直取直栽式空间轨迹宽窄行分插机构运动分析与设计

doi:10.16819/j.1001-7216.2025.250303

中国水稻科学 ›› 2025, Vol. 39 ›› Issue (4): 465-476.DOI: 10.16819/j.1001-7216.2025.250303

• 专题：水稻生产机械化与智能化 • 上一篇下一篇

直取直栽式空间轨迹宽窄行分插机构运动分析与设计

周斌¹^,^#, 黄江军⁴^,^#, 薛晓迪¹, 顾伟⁵, 冯涛⁵, 孙良¹^,²^,^*(), 俞高红¹^,³

¹浙江理工大学，杭州 310018
²浙江农业智能感知与机器人全省重点实验室，杭州 310018
³农业农村部东南丘陵山地农业装备重点实验室，杭州 310018
⁴浙江博源农机有限公司，浙江嘉兴 314500
⁵星光农机股份有限公司，浙江湖州 313000

收稿日期:2025-03-04 修回日期:2025-04-09 出版日期:2025-07-10 发布日期:2025-07-21
通讯作者: ^*email: liangsun@zstu.edu.cn
作者简介:
^#共同第一作者
基金资助:
国家重点研发计划资助项目(2022YFD2001802);国家自然科学基金资助项目(52375275);浙江省科技计划资助项目(2023C02012);浙农英才工作站项目

Analysis and Design of Wide and Narrow Row Transplanting Mechanism with Direct Picking and Direct Planting

ZHOU Bin¹^,^#, HUANG Jiangjun⁴^,^#, XUE Xiaodi¹, GU Wei⁵, FENG Tao⁵, SUN Liang¹^,²^,^*(), YU Gaohong¹^,³

¹Zhejiang University of Technology, Hangzhou 310018, China
²Zhejiang Key Laboratory of Agricultural Intelligent Perception and Robotics, Hangzhou 310018, China
³Key Laboratory of Agricultural Equipment for Southeast Hilly and Mountainous Areas, Ministry of Agriculture and Rural Affairs, Hangzhou 310018, China
⁴Zhejiang Boyuan Agricultural Machinery Co., Ltd., Jiaxing 314500, China
⁵Starlight Agricultural Machinery Co., Ltd., Huzhou 313000, China

Received:2025-03-04 Revised:2025-04-09 Online:2025-07-10 Published:2025-07-21
Contact: ^*email:liangsun@zstu.edu.cn
About author:
^#These authors contributed equally to this paper

摘要/Abstract

摘要：

【目的】为了解决现有空间轨迹宽窄行分插机构在推秧栽插秧苗时存在秧苗侧向倾斜的问题，本文提出了一种由平面轨迹演变而来的空间轨迹分插机构。【方法】首先，结合水稻秧苗种植要求确定栽植臂秧爪尖点运动轨迹上的若干关键位姿点，构建行星轮系分插机构简化机构(平面2R机构)的运动参数求解模型，并以求解的2R机构整周期角位移对分插机构非圆齿轮进行传动比分配；而后，引入一种共轭凸轮驱动栽植臂侧向运动、分体拨叉实现推秧的摆臂式推秧装置，结合秧爪取秧时刻的姿态角确定栽植臂摆动轴与秧爪的平面夹角；并以平面轨迹段直取秧、侧向摆转定植立苗为要求，设计共轭凸轮廓线和结构参数，实现分插机构取秧过程零偏移量，推秧结束竖直立苗的宽窄行机插。最后，对分插机构进行实物样机试验。【结果】样机的实际轨迹及姿态与理论设计基本一致：取秧角β₁=0.75°，xoy平面推秧角β₂=55.25°，yoz平面内推秧角β₃=34.42°，推秧侧向总偏移量ΔS=39.26 mm，轨迹高度h₁=318.86 mm，环扣高度h₂=179.83 mm，穴口宽度d₁=19.97 mm，满足宽窄行种植的农艺要求，验证了直取直栽式宽窄行分插机构设计的正确性。

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

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

Key words: wide and narrow row transplanting mechanism, lateral zero deviation of seedling picking, conjugate cam, planetary gear train, lateral direct seeding

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.

ZHOU Bin, HUANG Jiangjun, XUE Xiaodi, GU Wei, FENG Tao, SUN Liang, YU Gaohong. Analysis and Design of Wide and Narrow Row Transplanting Mechanism with Direct Picking and Direct Planting[J]. Chinese Journal OF Rice Science, 2025, 39(4): 465-476.

图/表 31

图1 分插机构轨迹规划

Fig. 1. Trajectory planning of transplanting mechanism

图2 平面2R机构模型

Fig. 2. Plane 2R mechanism model

图3 关键位姿点的选取

Fig. 3. Selection of key pose points

表1 关键位姿点

Table 1. Key pose point

参数Parameter	位姿点Pose point
参数Parameter	1	2	3	4	5
x_M(mm)	−106.29	−195.58	−134.51	−109.50	−16.99
y_M(mm)	68.78	−25.29	−242.35	−246.13	−36.49
α_i(°)	202.54	248.17	336.08	8.21	71.43

表2 平面2R机构求解结果

Table 2. Solution results of planar 2R mechanism

位姿点 Pose point	x_D(mm)	y_D(mm)	x_M1(mm)	y_M1(mm)
1	−15.105	−91.545	−124.993	8.652
2	11.001	−89.434	−63.049	−39.487
3	−90.048	−97.691	−79.682	−35.611
4	−79.419	−65.010	−102.333	−81.723

图4 移栽臂结构 1: 中心轴; 2: 太阳轮; 3: 中间轮; 4: 行星轮; 5: 复位凸轮; 6: 推秧凸轮; 7: 摆动凸轮; 8: 移栽臂; 9: 摆动轴; 10: 拨叉; 11: 秧针。

Fig. 4. Schematic diagram of transplanting arm mechanism 1, Central shaft; 2, Sun gear; 3, Intermediate gear; 4, Planetary gear; 5, Return cam; 6, Seedling-pushing cam; 7, Oscillating cam; 8, Transplanting arm; 9, Oscillating shaft; 10, Shifting fork; 11, Seedling needle.

