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Outline
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.
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.
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%.
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.
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| 科 Family | 属数 Number of genus | 种数 Number of 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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