农业机械学报2026，Vol.57Issue(7)：183-193,11.DOI:10.6041/j.issn.1000-1298.2026.07.017
西南地区小型移栽机自适应定深栽植装置设计与试验
Design and Experiment of Adaptive Depth Planting Device for Small Transplanters in Southwest China
摘要
Abstract
Aiming at the problem of irregular ridge surfaces in the mountainous and hilly terrains of Southwest China,which makes it difficult for traditional transplanters to adaptively adjust the planting depth,an adaptive constant-depth planting device was proposed for small transplanters in Southwest China.Based on the agronomic requirements for vegetable plug seedlings and the design specifications of the mechanism,kinematic modeling of the mechanism was conducted,and the working principle of the planting system was analyzed.Using the results of the kinematic modeling,a computer-aided analysis and optimization interface for the planting mechanism was developed to study the mapping relationship between structural parameters and the planting trajectory.By establishing an objective optimization function and setting mechanism constraints,a relatively optimal parameter combination was obtained by using the successive approximation method.A simulation test for constant-depth planting was conducted,verifying that the proposed mechanism can adjust the planting depth through five sets of angle variations,while meeting the requirements for the planting trajectory and the velocity at the planting endpoint.A static trajectory test of the mechanism was carried out,showing that the maximum error of the lowest point between the five sets of actual static trajectories and the simulated static trajectories was 6.86 mm,and the maximum error in trajectory height was 13.98 mm,with a high degree of coincidence for each set of trajectories.The constant-depth planting performance test indicated that,at a planting frequency of 15 plants/min and a unit speed of 3.6 m/min,the hole width on both flat and uneven ridge surfaces was less than 100 mm,the qualified planting rate was above 94.45%,the maximum coefficient of variation for plant spacing was 3.86%,and the average qualified rate for planting depth was above 92.22%,demonstrating the feasibility of the mechanism for adaptively adjusting the planting depth.关键词
西南地区/小型移栽机/定深栽植装置/多杆机构/运动学分析Key words
Southwest China/small transplanter/constant-depth planting device/multi-bar mechanism/kinematic analysis分类
信息技术与安全科学引用本文复制引用
伞红军,蒋文豪,陈久朋,张帆,李昊,龚梦莹..西南地区小型移栽机自适应定深栽植装置设计与试验[J].农业机械学报,2026,57(7):183-193,11.基金项目
云南省基础研究计划项目(202301AU070059)和云南省"彩云博士后"创新项目 （202301AU070059）
