Abstract:  Development of mechanized transplanting technology is of great significance to the whole process mechanization of crops production. In this paper, the research status and development tendency for key technologies of upland crops mechanized transplanting links, including seedling cultivation, seedling tray transportation, gripping and picking seedling, replanting and planting, were discussed. It was found that seedling quality and its mechanical properties have a significant impact on the transplanting quality; gripping and picking seedling unit, as the basic and key aspect for mechanized transplanting, its problem are high injured seedling rate and low efficiency; technologies of automatic replanting and path planning seedling promote the intelligent level of mechanized transplanting. The existing four types of transplanters were summarized and comparatively analyzed, especially the structures and their optimization design method comprising of dibble type and pincettetype transplanters. The importance of making full use of modern technical means for researching, such as DEM simulation, virtual technology, and machine vision was emphasized. The important and difficult research point for mechanized transplanting were provided following three aspects which included to combine agricultural machinery, agronomy and information technology, to enhance the versatility of transplanter, and to take advantage of whole row type picking seedling and multiline type transplanting to increase efficiency. The development tendency for mechanized transplanting including transplanting robot technology and unmanned technique is proposed. 

Key words:  upland crops, transplanter, gripping and picking seedling, planting apparatus, automatic transplanting technology

摘要： 机械化移栽技术的发展对农作物生产全程机械化有重要意义。阐明旱地作物机械化移栽主要环节中的关键技术研究现状和发展动态，包括育苗环节、苗盘输送、夹苗取苗、补苗与栽植等环节。阐明育苗质量及幼苗力学特性对移栽质量有显著影响；夹苗取苗机构作为机械化移栽技术的基础和核心，其主要问题是伤苗率高，效率偏低；指出自动补苗和路径规划是提升机械化移栽智能化水平的关键。阐明现有四类移栽机的装备现状，并对比分析其适用性和特点，重点分析吊杯式和钳夹式移栽机的研究进展，阐明其结构特点及优化设计的途径。强调研究人员应利用现代化技术手段如离散元仿真、虚拟技术、机器视觉等为研究服务；机械化移栽技术的重难点有：农机农艺和农业信息技术融合，增加移栽机型的通用性，利用整排式取苗和多行式移栽技术实现高效移栽；自动移栽技术的发展趋势为移栽机器人技术和无人化移栽作业。

关键词: 旱地作物, 移栽机, 夹苗取苗, 栽植器, 自动移栽技术