伸缩取栽式水稻钵苗移栽机构设计与试验  

Design and experiment of a telescopic rice pot seedling transplanting mechanism

作　　者：张荣榜 周誉株 徐豪聪 孙良[1,2] 俞高红[1,2] ZHANG Rongbang;ZHOU Yuzhu;XU Haocong;SUN Liang;YU Gaohong(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China;Key Laboratory of Transplanting Equipment andTechnology of Zhejiang Province,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江理工大学浙江省种植装备技术重点实验室,杭州310018

出　　处：《浙江理工大学学报（自然科学版）》2024年第5期651-662,共12页Journal of Zhejiang Sci-Tech University(Natural Sciences)

基　　金：国家重点研发计划(2022YFD2001800);国家自然科学基金项目(52375275);浙江省重点研发计划(2022C02034)。

摘　　要：针对现有夹苗式水稻钵苗移栽机构在取苗时因穴盘中秧苗长度、位置、粗细以及每穴成苗量不一致使得夹苗部位存在差异而导致秧苗直立度降低的问题,设计了一种伸缩取栽式水稻钵苗移栽机构。该机构在到达植苗点推秧时,秧苗土钵相对泥面的上下栽植运动会优先于水平相对运动,保证了秧苗土钵入土的直立性。对该机构开展了目标轨迹设计和结构设计,对非圆齿轮行星轮系和栽植臂伸缩机构进行了运动学分析,结合水稻钵苗移栽的农艺要求确定了优化目标,建立了优化目标数学模型,开发了参数优化辅助设计软件;分析了不同机构参数对移栽轨迹的影响,并通过人机交互的方式得到了一组满足移栽机构工作要求的机构参数。开展了仿真试验和实物样机移栽试验,结果表明:实物样机轨迹、仿真轨迹和理论轨迹基本一致,且试验测量参数与理论参数误差均在2.5%内。该研究提出的伸缩取栽式水稻钵苗移栽机构,降低了泥面对被栽秧苗的水平折弯现象,大幅提高了秧苗的直立度,为水稻钵苗移栽机构在提升秧苗直立度方面的研发提供一种新思路,也可为夹苗式水稻钵苗移栽机的后续研究提供借鉴。Aiming at the problem that the existing seedling-type rice pot seedling transplanting mechanism reduces the uprightness of seedlings due to the inconsistency of seedling length,position,thickness and the amount of seedlings per hole in the tray when people pick up seedlings,a telescopic rice pot seedling transplanting mechanism was designed.When the mechanism reaches the planting point to push the seedlings,the up and down planting movement of the seedling soil bowl relative to the mud surface will take precedence over the horizontal relative movement,which ensures the uprightness of the seedling soil bowl into the soil.The target trajectory design and structural design of the mechanism were carried out.The kinematics analysis of the non-circular gear planetary gear train and the planting arm telescopic mechanism was carried out.The optimization target was determined according to the agronomic requirements of rice pot seedling transplanting.The mathematical model of the optimization target was established,and the parameter optimization aided design software was developed.The influence of different mechanism parameters on the transplanting trajectory was analyzed,and a set of mechanism parameters meeting the working requirements of the transplanting mechanism was obtained through human-computer interaction.The simulation test analysis and physical prototype test of the mechanism were carried out.The test results showed that the trajectory of the physical prototype,the simulation trajectory and the theoretical trajectory were basically the same,and the error between the experimental measurement parameters and the theoretical parameters was within 2.5%.Through the proposed telescopic planting rice pot seedling transplanting mechanism,the horizontal bending phenomenon of the mud surface to the planted seedlings was reduced,and the uprightness of the seedlings was greatly improved.It can not only provide a new research idea for the research and development of rice pot seedling transplanting mechanisms in improving the

关 键 词：水稻钵苗 伸缩取栽 参数优化 运动学分析 移栽试验 

分 类 号：S223.2[农业科学—农业机械化工程]