丹参膜上倾斜移栽机构设计与试验
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摘要
针对丹参膜上倾斜移栽人工作业效率和质量较低、劳动强度较大、现有移栽机不适合丹参膜上倾斜移栽等问题,结合丹参大垄双行覆膜高效生产技术提出的膜上倾斜移栽农艺要求,设计一种基于变形椭圆齿轮-双变速曲柄五杆机构的鸭嘴式丹参膜上倾斜移栽机构。在移栽机构所要求的运动轨迹、栽植器倾斜姿态和设计要求的基础上,分析机构的工作原理并建立机构理论模型。依据数学模型运用Matlab开发出移栽机构人机交互可视化辅助程序,应用该辅助程序研究机构参数对栽植器倾斜角和栽植器端点轨迹的影响规律,通过人机交互的方式得到符合丹参膜上倾斜移栽机构农艺要求的参数组合。根据优化后的参数组合设计样机并进行虚拟仿真和样机田间试验,试验结果表明:变形椭圆齿轮-双变速曲柄五杆式丹参膜上倾斜移栽机构在满足丹参膜上倾斜移栽要求的同时能保证作业质量,移栽机构的立苗角度合格率为90. 7%、漏栽率为2. 7%、株距变异系数为5. 6%、栽植深度合格率为93. 7%。
In the view of low efficiency and quality and high labor intensity of Salvia miltiorrhiza tilted transplanting on mulch-film by artificial transplanting,the existing transplanter is not suitable for tilted transplanting of Salvia miltiorrhiza on mulch-film,and combining with the agronomic requirement of high efficiency production technology of Salvia miltiorrhiza big-ridge double-row on mulch-film,a duck-billed tilted transplanting mechanism for Salvia miltiorrhiza was designed based on deformed elliptical geardouble variable speed crank five-bar mechanism. On the basis of trajectory,tilted gesture of planting apparatus and design requirements which was required by transplanting mechanism,the working principle of the mechanism was analyzed and the theoretical model of mechanism was established. The visual auxiliary programs for human-computer interaction was established by using Matlab( Matrix Laboratory)dependeding on the theoretical model. With the help of auxiliary programs,the influence rules of parameters for mechanism on tilted angle and endpoint motion trajectory of planting apparatus were studied,the human-computer interactive method was used to get the parameters combination suited for agronomic requirements tilted transplanting mechanism on mulch-film of Salvia miltiorrhiza. According to the optimized parameters combination,the prototype was designed for virtual simulation and prototype field experiment. Prototype experiment showed that the deformed elliptical gear-double variable speed crank five-bar tilted transplanting mechanism of Salvia miltiorrhiza on mulch-film could meet the agronomic requirements of Salvia miltiorrhiza tilted transplanting on mulch-film while ensured the quality of operation,the seedling angle qualification rate was 90. 7%,the leakage rate was 2. 7%,the plant spacing variation coefficient was 5. 6%,and the planting depth qualified rate was 93. 7%.
In the view of low efficiency and quality and high labor intensity of Salvia miltiorrhiza tilted transplanting on mulch-film by artificial transplanting,the existing transplanter is not suitable for tilted transplanting of Salvia miltiorrhiza on mulch-film,and combining with the agronomic requirement of high efficiency production technology of Salvia miltiorrhiza big-ridge double-row on mulch-film,a duck-billed tilted transplanting mechanism for Salvia miltiorrhiza was designed based on deformed elliptical geardouble variable speed crank five-bar mechanism. On the basis of trajectory,tilted gesture of planting apparatus and design requirements which was required by transplanting mechanism,the working principle of the mechanism was analyzed and the theoretical model of mechanism was established. The visual auxiliary programs for human-computer interaction was established by using Matlab( Matrix Laboratory)dependeding on the theoretical model. With the help of auxiliary programs,the influence rules of parameters for mechanism on tilted angle and endpoint motion trajectory of planting apparatus were studied,the human-computer interactive method was used to get the parameters combination suited for agronomic requirements tilted transplanting mechanism on mulch-film of Salvia miltiorrhiza. According to the optimized parameters combination,the prototype was designed for virtual simulation and prototype field experiment. Prototype experiment showed that the deformed elliptical gear-double variable speed crank five-bar tilted transplanting mechanism of Salvia miltiorrhiza on mulch-film could meet the agronomic requirements of Salvia miltiorrhiza tilted transplanting on mulch-film while ensured the quality of operation,the seedling angle qualification rate was 90. 7%,the leakage rate was 2. 7%,the plant spacing variation coefficient was 5. 6%,and the planting depth qualified rate was 93. 7%.
