Abstract: Aiming at the problems of high labour intensity and high cost of semiautomatic transplanting, a fully pneumatic automatic seedling supplying device with simple seedling picking track is designed. The seedling supply device can achieve stable and efficient automated seedling picking and dropping operations through wholerow interval clamping, precise seedling dropping and seedling transplanting. The kinematic model of the seedling clamping device is established, the pneumatic system is designed and analyzed, and the dynamic simulation of the pneumatic circuit system is carried out by using FluidSIM-P software to obtain the parameter values of the cylinders of each mechanism in line with the operational requirements and the articulation time sequence; the virtual model is established by using SolidWorks to verify the reasonableness of the structure of each actuator under the control system control. Set up a test stand, select the seedling age of 36 d, substrate moisture content of 40% of the hole tray pepper seedlings as the object of study, to take the seedling frequency as an influential factor to carry out a singlefactor test, the results show that in a single row of 40 plants/min, 50 plants/min, 60 plants/min three kinds of picking and throwing the seedling frequency of the average seedling picking success rate is greater than 95.8%, and the average seedling throwing success rate is greater than 94.75%. The study can provide a reference for the design and parameter optimization of fully automatic transplanting machine for singlerow, widerow, and hole tray seedlings.

Key words: automatic transplanter, seedling feeder pneumatic clip, PLC control, air control system

摘要： 针对移栽作业半自动移栽劳动强度大、成本高等问题，设计一种取苗轨迹简单的全自动气动供苗装置。供苗装置经过整排间隔夹取、精准投苗、分苗移栽，可实现稳定高效的自动化取投苗作业。建立夹苗装置的运动学模型，对气动系统进行设计及分析计算，利用FluidSIM-P软件对气动回路系统进行动态仿真，取得各机构气缸符合作业要求的参数值及衔接时序；运用SolidWorks建立虚拟模型，验证各执行机构在控制系统控制下结构的合理性。搭建试验台架，选取苗龄36天、基质含水率40%的穴盘辣椒苗作为研究对象，以取苗频率为影响因素开展单因素试验。结果表明，在单行40株/min、50株/min、60株/min 3种取苗频率下的平均取苗成功率均大于95.8%，平均投苗成功率均大于94.75%。为单行宽垄穴盘苗全自动移栽机的设计与参数优化提供参考。

关键词: 全自动移栽机, 供苗装置, 气动夹苗, PLC控制, 气控系统