夹茎式辣椒穴盘苗取苗机构设计与试验  

Optimized design and experiment of the seedling picking mechanism for stem-clipping for pepper hole tray seedlings

作　　者：任朝阳 严伟 纪要 李坤 周洵泽 张文毅 胡敏娟 REN Zhaoyang;YAN Wei;JI Yao;LI Kun;ZHOU Xunze;ZHANG Wenyi;HU Minjuan(Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing 210014,China;Graduate School of Chinese Academy of Agricultural Sciences,Beijing 100081,China)

机构地区：[1]农业农村部南京农业机械化研究所,南京210014 [2]中国农业科学院研究生院,北京100081

出　　处：《农业工程学报》2025年第1期55-64,共10页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家农业重大科技项目(202216030301)。

摘　　要：针对目前取苗机构取投苗环节运动轨迹较复杂、取苗效率较低的问题,该研究提出利用连续非圆齿轮行星轮系取苗机构实现低速取苗和稳速投苗的“间歇”作业方式,设计一条适合夹茎式作业且取苗爪姿态、末端点速度可控、无回绕、无尖嘴的光滑“扇形”轨迹,并建立取苗机构模型。基于Matlab软件分析轨迹坐标对节曲线、传动比等参数的影响,并进行优化。试制物理样机进行台架试验,通过测量并对比分析实际工作轨迹和理论轨迹,验证了取苗机构设计的正确性。取苗试验结果表明,取苗机构传动平稳,转速为60、70 r/min时,取苗成功率均为96.30%,投苗成功率由96.15%减至94.23%,未出现伤苗情况;转速为90 r/min时,取苗成功率为90.74%,伤苗率为1.85%,投苗成功率为90.38%。研究结果可为辣椒穴盘苗全自动移栽机自动取苗机构的研发提供参考。Transplanting can be expected to reduce the growth period of crops for high land productivity,as well as mechanized operations.However,current vegetable transplanting still relies heavily on semi-automatic transplanters.Manual labor input is also required at present,compared with traditional planting.Furthermore,the complex movement trajectory of the seedlingpicking mechanism can often lead to the relatively low efficiency of seedling picking.Hence,it is important to develop the seedling picking mechanism,in order to replace manual labor with high efficiency and strong adaptability.Fortunately,the noncircular gears can be expected to achieve the specific motion trajectories and the high-speed operation,due to their smooth transmission,compact structure,and long lifespan.This study aims to enhance the transmission efficiency and operational quality of the seedling picking in the automatic transmission mechanism for pepper plug seedlings.Some inspiration was also drawn from the successful applications of non-circular gear transmission mechanisms in high-speed rice seedling transplanting.According to the stem-clamping agronomic requirements of pepper plug seedlings,a'slant clamping type straight pulling'stemclamping was employed to simulate the manual seedling picking.The theoretical solution of the two-bar mechanism model was determined under the condition of one pose and one-rod length.Trajectory posture,speed control,and criteria were proposed to reverse design and control the posture and speed of each stage during seedling picking.A controllable posture and speed smooth'fan-shaped'trajectory were obtained for seedling picking without recoiling or sharp edges.A continuous non-circular gear planetary gear mechanism was utilized to achieve the intermittent functions of low-speed seedling picking and steadyspeed seedling planting.A mathematical model of the mechanism was established,according to the transmission characteristics and working principles of the non-circular gear planetary gear mechanism.A non-circular g

关 键 词：控制 非圆齿轮 取苗机构 夹茎式 辣椒穴盘苗 姿态 速度 

分 类 号：S223.92[农业科学—农业机械化工程]