引文
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[11]王徐建,宋建农,刘彩玲,等.甘草倾斜移栽开沟器的设计与试验[J].农业工程学报,2016,32(13):16-23.WANG Xujian,SONG Jiannong,LIU Cailing,et al.Design and experiment on licorice tilt transplanting furrow opener[J].Transactions of the CSAE,2016,32(13):16-23.(in Chinese)
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[14]赵匀,朱慧轩,辛亮,等.拟合齿轮五杆水稻钵苗移栽机构的机理分析与试验[J].农业工程学报,2016,32(1):12-21.ZHAO Yun,ZHU Huixuan,XIN Liang,et al.Mechanism analysis and experiment of transplanting mechanism with fitting gear five-bar for rice pot seedling[J].Transactions of the CSAE,2016,32(1):12-21.(in Chinese)
[15]于晓旭,赵匀,陈宝成,等.移栽机械发展现状与展望[J/OL].农业机械学报,2014,45(8):44-53.YU Xiaoxu,ZHAO Yun,CHEN Baocheng,et al.Transplanting machinery development present situation and prospect[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):44-53.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20140808&flag=1.DOI:10.6041/j.issn.1000-1298.2014.08.008.(in Chinese)
[16]赵雄,崔海洋,代丽,等.混合驱动五杆花卉盘栽机构的优化设计与试验[J].农业工程学报,2017,33(15):34-40.ZHAO Xiong,CUI Haiyang,DAI Li,et al.Optimal design and experiment of hybrid-driven five-bar flower potted-seedling transplanting mechanism[J].Transactions of the CSAE,2017,33(15):34-40.(in Chinese)
[17]刘宏新,王盼,改广伟,等.基于五杆机构的注射式免耕播种成穴轨迹分析与参数求解[J].农业工程学报,2017,33(8):21-29.LIU Hongxin,WANG Pan,GAI Guangwei,et al.Analysis and parameter solution of injection type no-till seeding into hole trajectory based on five-bar mechanism[J].Transactions of the CSAE,2017,33(8):21-29.(in Chinese)
[18]何小晶,孙新城,陈建能,等.双曲柄五杆栽植机构运动学分析[J].浙江理工大学学报(自然科学版),2016,35(2):198-204.HE Xiaojing,SUN Xincheng,CHEN Jian'neng,et al.Kinematic analysis on double-crank five-bar planting mechanism[J].Journal of Zhejiang Sci-Tech University(Natural Sciences),2016,35(2):198-204.(in Chinese)
[19]何敬良,吴序堂,李建刚.变形椭圆齿轮连杆机构的运动特性及齿轮副设计[J].机械工程学报,2004,40(1):62-65.HE Jingliang,WU Xutang,LI Jian'gang.Kinematic characteristics and gear pair design for deformed elliptical geared linkage elliptical geared linkage mechanism[J].Journal of Mechanical Engineering,2004,40(1):62-65.(in Chinese)
[20]陈建能,王英,黄前泽,等.钵苗移栽机变形椭圆齿轮行星系植苗机构优化与试验[J].农业工程学报,2013,44(10):52-57.CHEN Jianneng,WANG Ying,HUANG Qianze,et al.Optimization and test of transplanting mechanism with planetary deformed elliptic gears for potted-seedling transplanter[J].Transactions of the CSAE,2013,44(10):52-57.(in Chinese)
[21]马良,石宁.齿轮-五杆组合机构运动学特征仿真分析[J].西安科技大学学报,2013,33(6):727-730.MA Liang,SHI Ning.Gear-5-bar combination mechanism's kinematics characteristic simulation[J].Journal of Xi'an University of Science and Technology,2013,33(6):727-730.(in Chinese)
[22]李学刚,黄永强,冯丽艳.平面五杆机构双曲柄存在的充要条件研究[J].机械科学与技术,2005,24(1):51-53.LI Xuegang,HUANG Yongqiang,FENG Liyan.Study of the sufficient and necessary conditions for existence of double crank of planar five-bar mechanism[J].Mechanical Science and Technology,2005,24(1):51-53.(in Chinese)
[23]李团结,曹惟庆,褚金奎.齿轮-五杆机构轨迹综合的连续法[J].西安理工大学学报,1999,15(4):76-79.LI Tuanjie,CAO Weiqing,CHU Jinkui.Synthesis of path generation of the geared five-bar mechanism by continuation method[J].Journal of Xi'an University of Technology,1999,15(4):76-79.(in Chinese)
[24]PRIMROSE E J F,FREUDENSTEIN F.Geared five-bar motion'part 2-arbitrary commensurate gear ratio minus[J].Journal of Applied Mechanics,1963,30(2):170-175.
