Abstract:  In order to realize highdensity automatic transplanting of green vegetables, a selfpropelled highdensity vegetable transplanter was designed, which mainly composed of electric chassis and transplanting operation parts. The selfpropelled electric chassis met the different speed requirements of transfer and operation, and the designed swing mechanism of the rear axle and the hook lifting mechanism adapted to the characteristics of field operation. The transplanting operation was completed by the coordination and cooperation of the seedling delivery mechanism, the seedling taking mechanism, the seedling planting mechanism and the transmission system, which could realize automatic seedling delivery, eightrow synchronous seedling taking and seedling planting. Therefore, the structure composition, working principle and main parameters of the seedling delivery mechanism, the seedling taking mechanism and the seedling planting mechanism were described, and the correctness of the structural design was verified by the motion simulation. The field transplanting test was carried out, and the test results showed that when the transplanting efficiency of the selfpropelled highdensity vegetable transplanter was 160 plants/min, the average range of the coefficient of variation of the plant distance was 7.4%-9.6%, the qualified rate of the planting depth was 86%-95%, and the average range of the missed rate was 3.6%-5.0%, which could meet the agronomic requirements of highdensity vegetable transplanting, and the whole machine had reliable operation function and good performance.

Key words: green vegetables, transplantating machine, high density, electric chassis, fully automatic

摘要： 为实现青菜高密度全自动移栽，设计一种自走式高密度移栽机，整机主要由电动底盘和移栽部件组成。自走式电动底盘满足转场及作业时不同速度要求，设计的后桥摆动机构及挂接提升机构适应田间作业特点。移栽作业动作通过送苗机构、取苗机构、植苗机构和传动系统协调配合完成，可实现全自动送苗、八行同步取苗及植苗。为此，阐述送苗机构、取苗机构和植苗机构的结构组成、工作原理及主要参数，并通过运动仿真验证结构设计的正确性。开展田间移栽试验，结果表明：自走式青菜高密度移栽机在移栽效率为160株/min时，株距变异系数为7.4%～9.6%，栽植深度合格率为86%～95%，漏栽率为3.6%～5.0%，可以满足青菜高密度移栽的农艺要求，整机作业功能可靠，性能良好。

关键词: 青菜, 移栽机, 高密度, 电动底盘, 全自动