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Article(id=1307407406120592133, tenantId=1146029695717560320, journalId=1306273872116547672, issueId=1307407384415068771, articleNumber=null, orderNo=null, doi=10.16819/j.1001-7216.2026.250306, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1741190400000, receivedDateStr=2025-03-06, revisedDate=1753372800000, revisedDateStr=2025-07-25, acceptedDate=null, acceptedDateStr=null, onlineDate=1789639816073, onlineDateStr=2026-09-17, pubDate=1767974400000, pubDateStr=2026-01-10, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1789639816073, onlineIssueDateStr=2026-09-17, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1789639816073, creator=13701087609, updateTime=1789639816073, updator=13701087609, issue=Issue{id=1307407384415068771, tenantId=1146029695717560320, journalId=1306273872116547672, year='2026', volume='40', issue='1', pageStart='1', pageEnd='144', issueExtLink='null', onlineDate='null', pubDate='1767974400000', pubDateStr='2026-01-10', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1789639810898, creator='13701087609', updateTime=1789640035985, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1307408328565482276, tenantId=1146029695717560320, journalId=1306273872116547672, issueId=1307407384415068771, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1307408328565482277, tenantId=1146029695717560320, journalId=1306273872116547672, issueId=1307407384415068771, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=131, endPage=144, ext={EN=ArticleExt(id=1307407406330307334, articleId=1307407406120592133, tenantId=1146029695717560320, journalId=1306273872116547672, language=EN, title=Design and Experiment of an Integrated Picking and Planting Mechanism for Rice Pot Seedlings, columnId=1307407385149071973, journalTitle=Chinese Journal of Rice Science, columnName=Research Papers, runingTitle=null, highlight=null, articleAbstract=
【Objective】

In response to the problem that the existing integrated transplanting mechanism for picking and planting seedlings carries soil during operation, which affects subsequent seedling-picking and seedling-planting verticality, this study proposes a rice pot seedling transplanting method using dual mechanisms for seedling picking and planting.

【Method】

Firstly, based on the requirements for seedling picking, handover, and planting, several key pose points during the transplanting process were set as constraints for the picking and planting actions, and the motion trajectory was planned. Based on the principle of constant link length, a multi-position approximate motion synthesis model for a planar 2R mechanism was constructed. The particle swarm optimization (PSO) algorithm was used to solve for the optimal layout of the two rotating pairs of the mechanism, determine the rod length, and establish geometric constraints for the handover section. By combining the positions of the rotating pairs and the rod length parameters, the motion trajectory was reconstructed to solve the relative angular displacement between the two components and obtain the non-circular gear transmission ratio. To improve the concavity and convexity of the non-circular gear pitch curves, an objective function for the roundness coefficient of the pitch curves was established. The PSO algorithm was used to optimize the roundness of the non-circular gears, thus completing the design of the two-wheel mechanism for seedling picking and planting.

【Result】

Simulation analysis and bench tests of the mechanism showed that the maximum deviation between the actual motion trajectory and the theoretical trajectory is less than 1.8 mm, the error in the key pose clamping angle does not exceed 1.2°, and the transplanting success rate can reach 88.7%.

【Conclusion】

This study adopts a cooperative operation mode with separated picking and planting, which can effectively solve the problem of poor transplanting effect caused by soil carry-over in traditional mechanisms, and provides a new theoretical basis for the development of efficient rice pot seedling transplanting equipment.

, authors=Shimin XIE1, Yuzhu ZHOU1, Xiaodi XUE1, Guangfei ZHU4, Liang SUN1, 2, Jianneng CHEN1, 3, authorsList=Shimin XIE, Yuzhu ZHOU, Xiaodi XUE, Guangfei ZHU, Liang SUN, Jianneng CHEN, authorCompany=null, correspAuthors=Liang SUN, authorNote=null, correspAuthorsNote=

*

email:
, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1307407406577771271, articleId=1307407406120592133, tenantId=1146029695717560320, journalId=1306273872116547672, language=CN, title=水稻钵苗取栽协同作业式移栽机构设计与试验, columnId=1307407385430090343, journalTitle=中国水稻科学, columnName=研究报告, runingTitle=null, highlight=null, articleAbstract=
【目的】