图5 直插秧示意图

Fig. 5. Schematic diagram of direct transplanting

图6 摆动角度计算 1: 摆动凸轮; 2: 凸轮转轴; 3: 复位凸轮; 4: 摆动轴。

Fig. 6. Calculation of swing angle

表3 摆动凸轮型值点位置及向径

Table 3. Position and radial direction of swing cam type value point

参数Parameter	1	2	3	4	5	6
Ɛi(°)	0	30	60	90	120	150
Ci(mm)	8	8	8	8	8.5	9
	7	8	9	10	11	12
Ɛi(°)	180	210	240	270	300	330
Ci(mm)	9.5	10	10.5	11	11.5	12

表4 复位凸轮对应型值点位置的向径

Table 4. Radial direction of corresponding type value point position of reset cam

参数Parameter	1	2	3	4	5	6
Ɛ_i(°)	0	30	60	90	120	150
R_i(mm)	8	8	8	8	7.99	7.94
	7	8	9	10	11	12
Ɛ_i(°)	180	210	240	270	300	330
R_i(mm)	6.50	3.96	4.01	4.43	5.82	6.48

图7 凸轮廓形

Fig. 7. Cam profile

图8 角位移曲线

Fig. 8. Angular displacement curve

图9 分插机构简化模型

Fig. 9. Simplified model of transplanting mechanism

图10 传动比分配结果

Fig. 10. Transmission ratio distribution result

图11 非圆齿轮节曲线

Fig. 11. Non circular gear pitch curve

图12 坐标系位置

Fig. 12. Coordinate system position

图13 复演的结果

Fig. 13. Trajectory obtained by recurrence

图14 优化前后的轨迹对比

Fig. 14. Comparison of trajectories before and after optimization

表5 优化后的摆动凸轮向径

Table 5. Optimized swing cam radial direction

参数 Parameter	1	2	3	4	5	6
Ɛi(°)	0	30	60	90	120	150
Ci(mm)	8	8	8	8	8.5	9
	7	8	9	10	11	12
Ɛi(°)	180	210	240	270	300	330
Ci(mm)	9.5	10	10.5	11	11.5	12

表6 优化后的复位凸轮向径

Table 6. Optimized reset cam diameter

参数 Parameter	1	2	3	4	5	6
Ɛ_i(°)	0	30	60	90	120	150
R_i(mm)	8	8	8	8	7.99	7.94
	7	8	9	10	11	12
Ɛ_i(°)	180	210	240	270	300	330
R_i(mm)	6.50	3.96	4.01	4.43	5.82	6.48

图15 优化后的共轭凸轮廓形

Fig. 15. Optimized conjugate cam profile

图16 优化后的共轭凸轮向径

Fig. 16. Optimized conjugate cam bore

表7 分插机构优化结果与设计要求对比

Table 7. Comparison between optimization results of distributor and design requirements

参数 Parameter	设计要求 Design requirement	优化结果Optimization result
取秧段侧向偏移量ΔS₁	0 mm	0 mm
取秧角β₁	0°﹤β₁﹤20°	0.15°
xoy平面推秧角β₂	50°﹤β₂﹤80°	55.09°
yoz平面推秧角β₃	β₃﹤40°	34.52°
侧向总偏移量ΔS	≈40 mm	40.39 mm
静轨迹高度h₁	h₁﹥270 mm	326.80 mm
环扣高度h₂	h₂﹥120 mm	186.80 mm
穴口宽度d₁	d₁﹤30 mm	21.70 mm

图17 仿真轨迹

Fig. 17. Simulation path

表8 仿真轨迹参数

Table 8. Simulation path parameters

参数 Parameter	设计要求 Design requirement	仿真轨迹 Simulation path
取秧段侧向偏移量ΔS₁	0 mm	0 mm
取秧角β₁	0°﹤β₁﹤20°	0.49°
xoy平面推秧角β₂	50°﹤β₂﹤80°	56.77°
yoz平面推秧角β₃	β₃﹤40°	35.29°
侧向总偏移量ΔS	≈40 mm	40.92 mm
静轨迹高度h₁	h₁﹥270 mm	317.71 mm
环扣高度h₂	h₂﹥120 mm	178.37 mm
穴口宽度d₁	d₁﹤30 mm	20.49 mm

图18 秧针侧向偏移量

Fig. 18. Lateral offset of seedling needle

图19 秧苗角度变化曲线

Fig. 19. Change curve of seedling angle

图20 实际轨迹与仿真轨迹对比

Fig. 20. Comparison between actual path and simulation path

图21 实际轨迹参数测量

Fig. 21. Measurement of actual track parameters

表9 实际轨迹参数

Table 9. Actual path parameter

参数 Parameter	设计要求 Design requirement	实际轨迹 Actual path
取秧段侧向偏移量ΔS₁	0 mm	0 mm
取秧角β₁	0°﹤β₁﹤20°	0.75°
xoy平面推秧角β₂	50°﹤β₂﹤80°	55.25°
yoz平面推秧角β₃	β₃﹤40°	34.42°
侧向总偏移量ΔS	≈40 mm	39.26 mm
静轨迹高度h₁	h₁﹥270 mm	318.86 mm
环扣高度h₂	h₂﹥120 mm	179.83 mm
穴口宽度d₁	d₁﹤30 mm	19.97 mm

图22 栽植秧苗

Fig. 22. Planting of seedlings

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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

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