工厂化水稻育秧盘搬运装置设计与试验

doi:10.3969/j.issn.1004-1524.20240861

浙江农业学报 ›› 2025, Vol. 37 ›› Issue (7): 1545-1555.DOI: 10.3969/j.issn.1004-1524.20240861

工厂化水稻育秧盘搬运装置设计与试验

谭诗逸¹^,²(), 俞国红¹^,², 薛向磊¹^,², 赵颖雷¹^,², 许宝玉¹^,², 张成浩¹^,²^,^*()

1.浙江省农业科学院农业装备研究所,浙江杭州 310021
2.农业农村部东南丘陵山地农业装备重点实验室(部省共建),浙江杭州 310021

收稿日期:2024-10-10 出版日期:2025-07-25 发布日期:2025-08-20
作者简介:谭诗逸(1993—),女,浙江湖州人,硕士,助理研究员,研究方向为设施农业装备与技术。E-mail:514141269@qq.com
通讯作者: ^*张成浩,E-mail: zhchhao2008@163.com
基金资助:
浙江省农业“双强”重点突破试点项目

Design and experiment of tray handling device for industrialized rice seedling raising

TAN Shiyi¹^,²(), YU Guohong¹^,², XUE Xianglei¹^,², ZHAO Yinglei¹^,², XU Baoyu¹^,², ZHANG Chenghao¹^,²^,^*()

1. Institute of Agricultural Equipment, Zhejiang Academy of Agricultural Sciences, Hangzhou 310021, China
2. Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China (Co-Construction by Ministry and Province), Ministry of Agriculture and Rural Affairs, Hangzhou 310021, China

Received:2024-10-10 Online:2025-07-25 Published:2025-08-20

摘要/Abstract

摘要：

当前水稻工厂化智能育秧面临人工搬运秧盘劳动强度大、效率低、成本高等问题。为此,本研究针对立体循环运动式苗床,设计了一种水稻育秧盘搬运装置。该装置可一次性精准抓取多个秧盘,实现催芽后秧盘从输送线到苗床吊篮,以及育秧完成后从吊篮回输送线的自动化搬运。文中详细阐述了搬运装置的基本结构和工作原理,并基于有限元法(finite element method, FEM)和理论分析,对夹取机构、秧盘顶升机构、机械臂、输送机构等关键部件进行了结构设计与选型;以可编程逻辑控制器(programmable logic controller, PLC)为核心,搭建上下盘作业控制系统。样机试制和现场试验结果表明,在夹取高度10 mm、下放高度15 mm、机械臂执行速度0.6 m·s^-1的参数下,上盘和下盘作业的平均成功率分别达到97.78%和98.89%。该研究结果为提升水稻育秧的机械化与智能化水平提供了技术参考。

关键词: 农业机械, 水稻育秧, 秧盘搬运, 机械臂, 成功率

Abstract:

Currently, factory-based intelligent rice seedling cultivation faces challenges such as high labor intensity, low efficiency, and high costs associated with manual tray handling. To address these issues, this study designed a rice seedling tray handling device specifically for stereoscopic circulating mobile seedling beds. The device could accurately grasp multiple trays simultaneously, enabling the automated transfer of germinated trays from the conveyor line to the seedling bed baskets, and the subsequent return of trays from the baskets back to the conveyor line after the seedling cultivation phase was completed. This paper detailed the structure and working principle of the handling device. Based on the finite element method (FEM) and theoretical analysis, structural design and component selection were conducted for key parts including clamping mechanism, seedling tray lifting mechanism, robotic arm, and conveying mechanism. Using a programmable logic controller (PLC) as the central control unit, an automated tray loading and unloading control system was established. Prototype fabrication and field tests demonstrated that, under the operational parameters of a clamping height of 10 mm, a placement height of 15 mm, and a robotic arm execution speed of 0.6 m·s^-1, the average success rates for tray loading and unloading reached 97.78% and 98.89%, respectively. The findings of this study could provide valuable technical insights for enhancing the mechanization and intelligence levels of rice seedling cultivation.

Key words: agricultural machinery, rice seedling cultivation, tray handling, robotic arm, success rate

中图分类号:

S229

谭诗逸, 俞国红, 薛向磊, 赵颖雷, 许宝玉, 张成浩. 工厂化水稻育秧盘搬运装置设计与试验[J]. 浙江农业学报, 2025, 37(7): 1545-1555.

