旱地穴盘苗移栽机取苗机构研究现状

doi:10.13733/j.jcam.issn.2095‑5553.2025.02.007

摘要/Abstract

摘要： 取苗机构是蔬菜钵苗自动移栽机由半自动向全自动转化的核心工作部件，决定着移栽效率和质量。通过研究国内外取苗传动机构和取苗机构夹取方式来阐述取苗机构的发展现状，并从工作效率、成本、结构、作业效果等方面进行客观评价。将取苗机构整体分为传动机构和执行机构，按传动机构可分为往复式杆件机构，回转式非圆齿轮传动机构和电、气、液等的智能化取苗装置；按执行机构夹取方式的不同分为夹钵式、夹茎式和顶出式。指出现有取苗机构易对钵苗造成损伤、效率低、适应性差等问题，从智能化发展方向、多功能化设计和环节节能、数据化管理和和智能化调节、农机农艺融合和全自动化发展等方面提出解决措施与旱地穴盘苗移栽机取苗机构的发展趋势。

关键词: 旱地穴盘苗, 取苗机构, 智能化, 蔬菜, 移栽机

Abstract: Seedling picking mechanism is the core working part of automatic transplanting machine of vegetable potting seedling from semi‑automatic to full‑automatic, which determines the efficiency and quality of transplanting. This research elaborates the development status of seedling picking mechanism by studying the domestic and foreign seedling picking transmission mechanism and seedling picking mechanism clamping method, and objectively evaluates the working efficiency, cost, structure, operational effect and other aspects. The seedling extraction mechanism is divided into transmission mechanism and actuator, according to the transmission mechanism, it can be divided into reciprocating rod mechanism, rotary non‑circular gear transmission mechanism and electric, gas, liquid combination of intelligent seedling extraction device. According to the different clamping methods of the actuator, it can be divided into clamping bowl type, clamping stem type and ejector type. It pointed out that the existing seedling taking mechanism is easy to cause damage to pot seedlings, low efficiency, poor adaptability and other problems, and put forward the solution measures and the development trend of the seedling taking mechanism from the aspects of intelligent development direction, multi‑functional design, environmental protection and energy saving, data management and intelligent regulation, agricultural machinery and agronomic integration and full automation development.

Key words: dryland hole pan seedling, seedling picking?up mechanism, intelligentize, vegetable, transplanting machine

中图分类号:

S223.9

任朝阳, 胡敏娟, 严伟, 李坤. 旱地穴盘苗移栽机取苗机构研究现状[J]. 中国农机化学报, 2025, 46(2): 41-47.

Ren Zhaoyang, Hu Minjuan, Yan Wei, Li Kun. Research status on seedling picking‑up mechanism of dryland hole tray seedling transplanting machine[J]. Journal of Chinese Agricultural Mechanization, 2025, 46(2): 41-47.

