非圆齿轮-连杆组合传动式蔬菜钵苗移栽机构设计
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摘要
针对现有的单行星架轮系机构无法实现取栽一体式蔬菜移栽机构所需的作业轨迹和姿态问题,该文基于曲柄摇杆机构的变速摆动和非圆齿轮的不等速传动特性相结合的思想,提出一种双行星架非圆齿轮与连杆机构组合传动的取栽一体式蔬菜钵苗移栽机构。该机构的副行星架相对主行星架作变速摆动,移栽臂相对副行星架作回转运动。采用三次非均匀B样条拟合非圆齿轮节曲线建立移栽机构运动学模型。结合西芹移栽株距220 mm、苗高100～150 mm和穴钵深度40 mm的移栽农艺要求,优选出一组适合西芹钵苗取栽一体作业的尖嘴形轨迹和姿态。轨迹取苗段长度33 mm,植苗点距离行星架壳体运动最低点距地面高度55 mm,取苗角23°,取苗过程变化角16°,推苗角65°,轨迹整体高度355 mm,动轨迹环口高度125 mm。通过对比分析仿真轨迹、试验轨迹与理论分析的轨迹基本一致,验证了移栽机构作业轨迹的正确性和设计方案的可行性,该研究可为实现兼顾轨迹高度、取苗深度和作业姿态的取栽一体式蔬菜钵苗移栽机构设计提供技术参考。
Vegetable pot seedling transplantation has many advantages, such as high survival rate, promoting crop early maturity and improving land use rate. Mechanized transplanting of vegetable can be divided into semi-automatic transplanting and fully-automatic transplanting. Semi-automatic transplanting is mainly carried out by feeding the seedlings into the seedling transplanter manually, which has low efficiency and high labor intensity, and it is not conducive to field operations. At present,the automatic transplanting machine mainly adopts multiple mechanisms to complete a series of actions such as picking up seedling, conveying and planting, but it has the disadvantages of complex structure, high cost and low efficiency. In order to simplify the structure, the way to complete the transplanting operation with a single mechanism is proposed. However, due to the complicated working trajectory of transplanting vegetable seedling and much posture requirements, the transmission ratio of the mechanism is required to be changed greatly, which resulting in the irregular shape of the non-circular gear section of the single planetary gear is not conducive to processing and affects the transmission performance of the gear. A double-planetary non-circular gears linkage of vegetable pot seedling transplanting mechanism is proposed to solve the problem mentioned above in this paper. The transmission part of transplanting mechanism is composed of planetary gear train mechanism and crank rocker mechanism, The main planetary frame rotates at a uniform speed, through the transmission of internal gears and connecting rods, the unequal transmission of non-circular gear system and the periodic variable-speed swing of crank-rocker mechanism are superimposed, which makes the sub-planetary frame swing with respect to the main planetary frame and the transplanting arm rotate with respect to the sub-planetary frame, thus the transmission ratio needed to realize the complex transplanting trajectory and posture is obtained. Non-uniform B-spline curve is applied to fit the pitch curve of non-circular gear to obtain closed, smooth and continuous pitch curves, and the mathematical model of gear train is established based on coordinate transformation theory. Based on the development platform of Matlab, an optimization program is compiled to analyze the effect of transmission case noncircular gear pitch curve and crank rocker mechanism on the shape of trajectory. Further, the effects of the structure and position parameters of the gears and transplanting arm on the target parameters of the transplanting trajectory are analyzed. According to the requirements of 220 mm planting spacing, 120 mm seedling height and 40 mm deep pot for celery transplantation, a set of sharp beak trajectory that satisfies the requirements of the operation posture of picking up seedling and planting is optimized. The optimizing values are that the length of the picking up seedling trajectory is 33 mm, the distance from the lowest point of the trajectory to the lowest point of the planet carrier is 55 mm, the angle of picking up seedlings is 23°, the angle of change in the process of picking up seedlings is 16°, the angle of planting seedlings is 65°, the whole height of the trajectory is 355 mm, and the height of the buckle of the moving trajectory is 125 mm. A three-dimensional model of the mechanism is built and a virtual simulation is performed based on the optimization result. The results show that the simulated trajectory and velocity of the transplanting mechanism are basically consistent with the theoretical results. The trajectory and postures of the transplanting arm are analyzed by a test bench, industrial camera and image processing software. The results show that the trajectory of seedling-taking and seedling-pushing sections coincides with the simulation trajectory basically and the theoretical data, and the error is within 2 mm, which can meet the requirements of transplanting operation, the transplanting mechanism designed is reasonable and feasible.
