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# Design and Simulation of Jujube Sapling Transplanter

Wangyuan Zong, Wei Wang, Yonghua Sun, Hong Zhang

► To cite this version:

Wangyuan Zong, Wei Wang, Yonghua Sun, Hong Zhang. Design and Simulation of Jujube Sapling Transplanter. 4th Conference on Computer and Computing Technologies in Agriculture (CCTA), Oct 2010, Nanchang, China. pp.96-102, 10.1007/978-3-642-18333-1_13. hal-01559614

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Distributed under a Creative Commons Attribution 4.0 International License
Wangyuan ZONG -6.27-Design and Simulation of Jujube Sapling
Transplanter

Wangyuan ZONG, Wei WANG, Yonghua SUN, Hong ZHANG

School Of Mechanical And Electric Engineering, Tarim University Alar,
Sinkiang843300, P.R China

Abstract

This paper is aiming at designing a novel
jujube transplanter with mechanic arms, which
can support the sapling for a while when other
operations is going on. It improves uniformity
and stability. Pro-E software has been used for
the design process, by which transplanting
process has been analyzed and simulated.

Key words: Density Jujube Plantation; Sapling
Transplanted; Bionic Manipulator; Kinetic
Simulation

1 Introduction

As a Chinese special economic fruiter, the
cultivated area of jujube trees has increased
rapidly in southern Sinkiang in recent 7 years.
The cultivated area of the jujube of southern
Sinkiang has reached about 300,000 hm² by the
end of 2009. The higher and more extensive
demand to the corresponding machinery
equipment for jujube planting was put forward
(Liu Lei et al, 2008). This project developed a
kind of jujube transplant machine for the
high-density planted model of jujube to adjust to
the requirements of jujube industry rapidly
development in southern Sinkiang.

2 Features and Requirement

The high-density planted model of jujube is
the generally adopted model in southern
Sinkiang. The high-density planted model is able
to realize early results and yield and improve the
utilization ratio of land in early and the
economic benefit. There are two forms of the
high--density planted model: Single-density
whose space between trees is 2×3m、2×4m、
1.5×1.0m; Wide connect narrow row whose
space between trees is 1.5×1.5×4 m. The
protection for trees furrow should reservation
1.5m and the inner diameter should be 1m and
the both sides of the ridge width is 25 cm. It can
not intercropping other crops either in the
reservation or on the ridge. The ditch and ridge
should be treaded solidly and flatly. Use the way
that buried first, extracted second and trampling
down third to plant. The roots should be
ensuring to be stretch in planted process. The
planting depth should be above the root 2~3 cm
(Wang Jianxun et al, 2007; Si Yanjiang et al,
2007; Zhang Changjiang et al, 2006).

The design selects the technical
requirements and process characteristics as Fig
2-1 and Table 2-1 shows according to the
demand of jujube high-density planted model.

<footnote>First Author: Zong Wangyuan(1969-) Male, Wuhan in Hubei,
Associate Professor, Research Direction: Agricultural
Mechanism. E-mail:zwyzzx@sina.com
Corresponding Author: Wangwei(1979-) Male, Lecturer,
Phone: 0997-4683859 13031270332
Project Funding: Subsidized by Sinkiang Science and
Technology Supporting Projects (2009zj19)</footnote>
<figure><img src="image_3.png" /><figcaption>Fig 2-1 High-Density Planted Model</figcaption></figure>

<table><caption>Table 2-1 Planted Technological Requirement of Jujube</caption><thead><tr><th rowspan="2">Technical Parameter</th><th rowspan="2">Row Distance (m)</th><th rowspan="2">Planted Spacing (m)</th><th colspan="2">Planted Ditch (m)</th><th colspan="2">Jujube</th></tr><tr><th>Ditch Width</th><th>Ditch Depth</th><th>Primary</th><th>Secondary</th></tr></thead><tbody><tr><td>Technological Requirement</td><td>1.5</td><td>1</td><td>200~300</td><td>300~400</td><td>Sapling Height ≥1m<br>Distance Land ≥1cm<br>Root Diameter ≥2mm<br>Taproot length ≥20cm<br>Quantity of Lateral Root ≥6 strips</td><td>Sapling Height ≥0.8~1m<br>Distance Land ≥0.8~1cm<br>Root Diameter ≥2mm<br>Taproot length ≥15cm<br>Quantity of Lateral Root ≥6 strips</td></tr></tbody></table>

# 3 Working Principles and Structure Design of Jujube Transplanter

## 3.1 Working Principle

The work of this mechanical equipment is to perform planting in transplanting process. The furrow opener will complete furrowing in the planting area first before this machine working. Table 2-1 shows the concrete parameter.

The tractor mounted jujube transplanter, with specially designed mechanic arms to support sapling while soil compacted. The mechanic arms can support the jujube a minute after it planted to maintain the trees orthostatic in covering soil and compacting in working process. The manipulator will move reversely with the whole equipment by the same velocity in working. Therefore, the jujube sapling 's

movement is the composite movement $v_{合}$ resulted by $v_1$ that the forward movement of whole equipment and $v_2$ reverse movement of manipulator. That is $v_{sum} = v_1 + v_2 = 0$ this makes the process of seedlings planting in the ground remained relatively static. The manipulator will release the sapling and back in situ to prepare the next working after that the roots have been landfill by the coverer and compacting drum. The retractable and trajectory of the manipulator is function by the inner adjusting spring and the track of sapling supported system together and drive by chain
conveyor belt.

