智能化农业装备学报（中英文）2026，Vol.7Issue(3)：73-84,12.DOI:10.12398/j.issn.2096-7217.2026.03.007
2BP-2000型水稻育秧线自动码垛装置优化与控制系统设计
Optimization and control system design of an automatic palletizing device for the 2BP-2000 rice seedling production line
摘要
Abstract
To address the low efficiency,intensive labor input,and poor operational stability of manual palletizing in industrialized rice seedling production,an automatic palletizing device equipped with a PLC-based control system was developed for the 2BP-2000 rice seedling production line.The device achieves stable gripping of stacked seedling trays through a dual-cylinder clamping mechanism,and positioning accuracy and operational safety are guaranteed by integrating a limit mechanism and a seedling tray layer detection mechanism.A servo-motor-driven vertical and horizontal motion system was adopted to execute an S-shaped palletizing path,and coordinated control of clamping,lifting,and horizontal transfer was realized through PLC programming.In addition,an adaptive lifting strategy based on the number of tray layers was proposed to reduce idle travel and improve the overall palletizing rhythm.Compared with the traditional straight-line path,the S-shaped path reduces start-stop frequency,mitigates the effects of mechanical inertia,and improves operational stability.To balance control accuracy and operating efficiency,the key parameters were optimized by single-factor experiments and response surface methodology.Productivity(1 600-2 400 trays/h),clamping time(0.7-1.5 s),and palletizing speed(0.26-0.34 m/s)were set as variables,and palletizing success rate(N1)and misalignment deviation(N2)were defined as optimization indicators.The results showed that under the optimal parameter combination of 2 000 trays/h productivity,1.1 s clamping time,and 0.29 m/s palletizing speed,the palletizing success rate reached 98.17%,and the misalignment deviation was 3.17 mm².The developed device exhibited stable operation with high repeat positioning accuracy,meeting the requirements of continuous operation and significantly improving the automation level of the rice seedling production line.The results further indicate that the device presents favorable adaptability to the 2BP-2000 rice seedling production line.关键词
水稻秧盘/自动码垛/PLC控制/路径优化/响应面法/夹持机构Key words
rice seedling tray/automatic palletizing/PLC control/path optimization/response surface method/clamping mechanism分类
农业科技引用本文复制引用
夏家成,谢方平,刘大为,李家杰,刘洋,龚明..2BP-2000型水稻育秧线自动码垛装置优化与控制系统设计[J].智能化农业装备学报（中英文）,2026,7(3):73-84,12.基金项目
湖南省重点研发计划项目(2024JK2032) （2024JK2032）
国家重点研发计划项目(2022YFD2300103) Hunan Provincial Key Research and Development Program Project(2024JK2032) （2022YFD2300103）
National Key Research and Development Program of China(2022YFD2300103) （2022YFD2300103）
