Abstract: In order to solve the problems of high labor and low efficiency of tobacco semitransplanting, a symmetrical staggered automatic seedling picking device was designed. First of all, the principle of the automatic seedling picking device for staggered picking of two trays of seedlings was described, and the kinetic and kinematic models of the picking and dropping operation were established. Then, the key components of the seedling picking device such as tray feeding device, seedling picking device and automatic control system were designed, the operation process of the key components was analyzed, and the selection of key components was completed according to the actual requirements. Finally, Based on the existing transplanter power chassis, a prototype of 2ZY-1 tobacco transplanter was made, and the performance test was conducted with 60dayold tobacco seedlings in the field. The test results showed that the success rate of seedling picking was 89.63%, the success rate of seedling dropping was 97.20% and the injury rate was 3.59% when the automatic seedling picking and dropping speed was around 20 plants/min.

Key words: tobacco pot seedling, automatic transplanting, floating seedling tray, seedling picking device, electric control system

摘要： 为解决烟草半移栽作业用工量大、效益低等问题，设计一种对称交错式自动取苗装置。首先，阐述该自动取苗装置对两盘钵苗进行交错式取苗的原理，建立取投苗作业过程中的动力学和运动学模型。然后，对送盘装置、取投苗装置和自动控制系统等取苗装置关键部件进行结构设计，分析关键部件的作业过程，结合实际需求完成关键元器件的选型。最后，在已有移栽机动力底盘的基础上试制2ZY-1型烟草移栽机样机，以60天苗龄的烟草钵苗为作业对象进行田间取投苗性能试验。试验结果表明，在自动取投苗速度为20株/min时，取苗成功率为89.63%，投苗成功率为97.20%，伤苗率为3.59%。

关键词: 烟草钵苗, 自动移栽, 漂浮秧盘, 取苗装置, 电控系统