The Fig 3-1 shows the structure principle of
the jujube transplanter.

3.2 Design of Structure

<figure><img src="image_4.png" /><figcaption>Fig3-1 Structure Principle of Jujube Transplanter</figcaption></figure>

1Frame 2Seat 3Sapling Supported System 4Back Coverer 5Press Wheel 6Front Coverer 7Seedling Chamber 8Adjusted Device of Depth Limited 9Transmission System 10Bionic manipulator

The operator will sit in the seat 2 and put
the sapling stored in seeding chamber 7 into the
bionic manipulator 10 of the supporting system 3.
Then the sapling will be planted into the planting

trench by manipulator 10 transmission with the
chain. At this time, the manipulator started to
move reversely relative to the whole equipment
to maintain the sapling vertical. The quality soil
of planting trench will be covered on the roots by the front coverer. After that, the press wheel 5 will compact the soil covered. Afterward, the manipulator releases the sapling under the function of adjusting spring because of the changing of the moving track. Finally, the back coverer 4 mulches the rest of soil to the around of the roots and now complete once work of sapling transplanting. Next step, the manipulator will restore in situ along the track to clip the saplings and wait the recycling operation. There are two plant holder of the sapling supported system and the moving distance is the same as the plant spacing. The adjusted Device of Depth Limited 8 can be use to regulated the depth of the trees planted. Thanks to that the distance between the manipulator and land, as a reason it

assures the trees planted have an overall height. The velocity of manipulator relative to the whole machine and the spacing insures the unity of planting spacing and the upright degree of the trees.

## 3.3 PROE Simulation Model and Structure Parameter

Draw three-dimensional model as the Fig 3-2 shows in the Pro/E software when the structure sizes of the transplanter determined. Do dynamics stability through simulation in the institutional environment of Pro/E for the main components. Shows the simulated reason that there is no interference between each component of the whole machine.

<figure><img src="image_5.png" /><figcaption>Fig 3-2 Pro/E Simulation Model</figcaption></figure>

The main technical performance of transplanting machine is as follows:

The size of whole equipment ( length×width×height ): 2017 mm×1214 mm×965 mm

Weight:

About 210 kg

Mating Power: Variety of wheeled tractors

Efficiency: Related to the velocity of the tractors

Adjustment Range of Spacing: ≥800 mm

Plant Spacing: 1.0m

Planted Depth: 300~400 mm

# 4 Trajectory Analysis of Sapling
<figure><img src="image_6.png" /><figcaption>Fig4-1 Structure Chart of Sapling Supported System</figcaption></figure>

The sapling supported system of the
transplanter is the most important component in
this equipment. It can move along the rail
surface transported by the chain and be able to
complete the motion of grappling seedling,
feeding seedling, supporting seedling and
dropping seedling. Design the angle of the
guide structure isθ=60°according to the design
of theory and structure requirements. Therefore,
The movement of the sapling is qualitative that
has a certain trajectory. In this design, the plant
spacing as s=1, length of guide in horizontal as

L1, length of inclined plane as L2=S-L1,
velocity of pull tractor as v. The displacement
of direction of coordinate system Fig 4-2
shows is obtained on the base that the seedling
folder position as the point of movement. The
guide and the structures of manipulator
determine that the angle of manipulator with

the ground as $\beta = 90^\circ - \theta$ before dropping

seedling and $\beta = 0^\circ$ after dropping.

<figure><img src="image_7.png" /><figcaption>Fig 4-2 Movement Analysis Within Coordinates Of Sapling</figcaption></figure>

**5 Conclusions**

The mechanical transplanting can be able
to reduce the labor intensity of farmers, increase
production and income. The jujube transplanter
for the high-density jujube plantation can be
capable of reducing the labor intensity and

guaranteeing planting perpendicularity and
jujube's neat and unity because of the new
principle and structures.

(1) According to the technological
program, design the sapling supporting system
that complete planting automatically and the
process of sapling folder—sapling
sending—sapling investing—sapling releasing.

(2) Design the transmission to ensure that the movement relationship of the manipulator with the machine so that seedlings planted in the upright;

(3) Design the whole machine to be sure of completing all the operation for casing and compaction preliminary in the stage of sapling supported.

(4) Design the adjusting device of depth limited to regulate the plating depth in a certain range according to the quality of the saplings.

## 6 References

[1]Wang Jianxun, Gao Jiangsheng. "The Points of Planting and Managing about Jujube in AKESU Area", SHANXI Fruit Tree, Jan.2007,pp:22-23.

[2]Liu Lei, Chen Yongcheng, Zhang Qian. "Appliance and Development Survey of Transplant Technology in Sinkiang Corps", Research on Agricultural Machine Popularize, sept.2008,pp:204-243.

[3] Zhang Changjiang, Xie Jianxin. "Inseminate and Management of shortened orchard", Northwest Horticulture, Jun. 2006,p:22.

[4] Si Yanjiang, Shong Fenghui, "The Lecture of Jujube Plant Technology in Sinkiang(part four)", country Science, Apr.2007:38-39.