三臂回转式蔬菜钵苗取苗机构设计与试验
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摘要
当前我国蔬菜的移栽机械主要为半自动移栽机,其移栽效率取决于人工取苗速度,生产力已不能满足实际需求,两臂回转式自动取苗机构的效率还有提高潜力。为实现高速取苗作业,研究了保持取苗机构回转速度不变情况下,增加取苗臂数量的实现方式。在满足特定取苗动作姿态的前提下,设计了一种三臂回转式蔬菜钵苗取苗机构。以机械取苗代替人工取苗,模拟出了合理的取苗轨迹;基于Visual Basic 6. 0开发辅助分析软件,通过人机交互方式得出一组满足取苗工作要求的机构参数,然后建立该机构的三维模型,完成实体样机装配;取苗机构在35 r/min的回转速度下,取苗速度为105株/(min·行),摄像分析得知,该机构样机运行轨迹与仿真轨迹非常接近,对彩叶草钵苗进行取苗试验,取苗成功率达到91. 2%,证明三臂回转式蔬菜钵苗取苗机构设计的可行性。
At present, the vegetable transplanting machinery in China is mainly semi-automatic transplanting machines. The transplanting efficiency depends on the speed of artificial seedling pick-up,its productivity can no longer meet the market,and the efficiency of two-arm rotary automatic seedling pick-up mechanism also has the potential to improve. In order to realize the high-speed seedling pick-up operation,it was studied to increase the number of seedling pick-up arms in the case of keeping the rotation speed of the seedling pick-up mechanism unchanged. A three-arm rotary vegetable plug seedling pick-up mechanism under the condition of satisfying the specific seedling pick-up action posture was designed. Mechanical seedling pick-up was used instead of artificial seedling pick-up to simulate a reasonable seedling pick-up trajectory. Based on Visual Basic 6. 0 auxiliary analysis software was developed and a set of institutional parameters that met the requirements of seedling pick-up work were obtained through human-computer interaction. Then a three-dimensional model of the seedling pick-up mechanism was established and the physical prototype assembly was completed. At rotation speed of35 r/min,the seedling-picking speed of seedling pick-up mechanism was 105 plants/( min·row),the running trajectory of the mechanism was very close to the simulation trajectory through camera analysis.The picking seedling test of the Coleus blumei seedlings was carried out and the test showed that the success rate of picking seedling reached 91. 2%. It was proved that the design of three-arm rotary vegetable plug seedling pick-up mechanism was feasible.
At present, the vegetable transplanting machinery in China is mainly semi-automatic transplanting machines. The transplanting efficiency depends on the speed of artificial seedling pick-up,its productivity can no longer meet the market,and the efficiency of two-arm rotary automatic seedling pick-up mechanism also has the potential to improve. In order to realize the high-speed seedling pick-up operation,it was studied to increase the number of seedling pick-up arms in the case of keeping the rotation speed of the seedling pick-up mechanism unchanged. A three-arm rotary vegetable plug seedling pick-up mechanism under the condition of satisfying the specific seedling pick-up action posture was designed. Mechanical seedling pick-up was used instead of artificial seedling pick-up to simulate a reasonable seedling pick-up trajectory. Based on Visual Basic 6. 0 auxiliary analysis software was developed and a set of institutional parameters that met the requirements of seedling pick-up work were obtained through human-computer interaction. Then a three-dimensional model of the seedling pick-up mechanism was established and the physical prototype assembly was completed. At rotation speed of35 r/min,the seedling-picking speed of seedling pick-up mechanism was 105 plants/( min·row),the running trajectory of the mechanism was very close to the simulation trajectory through camera analysis.The picking seedling test of the Coleus blumei seedlings was carried out and the test showed that the success rate of picking seedling reached 91. 2%. It was proved that the design of three-arm rotary vegetable plug seedling pick-up mechanism was feasible.
