水稻钵苗取栽协同作业式移栽机构设计与试验

doi:10.16819/j.1001-7216.2026.250306

摘要/Abstract

摘要：

【目的】针对现有取苗与栽植一体式移栽机构作业时夹带泥土影响二次取苗及秧苗栽插直立度的问题，本研究提出了一种取苗与栽植双机构协同作业的水稻钵苗移栽方式。【方法】首先，结合钵苗夹取、交接、栽植要求，设定移栽过程的若干关键位姿点作为取与栽植动作的约束条件，规划运动轨迹；依据杆长不变原理构建平面2R机构多位姿近似运动综合模型，采用粒子群优化(PSO)算法求解机构两转动副的最优布局，确定杆长，并建立了交接段的几何约束；结合转动副位置与杆长参数复演运动轨迹，求解两构件相对角位移，获取非圆齿轮传动比。为改善非圆齿轮节曲线凹凸性，建立节曲线圆度系数目标函数，利用PSO算法实现非圆齿轮圆度优化，完成取苗与栽植两轮系机构的设计。【结果】对机构的仿真分析与台架试验表明：机构实际运动轨迹与理论轨迹最大偏差小于1.8 mm，关键位姿夹取角度误差不超过1.2 °，移栽成功率可达88.7%。【结论】本研究采用取栽分离协同作业模式，可有效解决传统机构夹带泥土导致的移栽效果不佳问题，为高效水稻钵苗移栽装备研发提供了新的理论依据。

关键词: 水稻钵苗移栽机构, 取栽分离, 运动综合, 非圆齿轮, 粒子群算法

Abstract:

【Objective】In response to the problem that the existing integrated transplanting mechanism for picking and planting seedlings carries soil during operation, which affects subsequent seedling-picking and seedling-planting verticality, this study proposes a rice pot seedling transplanting method using dual mechanisms for seedling picking and planting.【Method】Firstly, based on the requirements for seedling picking, handover, and planting, several key pose points during the transplanting process were set as constraints for the picking and planting actions, and the motion trajectory was planned. Based on the principle of constant link length, a multi-position approximate motion synthesis model for a planar 2R mechanism was constructed. The particle swarm optimization (PSO) algorithm was used to solve for the optimal layout of the two rotating pairs of the mechanism, determine the rod length, and establish geometric constraints for the handover section. By combining the positions of the rotating pairs and the rod length parameters, the motion trajectory was reconstructed to solve the relative angular displacement between the two components and obtain the non-circular gear transmission ratio. To improve the concavity and convexity of the non-circular gear pitch curves, an objective function for the roundness coefficient of the pitch curves was established. The PSO algorithm was used to optimize the roundness of the non-circular gears, thus completing the design of the two-wheel mechanism for seedling picking and planting.【Result】Simulation analysis and bench tests of the mechanism showed that the maximum deviation between the actual motion trajectory and the theoretical trajectory is less than 1.8 mm, the error in the key pose clamping angle does not exceed 1.2°, and the transplanting success rate can reach 88.7%.【Conclusion】This study adopts a cooperative operation mode with separated picking and planting, which can effectively solve the problem of poor transplanting effect caused by soil carry-over in traditional mechanisms, and provides a new theoretical basis for the development of efficient rice pot seedling transplanting equipment.

Key words: rice pot seedling transplanting mechanism, separation of planting and picking, motion synthesis, non circular gears, particle swarm optimization algorithm

谢世民, 周誉株, 薛晓迪, 朱广飞, 孙良, 陈建能. 水稻钵苗取栽协同作业式移栽机构设计与试验[J]. 中国水稻科学, 2026, 40(1): 131-144.

XIE Shimin, ZHOU Yuzhu, XUE Xiaodi, ZHU Guangfei, SUN Liang, CHEN Jianneng. Design and Experiment of an Integrated Picking and Planting Mechanism for Rice Pot Seedlings[J]. Chinese Journal OF Rice Science, 2026, 40(1): 131-144.

图/表 22

图1 取苗，交接和栽植过程示意图 1 : 取苗机构; 2: 取苗轨迹; 3: 栽植轨迹; 4: 栽植机构; 5: 秧箱。

Fig. 1. Schematic diagram of seedling picking, handover, and planting process 1, Seedling picking mechanism; 2, Seedling picking trajectory; 3, Planting trajectory; 4, Planting mechanism; 5, Seedling tray.