[25]YU H,YUAN Z,GLIMARTIN M J,et al.Modelling and control of a slider hybrid seven-bar system[C]∥International Association of Science and Technology for Development(IASTED)International Conference on Robotice and Applications,1999:319-323.
[26]YU H.Modelling and control of hybrid machine systems-a five-bar mechanism case[J].International Journal of Automation and Computing,2006,3:235-243.
[27]俞高红,陈志威,赵匀,等.椭圆-不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J].机械工程学报,2012,48(13):32-39.YU Gaohong,CHEN Zhiwei,ZHAO Yun,et al.Study on vegetable plug seedling pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear[J].Journal of Mechanical Engineering,2012,48(13):32-39.(in Chinese)
[2]姜卫卫.山东地区丹参规范化种植关键技术研究[D].济南:山东中医药大学,2008.JIANG Weiwei.Study on the key technique for good agriculture practice of Salvia miltiorrhiza Bge.cultivated in Shandong[D].Jinan:Shandong University of Traditional Chinese Medicine,2008.(in Chinese)
[3]孙华,张彦玲,高致明,等.丹参种质与栽培技术研究现状及应用前景[J].山东农业科学,2005,36(6):73-74.
[4]王志芬,刘喜民.山东省丹参药材产业现状与发展策略[J].山东农业科学,2012,44(8):131-132.
[5]DB13/T 758.7-2006无公害中药材田间生产技术规程第7部分丹参[S].2006.
[6]张习文.丹参特征特性及栽培技术[J].现代农业科技,2013,17(2):138-139.
[7]赵匀,樊福雷,宋志超,等.反转式共轭凸轮蔬菜钵苗移栽机构的设计与仿真[J].农业工程学报,2014,30(14):8-16.ZHAO Yun,FAN Fulei,SONG Zhichao,et al.Design and simulation of inverted vegetable pot seedling transplanting mechanism with conjugate cam[J].Transactions of the CSAE,2014,30(14):8-16.(in Chinese)
[8]崔嵬,刘双喜,高丽娟,等.2ZFS-1A型多功能烟草移栽机的研制[J].农业工程学报,2012,28(2):36-41.CUI Wei,LIU Shuangxi,GAO Lijuan,et al.Development of 2ZFS-1A multifunctional tobacco transplanting machine[J].Transactions of the CSAE,2012,28(2):36-41.(in Chinese)
[9]胡良龙,王冰,王公仆,等.2ZGF-2型甘薯复式栽植机的设计与试验[J].农业工程学报,2016,32(10):8-16.HU Lianglong,WANG Bing,WANG Gongpu,et al.Design and experiment of type 2ZGF-2 duplex sweet potato transplanter[J].Transactions of the CSAE,2016,32(10):8-16.(in Chinese)
[10]朱斌彬,吕钊钦.带夹式甘薯裸苗移栽机的设计[J].农机化研究,2018,40(6):120-123.ZHU Binbin,LZhaoqin.Design of transplanting machine for nude seedling with belt[J].Journal of Agricultural Mechanization Research,2018,40(6):120-123.(in Chinese)
[11]王徐建,宋建农,刘彩玲,等.甘草倾斜移栽开沟器的设计与试验[J].农业工程学报,2016,32(13):16-23.WANG Xujian,SONG Jiannong,LIU Cailing,et al.Design and experiment on licorice tilt transplanting furrow opener[J].Transactions of the CSAE,2016,32(13):16-23.(in Chinese)
[12]徐高伟,刘宏新,荐世春,等.基于五杆机构的丹参膜上移栽机构设计与试验[J/OL].农业机械学报,2018,49(9):55-65.XU Gaowei,LIU Hongxin,JIAN Shichun,et al.Design and test of transplanting mechanism on mulch-film of Salvia miltiorrhiza based on five-bar mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):55-65.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20180906&flag=1.DOI:10.6041/j.issn.1000-1298.2018.09.006.(in Chinese)
[13]XIN L,LV Z,WANG W,et al.Optimal design and development of a double-crank potted rice seedling transplanting mechanism[J].Transactions of the ASABE,2017,60(1):31-40.
