水稻联合播种机穴盘搬运机械手的设计

分析了在水稻育秧穴盘联合播种过程中人工搬运软塑穴盘和钢丝网托的基本流程，提出了采用搬运机械手来辅助人工进行搬运的方法，简化了搬运过程。根据穴盘和网托的特殊外形以及实际搬运动作要求，确定搬运机械手具有4个自由度，采用气动驱动，手部为机械式托架。根据放盘时的横向和纵向定位要求，设计了专用于2BZ-300型电磁振动式水稻育秧穴盘联合播种机托架式手部结构。搬运机械手可以保证播种的顺利进行，降低工人的劳动强度。

Design of a Cell-pan Carrying Manipulator for the 2BZ-300 Rice Seeding Combine Machine

This paper analyses basic operation step of carrying cell-pan and netting wire frame by manual method on the 2BZ-300 rice seeding line. A kind of carrying manipulator is put forward for simplifying loading process, and assisting manual carrying work. In order to suit the special shape of cell-pan and its netting wire frame, and meet requirements of actual conveying actions, the four-freedom-degree manipulator which possess a mechanical type of finger, and driven by pneumatic method is designed. Based on positioning requirements of transverse and longitudinal direction, structure of the mechanical finger was constructed. The carrying manipulator could ensure sowing precision, and reduce the working strength of labors.