Vegetable pot seedling transplantation has many advantages, such as high survival rate, promoting crop early maturity and improving land use rate. Mechanized transplanting of vegetable can be divided into semi-automatic transplanting and fully-automatic transplanting. Semi-automatic transplanting is mainly carried out by feeding the seedlings into the seedling transplanter manually, which has low efficiency and high labor intensity, and it is not conducive to field operations. At present,the automatic transplanting machine mainly adopts multiple mechanisms to complete a series of actions such as picking up seedling, conveying and planting, but it has the disadvantages of complex structure, high cost and low efficiency. In order to simplify the structure, the way to complete the transplanting operation with a single mechanism is proposed. However, due to the complicated working trajectory of transplanting vegetable seedling and much posture requirements, the transmission ratio of the mechanism is required to be changed greatly, which resulting in the irregular shape of the non-circular gear section of the single planetary gear is not conducive to processing and affects the transmission performance of the gear. A double-planetary non-circular gears linkage of vegetable pot seedling transplanting mechanism is proposed to solve the problem mentioned above in this paper. The transmission part of transplanting mechanism is composed of planetary gear train mechanism and crank rocker mechanism, The main planetary frame rotates at a uniform speed, through the transmission of internal gears and connecting rods, the unequal transmission of non-circular gear system and the periodic variable-speed swing of crank-rocker mechanism are superimposed, which makes the sub-planetary frame swing with respect to the main planetary frame and the transplanting arm rotate with respect to the sub-planetary frame, thus the transmission ratio needed to realize the complex transplanting trajectory and posture is obtained. Non-uniform B-spline curve is applied to fit the pitch curve of non-circular gear to obtain closed, smooth and continuous pitch curves, and the mathematical model of gear train is established based on coordinate transformation theory. Based on the development platform of Matlab, an optimization program is compiled to analyze the effect of transmission case noncircular gear pitch curve and crank rocker mechanism on the shape of trajectory. Further, the effects of the structure and position parameters of the gears and transplanting arm on the target parameters of the transplanting trajectory are analyzed. According to the requirements of 220 mm planting spacing, 120 mm seedling height and 40 mm deep pot for celery transplantation, a set of sharp beak trajectory that satisfies the requirements of the operation posture of picking up seedling and planting is optimized. The optimizing values are that the length of the picking up seedling trajectory is 33 mm, the distance from the lowest point of the trajectory to the lowest point of the planet carrier is 55 mm, the angle of picking up seedlings is 23°, the angle of change in the process of picking up seedlings is 16°, the angle of planting seedlings is 65°, the whole height of the trajectory is 355 mm, and the height of the buckle of the moving trajectory is 125 mm. A three-dimensional model of the mechanism is built and a virtual simulation is performed based on the optimization result. The results show that the simulated trajectory and velocity of the transplanting mechanism are basically consistent with the theoretical results. The trajectory and postures of the transplanting arm are analyzed by a test bench, industrial camera and image processing software. The results show that the trajectory of seedling-taking and seedling-pushing sections coincides with the simulation trajectory basically and the theoretical data, and the error is within 2 mm, which can meet the requirements of transplanting operation, the transplanting mechanism designed is reasonable and feasible.
引文
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[2]张波屏.现代种植机械工程[M].北京:机械工业出版社,1997.
[3]王盛春,郑耘杰.我国农业机械发展趋势分析[J].河北农机,2012(6):44-52.
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[7]金鑫,姬江涛,刘卫想,等.基于钵苗运动动力学模型的鸭嘴式移栽机结构优化[J].农业工程学报,2018,34(9):58-67.Jin Xin,Ji Jiangtao,Liu Weixiang,et al.Structural optimization of duckbilled transplanter based on dynamic model of pot seedling movement[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2018,34(9):58-67.(in Chinese with English abstract)
[8]赵匀,刘星,薛向磊,等.茄子钵苗全自动移栽机构优化设计与试验[J].农业机械学报,2018,49(5):152-160.Zhao Yun,Liu Xing,Xue Xianglei,et al.Optimal design and experiment of fully-automated potted eggplant seedling transplanting mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):152-160.(in Chinese with English abstract)
[9]赵雄,沈明,陈建能,等.棉花移栽机旋转式取苗机构的运动学分析及虚拟试验[J].农业工程学报,2014,30(8):13-20.Zhao Xiong,Shen Ming,Chen Jianneng,et al.Kinematic analysis and virtual experiment of rotary pick-up mechanism on cotton transplanter[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2014,30(8):13-20.(in Chinese with English abstract)
[10]周梅芳,俞高红,赵匀,等.椭圆齿轮行星轮系蔬菜钵苗取苗机构的参数优化与试验[J].农业工程学报,2014,30(18):13-21.Zhou Meifang,Yu Gaohong,Zhao Yun,et al.Parameter optimization and test on pick-up mechanism of planetary gear train with ellipse gears for vegetable plug seedling[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2014,30(18):13-21.(in Chinese with English abstract)
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[16]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 Chinese Society of Agricultural Engineering(Transactions of the CSAE),2014,30(14):8-16.(in Chinese with English abstract)
[17]Sun L,Mao S,Zhao Y,et al.Kinematic analysis of rotary transplanting mechanism for wide-narrow row pot seedlings[J].Transactions of the ASABE,2016,59(2):475-485.
[18]Zhou M,Sun L,Du X,et al.Optimal design and experiment of rice pot seedling transplanting mechanism with planetary bezier gears[J].Transactions of the ASABE,2014,57(6):1537-1548.
[19]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.
[20]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].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].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):55-65.(in Chinese with English abstract)
[21]Riaza H F Q,Nebot S J.The synthesis of an N-Lobe noncircular gear using Bézier and B-spline nonparametric curves in the design of its displacement law[J].Journal of Mechanical Design,2007,129(9):981-985.
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