TAN Shiyi, YU Guohong, XUE Xianglei, ZHAO Yinglei, XU Baoyu, ZHANG Chenghao. Design and experiment of tray handling device for industrialized rice seedling raising[J]. Acta Agriculturae Zhejiangensis, 2025, 37(7): 1545-1555.

图/表 15

图1 立体循环运动式苗床

Fig.1 Three-dimensional circulating seedbed

图2 水稻育秧盘搬运装置结构示意图 1,地轨系统;2,机械臂;3,输送机构;4,阻拦机构;5,夹取机构;6,吊篮固定机构;7,苗床(吊篮);8,顶升机构;9,秧盘;10,控制模块。

Fig.2 Structural diagram of rice seedling tray handling device 1, Ground rail system; 2, Robotic arm; 3, Conveying mechanism; 4, Blocking mechanism; 5, Clamping mechanism; 6, Basket fixing mechanism; 7, Seedbed (basket); 8, Lifting mechanism; 9, Seedling tray; 10, Control module.

图3 夹取机构结构示意图 1,夹爪;2,夹爪连接板;3,末端连接板;4,固定横杆;5,夹爪气缸。

Fig.3 Structure diagram of the clamping mechanism 1, Clamping jaw; 2, Clamping jaw connecting plate; 3, End connecting plate; 4, Fixed crossbar; 5, Clamping jaw cylinder.

图4 夹取机构夹取秧盘的示意图

Fig.4 Schematic diagram of the clamping mechanism during seedling tray clamping operation

图5 秧盘极限偏移位置与被夹取状态对比 l为夹爪的长度;a为秧盘可夹持位置的总长,为450 mm;α为秧盘偏移的角度,[-8°, 8°];f为秧盘位置被调整前后夹爪与秧盘触点间的距离。

Fig.5 Comparison of tray at maximum deviation position vs. corrected clamped state l was the length of clamping jaw; a was the total clampable length of the seedling tray, 450 mm; α was the deviation angle of the seedling tray, [-8°, 8°]; f was the distance between the contact points of the clamping jaw and the seedling tray before and after position adjustment.

图6 夹爪受力分析 a,满载条件下等效应力云图;b,满载条件下总变形云图。

Fig.6 Force analysis of the clamping jaw a, Cloud diagram of equivalent stress under full load; b, Cloud diagram of total deformation under full load.

图7 吊篮受力分析图 a,满载条件下等效应力云图;b,满载条件下总变形云图。

Fig.7 Force analysis diagram of the basket a, Cloud diagram of equivalent stress under full load; b, Cloud diagram of total deformation under full load.

图8 秧盘顶升机构结构示意图 1,顶升固定架;2,顶升板;3,顶升气缸;4,主机架;5,顶升直线轴承;6,顶升导向杆;7,平移导向杆;8,平移气缸;9,平移直线轴承。

Fig.8 Structure diagram of the seedling tray lifting mechanism 1, Lifting fixed frame; 2, Lifting plate; 3, Lifting cylinder; 4, Main frame; 5, Lifting linear bearing; 6, Lifting guide rod; 7, Translation guide rod; 8, Translation cylinder; 9, Translation linear bearing.

图9 顶升前后秧盘位置示意图

Fig.9 Schematic diagram of seedling tray positions before and after lifting

图10 输送机构结构示意图 1,固定架;2,阻拦气缸;3,导向杆;4,挡板;5,秧盘;6,输送带;7,光电传感器。

Fig.10 Structure diagram of the conveying mechanism 1, Fixed frame; 2, Blocking cylinder; 3, Guide rod; 4, Baffle plate; 5, Seedling tray; 6, Conveyor belt; 7, Photoelectric sensor.

图11 控制系统结构图

Fig.11 Structure diagram of control system

图12 控制系统结构图 a,上盘作业控制系统流程图;b,下盘作业控制系统流程图。

Fig.12 Flow chart of control system a, Flow chart of loading control system; b, Flow chart of unloading control system.

图13 人机交互界面的触摸屏

Fig.13 Touch screen for human-machine interface

图14 水稻育秧盘搬运装置试验现场

Fig.14 Test of seedling tray handling device for rice

表1 上下盘作业的成功率

Table 1 Success rate of loading and unloading test %

试验号 No.	上盘成功率 Success rate of loading	下盘成功率 Success rate of unloading
1	96.67	100.00
2	100.00	100.00
3	96.67	96.67
平均值Average	97.78	98.89

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工厂化水稻育秧盘搬运装置设计与试验

Design and experiment of tray handling device for industrialized rice seedling raising

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