中国水稻科学2025，Vol.39Issue(4)：465-476,12.DOI:10.16819/j.1001-7216.2025.250303
直取直栽式空间轨迹宽窄行分插机构运动分析与设计
Analysis and Design of Wide and Narrow Row Transplanting Mechanism with Direct Picking and Direct Planting
摘要
Abstract
[Objective]In order to solve the problem of lateral inclination of seedlings during the seedling pushing and transplanting process by the existing spatial trajectory wide-narrow row transplanting mechanism,this work presents a spatial trajectory transplanting mechanism evolved from a planar trajectory.[Method]Firstly,based on the requirements of rice seedling planting,key positions and postures on the trajectory of the planting arm claw tip were determined.A motion parameter solving model for the simplified mechanism of the planetary gear train(planar 2R mechanism)was established.The transmission ratio of the transplanting mechanism's non-circular gear was distributed using the solved whole-cycle angular displacement of the 2R mechanism.Then,a swing-arm type seedling-pushing device was introduced,where a conjugate cam drives the lateral motion of the planting arm and a split fork realizes seedling pushing.The planar angle between the swing shaft of the planting arm and the claw was determined according to the attitude angle of the claw during seedling picking.With the requirements of straight seedling picking in the planar trajectory segment and lateral swing planting for upright seedling establishment,the conjugate cam profile and structural parameters were designed.This achieved zero offset during the seedling picking process of the transplanting mechanism and upright seedlings after pushing for wide-narrow row mechanical transplanting.Finally,a physical prototype test of the transplanting mechanism was conducted.[Result]The actual trajectory and posture of the prototype were basically consistent with the theoretical design:seedling picking angle β1=0.75°;seedling pushing angle in the xoy plane β2=55.25°;seedling pushing angle in the yoz plane β3=34.42°;total lateral displacement during pushing ΔS=39.26 mm;trajectory height h1=318.86 mm;loop height h2=179.83 mm;hill-opening width d1=19.97 mm.These meet the agronomic requirements for wide-narrow row planting,verifying the correctness of the design of the straight-picking and straight-planting wide-narrow row transplanting mechanism.关键词
宽窄行分插机构/取秧侧向零偏移/共轭凸轮/行星轮系/侧向直栽苗Key words
wide and narrow row transplanting mechanism/lateral zero deviation of seedling picking/conjugate cam/planetary gear train/lateral direct seeding引用本文复制引用
周斌,黄江军,薛晓迪,顾伟,冯涛,孙良,俞高红..直取直栽式空间轨迹宽窄行分插机构运动分析与设计[J].中国水稻科学,2025,39(4):465-476,12.基金项目
国家重点研发计划资助项目(2022YFD2001802) （2022YFD2001802）
国家自然科学基金资助项目(52375275) （52375275）
浙江省科技计划资助项目(2023C02012) （2023C02012）
浙农英才工作站项目. （）
