机械手式水稻有序行抛机构的设计

为了适应水稻抛秧移栽新种植模式，研制了一种机械手式水稻有序行抛机构，该机构可将工厂化穴盘育秧秧苗自动拔起并按株距、行距有序地定植于田间。借鉴工业通用机器人原理，设计了一种夹子式机械手，该机械手通过单片机编程控制进行全自动取秧。采用一组空间曲线滑道分秧，可达到秧苗移栽的农艺要求。

Study on Manipulator of a Seedling Throwing Device

Based on the bionic analysis of hand gripping and throwing during transplanting seedling of paddy, a manipulator type of orderly throwing device was designed to adapt the new planting model of rice seedlings throwing transplant. The device can automatically pluck up the rice seedlings from a the cell tray, which were sprouted at industrial nursery, and plant them orderly into paddy field according to the requirements of planting. The whole construction and working processing of this throwing device were introduced. Applying the principle of common industrial robot, a manipulator as a clip gripper was designed. The manipulator arm has two degrees of freedom and is automatically controlled by a single chip microcomputer using assembled language program. A group of chutes with spatial curve were designed and made in order to make the rice seedlings separated to satisfy with the agronomic requirements of planting.