针对现有取苗与栽植一体式移栽机构作业时夹带泥土影响二次取苗及秧苗栽插直立度的问题，本研究提出了一种取苗与栽植双机构协同作业的水稻钵苗移栽方式。

【方法】

首先，结合钵苗夹取、交接、栽植要求，设定移栽过程的若干关键位姿点作为取与栽植动作的约束条件，规划运动轨迹；依据杆长不变原理构建平面2R机构多位姿近似运动综合模型，采用粒子群优化（PSO）算法求解机构两转动副的最优布局，确定杆长，并建立了交接段的几何约束；结合转动副位置与杆长参数复演运动轨迹，求解两构件相对角位移，获取非圆齿轮传动比。为改善非圆齿轮节曲线凹凸性，建立节曲线圆度系数目标函数，利用PSO算法实现非圆齿轮圆度优化，完成取苗与栽植两轮系机构的设计。

【结果】

对机构的仿真分析与台架试验表明：机构实际运动轨迹与理论轨迹最大偏差小于1.8 mm，关键位姿夹取角度误差不超过1.2°，移栽成功率可达88.7%。

【结论】

本研究采用取栽分离协同作业模式，可有效解决传统机构夹带泥土导致的移栽效果不佳问题，为高效水稻钵苗移栽装备研发提供了新的理论依据。

, authors=谢世民1, 周誉株1, 薛晓迪1, 朱广飞4, 孙良1, 2, *, *, 陈建能1, 3, authorsList=谢世民, 周誉株, 薛晓迪, 朱广飞, 孙良, 陈建能, authorCompany=null, correspAuthors=孙良, authorNote=null, correspAuthorsNote=

*

email:
, copyrightStatement=作者同意论文在本刊发表,论文的数字化复制权、发行权、汇编权及信息网络传播权即转让本刊编辑部。论文的著作权转让费在本刊稿酬中一次性支付。, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=Ii2R+ylUtkrdU5tbrasOWA==, magXml=ecvJasXtWS44asjVg/Kzlg==, pdfUrl=null, pdf=HoOHFiQbClTA+v2scCjyEw==, pdfFileSize=2229822, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=IPQn4pwvvFt4bFd61HDFTg==, mapNumber=null, fund=null)}, authors=[Author(id=1307765139046945505, tenantId=1146029695717560320, journalId=1306273872116547672, articleId=1307407406120592133, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1307765139340546787, tenantId=1146029695717560320, journalId=1306273872116547672, 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水稻钵苗取栽协同作业式移栽机构设计与试验
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谢世民 1 , 周誉株 1 , 薛晓迪 1 , 朱广飞 4 , 孙良 1, 2, *, * , 陈建能 1, 3
中国水稻科学 | 研究报告 2026,40(1): 131-144
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中国水稻科学 |研究报告 2026 , 40 (1) : 131 -144
水稻钵苗取栽协同作业式移栽机构设计与试验
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谢世民1, 周誉株1, 薛晓迪1, 朱广飞4, 孙良1, 2, *, * , 陈建能1, 3
作者信息
  • 1浙江理工大学机械工程学院，杭州 310018
  • 2浙江农业智能感知与机器人全省重点实验室，杭州 310018
  • 3农业农村部东南丘陵山地农业装备重点实验室，杭州 310018
  • 4台州市一鸣机械股份有限公司，浙江 台州 318000
通讯作者:
Design and Experiment of an Integrated Picking and Planting Mechanism for Rice Pot Seedlings
Shimin XIE1, Yuzhu ZHOU1, Xiaodi XUE1, Guangfei ZHU4, Liang SUN1, 2 , Jianneng CHEN1, 3
Affiliations
  • 1School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
  • 2Zhejiang Key Laboratory of Agricultural Intelligent Perception and Robotics, Hangzhou 310018, China
  • 3Key Laboratory of Agricultural Equipment in Southeast Hilly and Mountainous Areas, Ministry of Agriculture and Rural Affairs, Hangzhou 310018, China
  • 4Taizhou Yiming Machinery Co., LTD., Taizhou 318000, China
    • Corresponding Author:

    *

    email:
出版时间: 2026-01-10 doi: 10.16819/j.1001-7216.2026.250306
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摘要
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【目的】

针对现有取苗与栽植一体式移栽机构作业时夹带泥土影响二次取苗及秧苗栽插直立度的问题，本研究提出了一种取苗与栽植双机构协同作业的水稻钵苗移栽方式。

【方法】

首先，结合钵苗夹取、交接、栽植要求，设定移栽过程的若干关键位姿点作为取与栽植动作的约束条件，规划运动轨迹；依据杆长不变原理构建平面2R机构多位姿近似运动综合模型，采用粒子群优化（PSO）算法求解机构两转动副的最优布局，确定杆长，并建立了交接段的几何约束；结合转动副位置与杆长参数复演运动轨迹，求解两构件相对角位移，获取非圆齿轮传动比。为改善非圆齿轮节曲线凹凸性，建立节曲线圆度系数目标函数，利用PSO算法实现非圆齿轮圆度优化，完成取苗与栽植两轮系机构的设计。

