农业机械学报2026，Vol.57Issue(12)：132-141,10.DOI:10.6041/j.issn.1000-1298.2026.12.012
双爪协同自动取投苗机构设计与试验
Design and Experiment of Dual-claw Collaborative Automatic Seedling Picking and Throwing Mechanism
摘要
Abstract
Aiming to address issues in vegetable automatic transplanters,such as continuous tray shifting for seedling feeding,simultaneous operation of multiple seedling claws,and the complex processes/structure and difficult coordinated control associated with separate seedling dividing devices,a dual-claw cooperative automatic seedling pick-up and planting mechanism was designed.This mechanism featured a stationary seedling tray,dual modules for longitudinal and transverse drive,and two claws working coordinately to integrate picking,dividing,and planting functions.The design employed synchronous belt linear modules to drive the left and right seedling claws longitudinally(front/back),and a ball screw module with right-hand and left-hand threads to drive the claws transversely(left/right).The seedling claws,mounted on the left and right sliders of the ball screw,utilize main and auxiliary cylinders for coordinated plugging,clamping,and pulling actions.To achieve precise cavity-aligned seedling picking,key parameters of the transverse ball screw transmission system were analyzed.A dynamic model of the ball screw feed system was established to determine optimal working parameters.The vibration characteristics under different factors were studied,finalizing the optimal design parameters to ensure motion accuracy and performance.The motion control strategy for the dual claws during dynamic pitch-varying operation was investigated.Aiming for non-damaging,precise,and reliable operation,the optimal pick/plant path and an S-curve acceleration/deceleration control strategy were determined.The longitudinal limits were set as:maximum velocity vmax=1 m/s,maximum acceleration amax=4 m/s2,and maximum jerk Jmax=20 m/s3.Test results indicated maximum average positioning deviations of 1.52 mm(transverse)and 1.64 mm(longitudinal)during picking,and 1.76 mm(transverse)and 1.80 mm(longitudinal)during planting.At a picking rate of 48 seedlings/minute,the success rates were 95.83%for picking and 97.10%for planting,demonstrating the mechanism's superior motion stability and positioning accuracy.关键词
自动移栽机/取投苗机构/滚珠丝杆/路径规划/S形加减速Key words
automatic transplanter/seedling pick-up and planting mechanism/ball screw/path planning/S-curve acceleration and deceleration分类
农业科技引用本文复制引用
胡建平,吕俊鹏,刘伟,姚梦娇,时佳威,金永旺..双爪协同自动取投苗机构设计与试验[J].农业机械学报,2026,57(12):132-141,10.基金项目
江苏省农机研发制造推广应用一体化试点专项(JSYTH09)、中央引导地方科技发展资金项目(ZYYD2024QY03)和无锡市科技发展资金项目(N20231004) （JSYTH09）
