分段式变传动比水稻钵苗移栽机构设计与试验

doi:10.16819/j.1001-7216.2026.250312

摘要/Abstract

摘要：

【目的】针对单行星架轮系式钵苗移栽机构存在的取植苗动作难以兼顾而影响移栽质量的问题，提出一种与传统移栽机构旋转方式相反且输入、输出不等周期的分段式变传动比轮系机构。【方法】首先，构建了不完全齿轮组连续啮合角度条件方程，求解分段式不完全齿轮组实现连续啮合所需运动参数；而后，将非圆齿轮的不等速传动比和分段不完全齿轮的三次高幅值波动传动比组合，获得钵苗移栽机构实现环扣轨迹所需的多次不等幅传动比，并建立含不完全齿轮组的非圆齿轮行星轮系移栽机构运动学模型，编写了基于Matlab的移栽机构辅助设计程序；同时，结合水稻钵苗移栽农艺要求，通过人机交互方式优选得到了一组可实现大位移慢取秧(取苗环扣47mm)、大植苗角(植苗角度80.6°)的环扣状钵苗移栽轨迹的机构参数。【结果】最后，对机构的仿真结果和理论计算数据进行对比分析，结果表明不完全齿轮组各项参数满足要求，且机构的运动轨迹及姿态与理论基本一致。【结论】通过样机试验，测量得到的取苗角为20.95°，植苗角度为80.3°，验证了组合式变传动比移栽机构设计的可行性。

关键词: 钵苗移栽, 不等周期, 不完全组合齿轮, 仿真分析, 样机试验

Abstract:

【Objective】To address the problem in single-planetary-wheelset transplanter mechanisms where the seedling picking and placing motions cannot be simultaneously optimized—thereby degrading transplanting quality—we propose a segmented variable gear-ratio wheelset mechanism whose rotation direction is opposite to that of conventional transplanting mechanisms and whose input and output periods are unequal. 【Method】First, we derived the continuous meshing angular condition equation for a segmented incomplete-gear set and solved for the motion parameters required for the segmented incomplete gear set to achieve continuous meshing. Next, by combining the non-uniform transmission ratio of an oval (non-circular) gear with the cubic high-amplitude fluctuation transmission ratio of the segmented incomplete gear, we obtained the multi-step unequal-amplitude transmission ratios required for the ring-loop (ankle-shaped) seedling-transplanting trajectory. We then established a kinematic model of a non-circular gear planetary wheelset transplanting mechanism that includes incomplete gear sets and developed a MATLAB-based auxiliary design program for the transplanter. At the same time, in accordance with rice seedling transplanting agronomic requirements and using a human-machine interactive selection process, we selected a set of mechanism parameters that realize a ring-loop transplanting trajectory capable of large pick displacement with slow picking (pick loop 47 mm) and a large planting angle (planting angle 80.6°). 【Result】Finally, we compared simulation results with theoretical calculations. The results show that the parameters of the incomplete gear set meet the requirements, and that the mechanism’s motion trajectory and posture are in substantial agreement with theory. 【Conclusion】Prototype tests measured a picking angle of 20.95° and a planting angle of 80.3°, validating the feasibility of the combined-variable transmission-ratio transplanting mechanism design.

Key words: pot seedling transplanting, unequal period, incomplete combination of gears, simulation analysis, prototype testing

于家硕, 周誉株, 黄江军, 谢世民, 陈建能, 孙良. 分段式变传动比水稻钵苗移栽机构设计与试验[J]. 中国水稻科学, 2026, 40(3): 403-413.

YU Jiashuo, ZHOU Yuzhu, HUANG Jiangjun, XIE Shimin, CHEN Jianneng, SUN Liang. Design and Experiment of Segmented Variable Transmission Ratio Mechanism for Rice Pot-mat Seedling Transplanting[J]. Chinese Journal OF Rice Science, 2026, 40(3): 403-413.

图/表 19

图1 移栽机构工作原理示意图 1：移栽静轨迹；2和10：栽植臂；3和9：行星不完全齿轮组；4和8：中间不完全齿轮组；5和7：中间非圆齿轮；6：太阳轮；11：行星架；12：秧盘。

Fig. 1. Schematic diagram of the working principle of transplanting mechanism 1, Static transplanting trajectory; 2 and 10, Planting arm; 3 and 9, Planetary incomplete gear set; 4 and 8, Intermediate incomplete gear set; 5 and 7, Intermediate non-circular gear; 6, Sun gear; 11, Planet carrier; 12, Nursery tray.

