全自动西兰花移栽机取苗机构优化设计与试验

doi:10.13733/j.jcam.issn.2095-5553.2025.01.006

摘要/Abstract

摘要： 为实现西兰花钵苗全自动移栽，提出一种基于精确位姿和轨迹控制的非圆齿轮行星轮系回转式取苗机构。根据取苗、投苗、入穴、出穴的位姿要求，确定约束栽植轨迹的4个精确位姿点，基于Burmester混合四位置直线轨迹生成平面四杆机构综合方法，以西兰花钵苗为作业对象，建立机构运动学模型，设定优化目标，运用MATLAB开发栽植机构计算机辅助设计优化软件，通过优化得到满足要求的“鹰嘴”型理论轨迹的移栽机构参数，避免“甩苗”现象，建立三维模型，并运用ADAMS软件进行虚拟仿真，形成仿真轨迹，测试可得理论求解与实际试验的姿态和轨迹具有一致性，验证移栽机构设计的合理性。基于高速摄像技术对取苗机构进行轨迹测试试验，得到取苗试验轨迹，对比理论轨迹和仿真轨迹，这三者基本一致，验证西兰花移栽取苗机构设计的可行性。田间取苗栽植试验表明：平均取苗合格率为95.002％，平均栽植成功率为92.97％，验证移栽机构设计的实用性。

关键词: 西兰花钵苗, 移栽机, 取苗机构, 精确位姿, 轨迹控制, 非圆齿轮

Abstract: In order to realize fully automatic transplanting of broccoli potting seedlings, a non-circular gear planetary wheel system rotary seedling picking mechanism based on precise position and trajectory control is proposed. According to the positional requirements of seedling picking, seedling dropping, hole entering and hole exiting, four precise positional points constraining the planting trajectory are determined, and the kinematic model of the mechanism is established by the integrated method of Burmester and hybrid four-position linear trajectory generation of planar four-bar mechanism with the broccoli potting seedling as the working object, the optimization objective is set, and the computer-aided design optimization software of the planting mechanism is developed by using MATLAB, and a “hawk's beak”-shaped model that meets the requirements is obtained by the optimization. Through optimization, the theoretical trajectory of “eagle's beak” type and a set of institutional parameters that meet the transplanting requirements is obtained to avoid the phenomenon of “dumping seedlings”, the three-dimensional model is established, and virtual simulation is used by ADAMS software to form the simulation trajectory, and the theoretical solution is tested with the actual test attitude and trajectory, and a good result is obtained. The test results show that the theoretical solution is consistent with the attitude and trajectory of the actual test, which verifies the rationality of the transplanting mechanism design. Based on the highspeed camera technology, the trajectory test of the seedling picking mechanism is carried out, and the seedling picking test trajectory is obtained, comparing with the theoretical trajectory and the simulation trajectory, which is basically consistent with each other, verifying the feasibility of the design of the seedling picking mechanism for broccoli transplanting. The field seedling picking-planting test showed that the average seedling picking qualification rate was 95.002%, and the average planting success rate was 92.97%, which verified the practicality of the transplanting mechanism.

Key words: broccoli pot seedlings, transplanter, picking mechanism, precise position, track control, non-circular gear

中图分类号:

S223.9

程胤, 薛向磊, 郑航, 叶云翔, 俞国红, 路胜利. 全自动西兰花移栽机取苗机构优化设计与试验[J]. 中国农机化学报, 2025, 46(1): 36-43.

Cheng Yin, Xue Xianglei, , Zheng Hang, , Ye Yunxiang, , Yu Guohong, , Lu Shengli. Optimized design and test of seedling picking mechanism of automatic broccoli transplanter[J]. Journal of Chinese Agricultural Mechanization, 2025, 46(1): 36-43.

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