【结果】

对机构的仿真分析与台架试验表明：机构实际运动轨迹与理论轨迹最大偏差小于1.8 mm，关键位姿夹取角度误差不超过1.2°，移栽成功率可达88.7%。

【结论】

本研究采用取栽分离协同作业模式，可有效解决传统机构夹带泥土导致的移栽效果不佳问题，为高效水稻钵苗移栽装备研发提供了新的理论依据。

水稻钵苗移栽机构  /  取栽分离  /  运动综合  /  非圆齿轮  /  粒子群算法
【Objective】

In response to the problem that the existing integrated transplanting mechanism for picking and planting seedlings carries soil during operation, which affects subsequent seedling-picking and seedling-planting verticality, this study proposes a rice pot seedling transplanting method using dual mechanisms for seedling picking and planting.

【Method】

Firstly, based on the requirements for seedling picking, handover, and planting, several key pose points during the transplanting process were set as constraints for the picking and planting actions, and the motion trajectory was planned. Based on the principle of constant link length, a multi-position approximate motion synthesis model for a planar 2R mechanism was constructed. The particle swarm optimization (PSO) algorithm was used to solve for the optimal layout of the two rotating pairs of the mechanism, determine the rod length, and establish geometric constraints for the handover section. By combining the positions of the rotating pairs and the rod length parameters, the motion trajectory was reconstructed to solve the relative angular displacement between the two components and obtain the non-circular gear transmission ratio. To improve the concavity and convexity of the non-circular gear pitch curves, an objective function for the roundness coefficient of the pitch curves was established. The PSO algorithm was used to optimize the roundness of the non-circular gears, thus completing the design of the two-wheel mechanism for seedling picking and planting.

【Result】

Simulation analysis and bench tests of the mechanism showed that the maximum deviation between the actual motion trajectory and the theoretical trajectory is less than 1.8 mm, the error in the key pose clamping angle does not exceed 1.2°, and the transplanting success rate can reach 88.7%.

【Conclusion】

This study adopts a cooperative operation mode with separated picking and planting, which can effectively solve the problem of poor transplanting effect caused by soil carry-over in traditional mechanisms, and provides a new theoretical basis for the development of efficient rice pot seedling transplanting equipment.

rice pot seedling transplanting mechanism  /  separation of planting and picking  /  motion synthesis  /  non circular gears  /  particle swarm optimization algorithm
谢世民, 周誉株, 薛晓迪, 朱广飞, 孙良, 陈建能. 水稻钵苗取栽协同作业式移栽机构设计与试验. 中国水稻科学, 2026 , 40 (1) : 131 -144 . DOI: 10.16819/j.1001-7216.2026.250306
Shimin XIE, Yuzhu ZHOU, Xiaodi XUE, Guangfei ZHU, Liang SUN, Jianneng CHEN. Design and Experiment of an Integrated Picking and Planting Mechanism for Rice Pot Seedlings[J]. Chinese Journal of Rice Science, 2026 , 40 (1) : 131 -144 . DOI: 10.16819/j.1001-7216.2026.250306
基金
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  • 国家重点研发计划资助项目(2024YFD2000205)
  • 国家自然科学基金资助项目(52375275)
  • 浙江省基金重大项目(LD24E050007)
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文章信息
doi: 10.16819/j.1001-7216.2026.250306
  • 接收时间：2025-03-06
  • 首发时间：2026-09-17
  • 出版时间：2026-01-10
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出版历史
  • 收稿日期：2025-03-06
  • 修回日期：2025-07-25
基金
国家重点研发计划资助项目(2024YFD2000205)
国家自然科学基金资助项目(52375275)
浙江省基金重大项目(LD24E050007)
作者信息
    1浙江理工大学机械工程学院，杭州 310018
    2浙江农业智能感知与机器人全省重点实验室，杭州 310018
    3农业农村部东南丘陵山地农业装备重点实验室，杭州 310018
    4台州市一鸣机械股份有限公司，浙江 台州 318000

通讯作者:

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species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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