高速水稻插秧机数控移箱机构设计与试验OA

Existing high-speed rice transplanters generally have complex seedling-feeding mechanisms and fixed lateral seedling delivery rates,limiting their ability to adapt to varying agronomic requirements.To address these limitations,this study developed a numerically controlled lateral box-shifting mechanism for high-speed rice transplanters based on the 2ZGQ-6D7 model.This proposed mechanism enables flexible adjustment of the lateral seedling delivery rate according to agronomic requirements.A ball-screw drive and associated transmission components were employed to achieve reciprocating motion of the seedling tray.A speed-adjusting control model was developed to track the rotational speed of the planting arm in real-time and regulate the lateral seedling delivery rate accordingly.Additionally,a numerical control system for the seedling tray was developed using an STM32 microcontroller and the RT—Thread real-time operating system,enabling precise control of different lateral seedling delivery rates.A prototype was fabricated and experimental analysis was conducted.Experimental results demonstrated that the box-shifting mechanism provided multi-level adjustment of the lateral seedling feeding rate,with settings ranging from 12 cycles per 23.8 mm to 26 cycles per 11 mm.At planting speeds of 150 times/min and 200 times/min,the instantaneous position error of the seedling tray relative to the prescribed trajectory remained within 2 mm.The measured seedling-tray velocity closely matched the reference velocity profile,demonstrating the effectiveness and stability of the proposed control system in achieving different lateral seedling delivery rates required by agronomic conditions.The proposed numerically controlled lateral box-shifting mechanism provides a practical basis and experimental reference for developing high-speed rice transplanters with flexible and precisely adjustable seedling delivery rates.