[14]赵匀,朱慧轩,辛亮,等.拟合齿轮五杆水稻钵苗移栽机构的机理分析与试验[J].农业工程学报,2016,32(1):12-21.ZHAO Yun,ZHU Huixuan,XIN Liang,et al.Mechanism analysis and experiment of transplanting mechanism with fitting gear five-bar for rice pot seedling[J].Transactions of the CSAE,2016,32(1):12-21.(in Chinese)
[15]于晓旭,赵匀,陈宝成,等.移栽机械发展现状与展望[J/OL].农业机械学报,2014,45(8):44-53.YU Xiaoxu,ZHAO Yun,CHEN Baocheng,et al.Transplanting machinery development present situation and prospect[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):44-53.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20140808&flag=1.DOI:10.6041/j.issn.1000-1298.2014.08.008.(in Chinese)
[16]赵雄,崔海洋,代丽,等.混合驱动五杆花卉盘栽机构的优化设计与试验[J].农业工程学报,2017,33(15):34-40.ZHAO Xiong,CUI Haiyang,DAI Li,et al.Optimal design and experiment of hybrid-driven five-bar flower potted-seedling transplanting mechanism[J].Transactions of the CSAE,2017,33(15):34-40.(in Chinese)
[17]刘宏新,王盼,改广伟,等.基于五杆机构的注射式免耕播种成穴轨迹分析与参数求解[J].农业工程学报,2017,33(8):21-29.LIU Hongxin,WANG Pan,GAI Guangwei,et al.Analysis and parameter solution of injection type no-till seeding into hole trajectory based on five-bar mechanism[J].Transactions of the CSAE,2017,33(8):21-29.(in Chinese)
[18]何小晶,孙新城,陈建能,等.双曲柄五杆栽植机构运动学分析[J].浙江理工大学学报(自然科学版),2016,35(2):198-204.HE Xiaojing,SUN Xincheng,CHEN Jian'neng,et al.Kinematic analysis on double-crank five-bar planting mechanism[J].Journal of Zhejiang Sci-Tech University(Natural Sciences),2016,35(2):198-204.(in Chinese)
[19]何敬良,吴序堂,李建刚.变形椭圆齿轮连杆机构的运动特性及齿轮副设计[J].机械工程学报,2004,40(1):62-65.HE Jingliang,WU Xutang,LI Jian'gang.Kinematic characteristics and gear pair design for deformed elliptical geared linkage elliptical geared linkage mechanism[J].Journal of Mechanical Engineering,2004,40(1):62-65.(in Chinese)
[20]陈建能,王英,黄前泽,等.钵苗移栽机变形椭圆齿轮行星系植苗机构优化与试验[J].农业工程学报,2013,44(10):52-57.CHEN Jianneng,WANG Ying,HUANG Qianze,et al.Optimization and test of transplanting mechanism with planetary deformed elliptic gears for potted-seedling transplanter[J].Transactions of the CSAE,2013,44(10):52-57.(in Chinese)
[21]马良,石宁.齿轮-五杆组合机构运动学特征仿真分析[J].西安科技大学学报,2013,33(6):727-730.MA Liang,SHI Ning.Gear-5-bar combination mechanism's kinematics characteristic simulation[J].Journal of Xi'an University of Science and Technology,2013,33(6):727-730.(in Chinese)
[22]李学刚,黄永强,冯丽艳.平面五杆机构双曲柄存在的充要条件研究[J].机械科学与技术,2005,24(1):51-53.LI Xuegang,HUANG Yongqiang,FENG Liyan.Study of the sufficient and necessary conditions for existence of double crank of planar five-bar mechanism[J].Mechanical Science and Technology,2005,24(1):51-53.(in Chinese)
[23]李团结,曹惟庆,褚金奎.齿轮-五杆机构轨迹综合的连续法[J].西安理工大学学报,1999,15(4):76-79.LI Tuanjie,CAO Weiqing,CHU Jinkui.Synthesis of path generation of the geared five-bar mechanism by continuation method[J].Journal of Xi'an University of Technology,1999,15(4):76-79.(in Chinese)
[24]PRIMROSE E J F,FREUDENSTEIN F.Geared five-bar motion'part 2-arbitrary commensurate gear ratio minus[J].Journal of Applied Mechanics,1963,30(2):170-175.
[25]YU H,YUAN Z,GLIMARTIN M J,et al.Modelling and control of a slider hybrid seven-bar system[C]∥International Association of Science and Technology for Development(IASTED)International Conference on Robotice and Applications,1999:319-323.
[26]YU H.Modelling and control of hybrid machine systems-a five-bar mechanism case[J].International Journal of Automation and Computing,2006,3:235-243.
[27]俞高红,陈志威,赵匀,等.椭圆-不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J].机械工程学报,2012,48(13):32-39.YU Gaohong,CHEN Zhiwei,ZHAO Yun,et al.Study on vegetable plug seedling pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear[J].Journal of Mechanical Engineering,2012,48(13):32-39.(in Chinese)
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