参考文献

[ 1 ] 郭翠红. 长治市上党区蔬菜产业发展现状及对策研究[J]. 中国果菜, 2023, 43(7): 75-79.
[ 2 ] 刘建博, 邱硕, 田素博. 蔬菜移栽机研究进展[J]. 中国农机装备, 2023(9): 48-55.
[ 3 ] 陈波, 陈苗苗, 杨昌敏, 等. 蔬菜机械化生产技术现状与发展趋势[J]. 南方农机, 2024, 55(S1): 16-18.
[ 4 ] Manes G S, Dixit A K, Singh S, et al. Development and evaluation of tractor operated vegetable transplanter [J]. Ama, Agricultural Mechanization in Asia, Africa & Latin America, 2010, 41(3): 89.
[ 5 ] 胡敏娟, 尹文庆, 胡飞, 等 . 穴盘苗自动取苗试验系统的研制[J]. 南京农业大学学报, 2011, 34(3): 122-126.
Hu Minjuan, Yin Wenqing, Hu Fei. Development of test system for automatic pick‑up plug seedlings [J]. Journal of Nanjing Agricultural University, 2011, 34(3): 122-126.
[ 6 ] 文永双, 张俊雄, 袁挺, 等. 蔬菜穴盘苗移栽自动取苗技术现状与分析[J]. 中国农业大学学报, 2021, 26(4): 128-142.
Wen Yongshuang, Zhang Junxiong, Yuan Ting, et al. Current situation and analysis of automatic pick‑up technology for vegetable plug seedlings [J]. Journal of China Agricultural University, 2021, 26(4): 128-142.
[ 7 ] 王蒙蒙, 宋建农, 刘彩玲, 等. 蔬菜移栽机曲柄摆杆式夹苗机构的设计与试验[J]. 农业工程学报, 2015, 31(14): 49-57.
Wang Mengmeng, Song Jiannong, Liu Cailing, et al. Design and experiment of crank rocker type clamp seedlings mechanism of vegetable transplanter [J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(14): 49-57.
[ 8 ] Choi W, Kim D, Ryu I, et al. Development of a seedling pick‑up device for vegetable transplanters [J]. Transactions of the ASAE, 2002, 45(1): 13-19.
[ 9 ] 徐丽明, 张铁中, 史志清. 玉米自动移栽机取苗机构的设计[J]. 中国农业大学学报, 2000(4): 58-60.
Xu Liming, Zhang Tiezhong, Shi Zhiqing. Design on the picking seedling machinery in the maize auto‑transplanter [J]. Journal of China Agricultural University, 2000(4): 58-60.
[10] 胡双燕, 胡敏娟, 张文毅, 等. 辣椒穴盘苗取苗栽植过程动力学分析与试验[J]. 中国农机化学报, 2023, 44(7): 40-47, 54.
Hu Shuangyan, Hu Minjuan, Zhang Wenyi, et al. Dynamic analysis and experiment of seedling taking and planting process of pepper holetray [J]. Journal of Chinese Agricultural Mechanization, 2023, 44(7): 40-47, 54.
[11] 竹山智洋. 蔬菜移植机[P]. 日本专利: ZL200480007602. 4, 2004-09-01.
[12] 赵匀, 俞高红, 赵凤芹, 等. 正齿行星轮分插机构的运动特性分析和试验研究[C].中国农业机械学会. 中国农业机械学会成立40周年庆典暨2003年学术年会论文集. 中国农业机械学会, 2003: 2.
[13] 俞高红, 张玮炜, 孙良, 等. 偏心齿轮—非圆齿轮行星轮系在后插旋转式分插机构中的应用[J]. 农业工程学报, 2011, 27(4): 100-105.
Yu Gaohong, Zhang Weiwei, Sun Liang, et al. Application of planetary gear train with eccentric gears and non‑circular gear in backward rotary transplanting mechanism [J]. Transactions of the Chinese Society of Agricultural Engineering, 2011, 27(4): 100-105.
[14] 叶秉良, 俞高红, 陈志威, 等. 偏心齿轮—非圆齿轮行星系取苗机构的运动学建模与参数优化[J]. 农业工程学报, 2011, 27(12): 7-12.
Ye Bingliang, Yu Gaohong, Chen Zhiwei, et al. Kinematics modeling and parameters optimization of seedling pick‑up mechanism of planetary gear train with eccentric gear and non‑circular gear [J]. Transactions of the Chinese Society of Agricultural Engineering, 2011, 27(12): 7-12.
[15] 俞高红, 陈志威, 赵匀, 等. 椭圆—不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J]. 机械工程学报, 2012, 48(13): 32-39.
Yu Gaohong, Chen Zhiwei, Zhao Yun, et al. Study on vegetable plug seedling pick‑up mechanism of planetary gear train with ellipse gears and incomplete non‑circular gear [J]. Journal of Mechanical Engineering, 2012, 48(13): 32-39.
[16] 俞亚新, 骆春晓, 俞高红, 等. 椭圆—不完全非圆齿轮行星系取苗机构参数优化[J]. 农业机械学报, 2013, 44(6): 62-68.
Yu Yaxin, Luo Chunxiao, Yu Gaohong, et al. Parameters optimization of pick‑up mechanism of planetary geartrain with ellipse gears and incomplete non‑circular gear [J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(6): 62-68.
[17] 胡双燕, 胡敏娟, 王佳. 辣椒穴盘苗机械化移栽研究进展[J]. 中国农机化学报, 2021, 42(8): 24-31.