表1 取苗、栽植轨迹位姿点

Table 1. Posture points of seedling picking and planting trajectories

取苗位姿点 Picking pose point	1	2	3	4	5	6	栽植位姿点 Transplanting pose point	1	2	3	4	5	6
x(mm)	369.25	335.57	172.09	253.60	341.97	373.18	x(mm)	185.65	28.47	0.00	49.68	30.45	26.10
y(mm)	225.00	245.23	61.23	12.39	138.41	185.38	y(mm)	67.50	−211.25	−215.00	−146.60	−36.10	172.78
θ(°)	−90.00	−95.58	−55.00	−24.66	−63.43	−80.42	θ(°)	180.00	91.01	90.00	146.57	178.01	−129.69

图2 平面2R机构示意图

Fig. 2. Schematic diagram of planar 2R mechanism

图3 每次迭代后的目标函数值与理想值

Fig. 3. Objective function values and ideal values after each iteration

图4 添加约束后的平面六杆机构

Fig. 4. Planar six bar mechanism with added constraints

表2 交接段始末位置坐标数据

Table 2. Coordinate data of the beginning and end positions of the handover section

第一组Group 1		第二组Group 2
(xB1, yB1)	(66.85,67.50)	(xB2, yB2)	(51.24,80.00)
(xC1, yC1)	(185.65,67.50)	(xC2, yC2)	(180.17,90.14)
(xD1, yD1)	(308.20,21.90)	(xD2, yD2)	(308.20,21.90)
(xE1, yE1)	(246.42,-47.28)	(xE2, yE2)	(233.31,-32.82)
(xF1, yF1)	(172.09,61.23)	(xF2, yF2)	(171.18,76.25)

图5 平面六杆机构的首末位置

Fig. 5. Initial and final positions of a planar six bar mechanism

图6 移栽机构简化模型

Fig. 6. Simplified model of transplanting mechanism

图7 移栽部件结构 1 : 凸轮; 2: 凸轮顶杆; 3: 杆一; 4: 杆二; 5: 固定杆; 6: 夹片A; 7: 夹片B; 8: 弹簧。

Fig. 7. Schematic diagram of transplanting component structure 1, Cam; 2, Cam follower; 3, Rod 1; 4, Rod 2; 5, Fixed rod; 6, Clip A; 7, Clip B; 8, Spring.

图8 交接位置夹片的相对位置

Fig. 8. Relative position of the handover position clamp

图9 角位移曲线和轨迹

Fig. 9. Angular displacement curve and trajectory

图10 传动比曲线和非圆齿轮节曲线

Fig. 10. Transmission ratio curve and non-circular gear pitch curve

表3 取苗段角位移最优值

Table 3. Optimal values of angular displacement for seedling-picking

取苗段 Seedling-picking	y₁	y₂	y₃	y₄	y₅
最优值 Optimal value	−2.428	−2.708	−3.360	−4.221	−4.904
上限值 Upper limit	−2.202	−2.202	−2.202	−2.202	−2.202
下限值 Lower limit	−5.560	−5.560	−5.560	−5.560	−5.560

表4 栽植段角位移最优值

Table 4. Optimal value of angular displacement for seedling planting

栽植段 Seedling planting	y₁	y₂	y₃	y₄	y₅
最优值 Optimal value	4.645	4.005	3.472	2.764	2.304
上限值 Upper limit	5.030	5.030	5.030	5.030	5.030
下限值 Upper limit	1.547	1.547	1.547	1.547	1.547

图11 取栽机构角位移-节曲线-轨迹优化前后对比

Fig. 11. Comparison of angular displacement-pitch curve-trajactory before and after optimization of the picking and planting mechanism

图12 栽植机构轨迹

Fig. 12. Trajectory of planting mechanism

表5 移栽关键姿态角

Table 5. Key attitude angle of the transplanting mechanism

类型 Type		取苗角 Seedling-picking angle	交接角 Intersection angle		栽植角 Planting angle
类型 Type		取苗角 Seedling-picking angle	取苗机构 Seedling collection mechanism	栽植机构 Seedling-planting mechanism	栽植角 Planting angle
理论设计值Theoretical design value		59.0°	94.0°	−40.0°	−130.0°
虚拟仿真值Virtual simulation value		58.8°	94.3°	−40.2°	−129.9°
样机试验值 Prototype test values	第1组Group 1	59.8°	94.6°	−38.9°	−128.8°
	第2组Group 2	58.1°	93.2°	−39.5°	−130.3°
	第3组Group 3	60.2°	93.7°	−40.2°	−130.9°

图13 仿真轨迹与理论轨迹示意图

Fig. 13. Schematic diagram of simulated trajectory and theoretical trajectory

图14 姿态角与夹苗点距离变化

Fig. 14. Changes in attitude angle and distance from seedling clamping point

图15 试验轨迹与仿真轨迹对比

Fig. 15. Comparison of experimental trajectory and simulation trajectory

表6 移栽成功率

Table 6. Transplant success rate

类型 Type		取苗 Picking	交接 Handover	栽植 Planting	移栽成功率 Transplant success rate(%)
样机试验值 Prototype test values	第1组Group 1	49/50	45/49	44/45	88.0
	第2组Group 2	47/50	44/47	44/44	88.0
	第3组Group 3	49/50	46/49	45/46	90.0
平均值Average(%)		96.7	93.1	98.5	88.7

图16 关键位置姿态

Fig. 16. Key position attitude

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