直取直栽式空间轨迹宽窄行分插机构运动分析与设计
#共同第一作者
收稿日期: 2025-03-04
修回日期: 2025-04-09
网络出版日期: 2025-07-21
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
#These authors contributed equally to this paper
Received date: 2025-03-04
Revised date: 2025-04-09
Online published: 2025-07-21
【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。
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 . DOI: 10.16819/j.1001-7216.2025.250303
【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
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