Synthesis and design of rice pot seedling transplanting mechanism based on labeled graph theory

The movement and trajectory of pot seedling transplanting (PST) are more complicated than those of rice carpet seedling transplanting (CST). When used to realise PST, the existing single-planetary-carrier two-stage-gear transmission configuration adopted in the gear-train transplanting mechanism has limitations, which are trajectory shape and transplanting posture design. To break through the structure constraint of the gear trains and obtain gear train mechanisms suitable for transplanting movement systematically, the type synthesis of gear train mechanism based on graph theory was carried out. On the basis of analysing the kinematic characteristics of gear train transplanting (OTT) mechanisms, the criterion of gear train structure was established, and the gear train topology graphs were screened. In combination with the designs of rice seedling transplanting and gear train structure, a particular gear train configuration was selected. The expected transplanting trajectory was obtained by fitting the curve to the data points. The reverse design, simulation analysis and testing based on the given trajectory were carried out. Finally, the feasibility of the synthesis scheme was verified.