图2 机构运动示意图 1：太阳轮；2：行星架；3：第一中间齿轮；4：第二中间齿轮；5：行星轮；6：移栽臂。

Fig. 2. Schematic diagram of mechanism motion 1, Sun gear; 2, Planet carrier; 3, First intermediate gear; 4, Second intermediate gear; 5, Planet gear; 6, Transplanting arm.

图3 不完全齿轮啮合分析

Fig. 3. Incomplete gear meshing analysis

图4 齿轮啮合角度分析

Fig. 4. Gear meshing angle analysis

图5 移栽机构参数优化示意图

Fig. 5. Diagram of parameter optimization for the transplanting mechanism

图6 人机交互界面示意图

Fig. 6. Diagram of human-computer interaction interface

图7 不同参数下移栽轨迹示意图

Fig. 7. Transplanting trajectory diagram under different parameters

表1 目标参数优化结果

Table 1. Target parameter optimization results

参数 Parameter	数值Value	参数 Parameter	数值 Value
L₁(mm)	263.8	取秧角 Seedling picking angle(°)	19.5
取秧环扣轨迹高度 Height of seedling-picking ring buckle trajectory△H(mm)	47.0	推秧角 Seedling pushing angle(°)	80.6
栽植臂末端极限距离 Limit distance of the planting arm end△l(mm)	17.6	穴口宽度 Hole width(mm)	17.7

表2 机构优选参数

Table 2. Optimal parameters of mechanism

非圆齿轮节曲线向径 Radius vector of non-circular gear pitch curve r_i/mm	数值 Value	机构参数 Mechanism parameters	数值 Value
r₁	15.0	I₁	110
r₂	16.8	I₂	170
r₃	17.8	i₁	2
r₄	21.5	i₂	1.3
r₅	28.5	i₃	2.6
r₆	29.5	非圆齿轮中心距d₁ Center distance of non-circular gears(mm)	59.73
r₇	31.5
r₈	28.5
r₉	18.0	齿轮组中心距d₂ Center distance of gear set (mm)	51
r₁₀	17.0	齿轮组中心距d₂ Center distance of gear set (mm)	51
r₁₁	16.6	行星轮转角ϕ₀ Planet gear rotation angle(°)	55
r₁₂	16.0	行星轮转角ϕ₀ Planet gear rotation angle(°)	55
		栽植臂安装角σ Planting arm installation angle(°)	42
行星轮转动中心与栽植臂尖点距离l₁ Distance between the rotation center of the planet gear and the tip of the planting arm(mm)	148.6	栽植臂安装角σ Planting arm installation angle(°)	42

图8 移栽机构轨迹参数

Fig. 8. Transplanting mechanism trajectory parameters

表3 不完全齿轮组参数

Table 3. Incomplete gear set parameters

参数 Parameter	第一级First stage(m=2.62)		第二级Second stage(m=2.76)		第三级Third stage(m=2.55)
参数 Parameter	主动 Driving gear	从动 Driven gear	主动 Driving gear	从动 Driven gear	主动 Driving gear	从动 Driven gear
Z	26	13	21	16	29	11
Z′	9	9	6	6	9	9
η（°）	13.4	13.3	17.15	11.36	11.58	14.69
β（°）	7.34	29.37	9.13	23.26	7.14	35.18

图9 不完全齿轮组配合示意图

Fig. 9. Diagram of incomplete gear set meshing

图10 不完全齿轮组仿真分析

Fig. 10. Simulation analysis of incomplete gear group

图11 移栽机构理论及仿真轨迹

Fig. 11. Theoretical and simulated trajectory diagram of the transplanting mechanism

图12 夹片尖点速度

Fig. 12. Clip tip speed

图13 秧苗角度变化

Fig. 13. Seedling angle change

图14 移栽机构功能试验

Fig. 14. Functional test of the transplanting mechanism

图15 移栽机构关键参数测量

Fig. 15. Measurement of key parameters of the transplanting mechanism

表4 样机与理论角度对比

Table 4. Comparison between prototype and theoretical angle

参数 Parameter	理论值 Theoretical value	试验值 Test value	误差率 Error rate(%)
取苗角 Seedling picking angle(°)	19.5	20.95	7.4
植苗角 Seedling planting angle(°)	80.6	80.3	0.3

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