Hu Shuangyan, Hu Minjuan, Wang Jia. Research progress on mechanized transplanting of pepper plug seedlings [J]. Journal of Chinese Agricultural Mechanization, 2021, 42(8): 24-31.
[18] 赵雄, 陈建能, 杨茂祥, 等. 二阶自由非圆齿轮行星系钵苗移栽机取苗机构[J]. 农业机械学报, 2014, 45(4): 123-127.
Zhao Xiong, Chen Jianneng, Yang Maoxiang, et al. Seedling pick‑up mechanism of planetary gear train with two‑order general non‑circular gears [J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(4): 123-127.
[19] 金学军. 组合式不完全偏心圆—非圆齿轮行星轮系取苗机构的优化设计与试验[D]. 杭州: 浙江理工大学, 2017.
[20] 叶秉良, 唐涛, 俞高红, 等. 组合式非圆齿轮行星轮系取苗机构动力学分析与试验[J]. 农业机械学报, 2018, 49(12): 74-82.
Ye Bingliang, Tang Tao, Yu Gaohong, et al. Dynamics analysis and tests on seedling pick‑up mechanism of planetary gear train of combined gear transmission with non‑circular gears [J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(12): 74-82.
[21] 孙良, 沈嘉豪, 周誉株, 等. 非圆齿轮—连杆组合传动式蔬菜钵苗移栽机构设计[J]. 农业工程学报, 2019, 35(10): 26-33.
Sun Liang, Shen Jiahao, Zhou Yuzhu, et al. Design of non‑circular gear linkage combination driving type vegetable pot seedling transplanting mechanism [J]. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(10): 26-33.
[22] 周海丽, 刘建刚, 俞高红, 等. 蔬菜移栽机斜齿轮—非圆齿轮行星轮系取苗机构研究[J]. 农业机械学报, 2023, 54(8): 77-86.
Zhou Haili, Liu Jiangang, Yu Gaohong, et al. Design and experiment of seedling picking mechanism for helical gear‑non circular gear planetary gear system [J]. Transactions of the Chinese Society for Agricultural Machinery, 2023, 54(8): 77-86.
[23] 倪有亮, 金诚谦, 刘基. 全自动移栽机取送苗系统的设计与试验[J]. 农业工程学报, 2015, 31(23): 10-19.
Ni Youliang, Jin Chengqian, Liu Ji. Design and experiment of system for picking up and delivering seedlings in automatic transplanter [J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(23): 10-19.
[24] 田素博, 谢天, 王鹤锦, 等. 蔬菜移栽机可调式喂苗装置设计与试验[J]. 华南农业大学学报, 2023, 44(3): 464-472.
Tian Subo, Xie Tian, Wang Hejin, et al. Design and experiment of adjustable seedling‑feeding device for vegetable transplanting machine [J]. Journal of South China Agricultural University, 2023, 44(3): 464-472.
[25] 胡建平, 潘杰, 陈凡, 等. 基于EDEM—RecurDyn的指夹式取苗爪仿真优化与试验[J]. 农业机械学报, 2022, 53(5): 75-85, 301.
Hu Jianping, Pan Jie, Chen Fan, et al. Simulation optimization and experiment of finger‑clamping seedling picking claw based on EDEM—RecurDyn [J]. Transactions of the Chinese Society for Agricultural Machinery, 2022, 53(5): 75-85, 301.
[26] 李华, 马晓晓, 曹卫彬, 等. 夹茎式番茄钵苗取苗机构设计与试验[J]. 农业工程学报, 2020, 36(21): 39-48.
Li Hua, Ma Xiaoxiao, Cao Weibin, et al. Design and experiment of seedling picking mechanism by stem clipping for tomato plug seedling [J]. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(21): 39-48.
[27] Hu S Y, Hu M J, Zhang W Y. Design and experiment of flexible clamping device for pepper plug seedlings [J]. Advances in Mechanical Engineering, 2022: 14(6): 557.
[28] 韩长杰, 肖立强, 徐阳, 等. 辣椒穴盘苗自动移栽机设计与试验[J]. 农业工程学报, 2021, 37(13): 20-29.
Han Changjie, Xiao Liqiang, Xu Yang, et al. Design and experiment of the automatic transplanter for chili plug seedlings [J]. Transactions of the Chinese Society of Agricultural Engineering, 2021, 37(13): 20-29.
[29] Armstrong E C, Hanacek W A, Spinetti T A, et al． Automatic soil plug loader and feeder [P]. US Patent: 4443151, 1984-04-17．
[30] 张思伟. 穴盘苗自动移栽机顶夹拔组合取苗机构设计[D]. 镇江: 江苏大学, 2018.
[31] Shaw L N. Removing and handling modular vegetable seedlings from nursery trays [J]. Proceeding of the Florida State Horticultural Society, 1999(112): 153-155.
[32] 韩绿化, 毛罕平, 赵慧敏, 等. 蔬菜穴盘育苗底部气吹式钵体松脱装置设计[J]. 农业工程学报, 2019, 35(4): 37-45.

