关键词: 菌草穴盘苗, 取投苗装置, 六杆装置, 自动化移栽设备

Abstract: Seedling transplanting was considered as ones of key steps during “Juncao” planting. However, there is a lack of automatic taking and throwing devices in the in recent years. Alternatively, developing an automatic taking and throwing device can improve the transplanting efficiency as well as reduce labor intensity. This study aimed to develop a six‑bar device by analyzing the working principle of device, establishing a kinematic model and optimizing structural parameters. According to the anti‑pressure characteristics of the “Juncao” plug seedlings bowl and the basic and spatial constraints of the device, the structural parameters of each rod were optimized and analyzed, and the simulation trajectories and kinematic parameters were obtained by establishing a virtual prototype. Furthermore, a prototype was developed and then actual motion trajectory of the taking and throwing device was obtained via a high‑speed camera. The consistency between the two trajectories was compared to verify the reasonability of the prototype. In order to ensure the availability of the developed device, the operation of taking and throwing was carried out by using “Juncao” (Oasis No.1) plug seedlings. The rotation speed of the active rod, the inclination angle of the seedling delivery device and the moisture content of the bowl were used as experimental factors, and the success rates of taking and throwing were used as response indicators. A three‑factor and three‑level orthogonal experiment was performed. The bench test showed that it achieved the best performance when the driving rod speed, water content of the bowl and inclination angle of the seedling feeding device was 30 r/min, 60% and 50 °, respectively. Repetitive experiments by using the optimal factor level also reached the success rates of taking and throwing of 95.31% and 93.4%.

Key words: “Juncao” plug seedlings, taking and throwing seedlings device, six?bar device, automatic transplanting equipment