOWLEDGEMENT The study was supported by National Natural Science Foundation of China (Nos. 31701325, 31671632).
Table 3. (a) Main technical parameters of transplanting machine Duckbill shape Diamond duckbill Flat duckbill
Seedling-standing ratio Pepper Tomato 98.0 99.2 96.3
97.3
REFERENCES
Coefficient of variation of seedling spacing Pepper Tomato 3.9 3.6 3.7
Feng J., Gu S.K., Zeng A.J. (1998). Study on transplanter with chute and seedling aid springs (PartⅡ): Judgingtargets system for transplanters. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 14(2), 73-77 Han C.J., Yang W.Z., Si M.L. (2007). Design and Adjustment of Turnplate-Type Dropping Seedling Mechanism. Journal of Xinjiang Agricultural University, 30(02):74-76 Han C.J., Xu Y., Zhang J., You J. and Guo H. (2018) Design and test of semi-automatic transplanter for watermelon seedlings raised on compression substrate. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 34(13):54-61 Jin X., Li S.J., Yang S.J., Yan H., Wu J.M., Mao Z.H. (2012). Motion Analysis and Parameter Optimization for Pot Seedling Planting Mechanism Based on Up-film Transplanting. Transactions of the Chinese Society for Agricultural Machinery,43(S1):29-34 Li H., Cao W.B., Li S.F., Liu J.D., Chen B.B., and Ma X.X. (2017). Development of 2ZXM-2 automatic plastic film mulching plug seedling transplanter for vegetable. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 33(15): 23-33 Lu Y.T., Li Y.X. Liu Y., Li B., Wang T. (2011). Current Situation of Transplanter and Transplanting Technology at Home and Abroad. Agricultural mechanization in Xinjiang, 03:29-32 Wang J.L., Gao Y.Z., Li C.H. (2007). Experimental study of mechanized transplanting bare root upright degree. Journal of Agricultural Mechanization Research, 45(08):44-53 Wang Y.W., Tang Y.H., Wang J. (2016). Parameter optimization for dibble-type planting apparatus of vegetable pot seedling transplanter in high-speed condition. Transactions of the Chinese Society for Agricultural Machinery, 47(1), 91-100 Yu X.X., Zhao Y., Chen B.C., Zhou M.L., Zhang H. and Zhang Z.C. (2014). Current Situation and Prospect of Transplanter. Transactions of the Chinese Society for Agricultural Machinery, 45(08):44-53
3.1
Table 3. (b) Main technical parameters of transplanting machine Qualified rate of planting depth Pepper Tomato 99.6 98.8 97.4 97.8
97
Mechanical damage degree of plastic film Pepper Tomato 3.7 4.0 5.8 5.1
7. CONCLUSIONS (1) The paper developed a multi-functional vegetable pot seedling transplanting machine, which could perform the links of drip irrigation tape laying, film-covering, soil covering, fertilizing, transplanting, fixed-point watering and so on at one time. It could save manpower and material resources, reduce the number of tractors entering the ground and the repeated compaction damage to the land. (2) Field tests showed when the advancing speed of the unit were 0.49, 1.03 and 1.49 km/h, the corresponding planting frequencies were 57, 72 and 88 seedlings/min respectively. With the increase of the forward speed, the planting frequency increased, the seedling-standing ratio decreased, which average values was 96.4~98.6%. The variation coefficient of seedling spacing and the mechanical damage degree of plastic film increased with the average values of 1%~6% and 3.8~7.9mm/m2, respectively. The qualified rate of planting depth were relatively stable, with an average of 97.2%~99.0%. The diamond duckbill planter was superior to the flat duckbill planter in terms of the seedling-standing ratio and the mechanical damage degree of plastic film, so the performance of the diamond duckbill planter was superior to 97