Han Lühua, Mao Hanping, Zhao Huimin, et al. Design of root lump loosening mechanism using air jets to eject vegetable plug seedlings [J]. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(4): 37-45.

[33] 何亚凯. 蔬菜穴盘苗高速栽植自动取苗系统设计与研究[D]．北京: 中国农业机械化科学院, 2018．

[1]	叶海平, 郑志坚. 仙人球自动移栽机末端执行器的设计与试验[J]. 中国农机化学报, 2025, 46(2): 20-26.
[2]	李连英, 李文斌, 邓永胜, 刘文. 农户物联网技术采纳意愿多元驱动路径研究——以江西省蔬菜种植大户为例[J]. 中国农机化学报, 2025, 46(2): 302-310.
[3]	海文博, 李浩铭, 董奥辉, 杨洋, 张冰倩, 袁志华. 茄子钵苗移栽机取苗机构设计与试验[J]. 中国农机化学报, 2025, 46(1): 30-35.
[4]	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.
[5]	孙旭, 陈玉兰, 赵达君, 肖彤. 智能化技术采纳对农业生产节本增效的影响研究——以新疆棉田无人机应用为例[J]. 中国农机化学报, 2025, 46(1): 314-322.
[6]	梁树建, 刘立晶, 刘芳建, 崔巍, 张学东, 高健. 叶类蔬菜机械化收获技术装备发展现状[J]. 中国农机化学报, 2025, 46(1): 346-352.
[7]	李斌, 杨星宇, 刘向新, 高小龙. 核桃机械化收获装置研究现状与展望[J]. 中国农机化学报, 2024, 45(8): 1-7.
[8]	杨帆, 滕利, 孙宜田, 孙永佳, 蒋振晗, 侯加林. 农业机械底盘智能化发展现状与展望[J]. 中国农机化学报, 2024, 45(8): 138-147.
[9]	陈天兄, 范俊杰, 张日喜, 刘建龙, , 柏宗春, , 孙建国. 水产养殖投喂装备发展现状研究[J]. 中国农机化学报, 2024, 45(4): 45-50.
[10]	胡皓若, 张跃跃, 周佳良, 陈青, 王金鹏. 果蔬采摘机器人末端执行器研究现状[J]. 中国农机化学报, 2024, 45(4): 231-236.
[11]	蒋振晗, , 王钰旭, , 魏逸飞, , 于艳, 孙永佳, , 孙宜田, . 电驱式玉米高速作业播种机控制系统设计与试验[J]. 中国农机化学报, 2024, 45(3): 24-30.
[12]	沈立新, 陈文辉, 滕淑霞, 顾秀艳, 李淼. 槽轮式黄芪移栽机关键部件设计与试验[J]. 中国农机化学报, 2024, 45(2): 71-78.
[13]	胡建平, 刘育彤, 张永辉, 徐华岗, 刘伟, 韩绿化. 草莓移栽机控制系统设计与试验[J]. 中国农机化学报, 2024, 45(2): 101-106.
[14]	李瑞, 顾莉丽, 李雪. 蔬菜种植户安全用药行为及影响因素研究——以山东省为例[J]. 中国农机化学报, 2024, 45(2): 107-114.
[15]	樊晨龙, 李维林, 刘英, 崔涛, 吴斌, 乔梦梦. 蓝莓采摘机械化现状与装备研究进展[J]. 中国农机化学报, 2024, 45(12): 47-51.