引文
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[10]俞高红,廖振飘,徐乐辉,等.大株距行星轮系蔬菜钵苗栽植机构优化设计与试验[J/OL].农业机械学报,2015,46(7):38-44. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150706&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2015. 07. 006.YU Gaohong,LIAO Zhenpiao,XU Lehui,et al. Optimization design and test of large spacing planetary gear train for vegetable pot-seedling planting mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):38-44.(in Chinese)
[11]俞亚新,骆春晓,俞高红,等.椭圆-不完全非圆齿轮行星系取苗机构参数优化[J/OL].农业机械学报,2013,44(6):62-68. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20130612&journal_id=jcsam. DOI:10. 6041/j. issn. 10001298. 2013. 06. 012.YU Yaxin,LUO Chunxiao,YU Gaohong,et al. Parameters optimization of pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):62-68.(in Chinese)
[12]吴国环,俞高红,项筱洁,等.三移栽臂水稻钵苗移栽机构设计与试验[J].农业工程学报,2017,33(15):15-22.WU Guohuan,YU Gaohong,XIANG Xiaojie,et al. Design and test of rice potted-seedling transplanting mechanism with three transplanting arms[J]. Transactions of the CSAE,2017,33(15):15-22.(in Chinese)
[13]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 Machanical Engineering,2012,48(13):32-39.(in Chinese)
[14]叶秉良,唐涛,俞高红,等.组合式非圆齿轮行星轮系取苗机构动力学分析与试验[J/OL].农业机械学报,2018,49(12):74-82. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20181209&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2018. 12. 009.YE Bingliang,TANG Tao,YU Gaohong,et al. Dynamics analysis and tests on seedling pick-up mechanism of planetary gear train of combined gear transmission with non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(12):74-82.(in Chinese)
[15]俞高红,俞腾飞,叶秉良,等.一种新型行星轮系机构的研究[J].机械工程学报,2013,49(15):55-61.YU Gaohong,YU Tengfei,YE Bingliang,et al. Research on a new planetary gear train mechanism[J]. Journal of Machanical Engineering,2013,49(15):55-61.(in Chinese)
[16]王金武,张春凤,周文琪,等.基于MATLAB仿真的非规则齿轮行星系扎穴机构的优化设计[J].农业工程学报,2016,32(3):22-28.WANG Jinwu,ZHANG Chunfeng,ZHOU Wenqi,et al. Optimization design of non-circular planetary gear trains pricking hole mechanism based on MATLAB[J]. Transactions of the CSAE,2016,32(3):22-28.(in Chinese)
[17] JOVAN D,IVAN K,MARKO D. One approach for modelling intermittent motion mechanism with noncircular gears[J].Machine Design,2011,3(2):121-126.
[18] MUNDO D. Geometric design of a planetary gear train with non-circular gears[J]. Mechanism and Machine Theory,2006,41:456-472.
[19]俞高红,钱孟波,赵匀,等.偏心齿轮-非圆齿轮行星系分插机构运动机理分析[J].农业机械学报,2009,40(3):81-84.YU Gaohong,QIAN Mengbo,ZHAO Yun,et al. Analysis of kinematic principle of transplanting mechanism with eccentric gears and non-circular gear[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(3):81-84.(in Chinese)
[20]李建生,李华敏.不同类型非圆行星齿轮液压马达的性能分析[J].中国机械工程,1994,5(4):21-23.LI Jiansheng,LI Huamin. Property analysis of the hydraulic motor with different noncircular gear mechanism[J]. China Mechanical Engineering,1994,5(4):21-23.(in Chinese)
[21]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 CSAE,2014,30(18):13-21.(in Chinese)
[2]肖体琼,何春霞,曹光乔,等.机械化生产视角下我国蔬菜产业发展现状及国外模式研究[J].农业现代化研究,2015,36(5):857-861.XIAO Tiqiong,HE Chunxia,CAO Guangqiao,et al. Comparison analysis between China's and foreign vegetable productions with the adoption of mechanization[J]. Research of Agricultural Modernization,2015,36(5):857-861.(in Chinese)
[3]国家发展改革委,农业部.全国蔬菜产业发展规划(2011—2020年)[EB/OL].(2012-02-22)[2018-10-15]. http:∥www.moa. gov. cn/nybgb/2012/dsanq/201805/t20180512_6141970. htm.
[4] KONOSUKE T. Development of fully automatic vegetable transplanter[J]. JARQ,2000,34(1):21-28.
[5] WAN ISHAK W I,AWAL M A,ELANGO R. Development of an automatic transplanter for the gantry system[J]. Asian Journal of Scientific Research,2008,1(4):451-457.
[6]张振国,曹卫彬,王侨,等.穴盘苗自动移栽机的发展现状与展望[J].农机化研究,2013,35(5):237-241.ZHANG Zhenguo,CAO Weibin,WANG Qiao,et al. Development status and prospect of plug seedlings automatic transplanting machine[J]. Journal of Agricultural Mechanization Research,2013,35(5):237-241.(in Chinese)
[7] ARMSTRONG E C,HANACEK W A,SPINETTI T A. Automatic soil plug loader and feeder:US4443151[P]. 1984-04-17.
[8] CHOI W C,KIM D C,RYU I H,et al. Development of seedling pick-up device for vegetable transplants[J]. Transactions of the ASAE,2001,45(1):13-19.
[9]伊藤尚胜,清水修一,和田俊即.移植机的苗移植机构:99118740. 7[P]. 2000-05-03.
[10]俞高红,廖振飘,徐乐辉,等.大株距行星轮系蔬菜钵苗栽植机构优化设计与试验[J/OL].农业机械学报,2015,46(7):38-44. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150706&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2015. 07. 006.YU Gaohong,LIAO Zhenpiao,XU Lehui,et al. Optimization design and test of large spacing planetary gear train for vegetable pot-seedling planting mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):38-44.(in Chinese)
[11]俞亚新,骆春晓,俞高红,等.椭圆-不完全非圆齿轮行星系取苗机构参数优化[J/OL].农业机械学报,2013,44(6):62-68. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20130612&journal_id=jcsam. DOI:10. 6041/j. issn. 10001298. 2013. 06. 012.YU Yaxin,LUO Chunxiao,YU Gaohong,et al. Parameters optimization of pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):62-68.(in Chinese)
[12]吴国环,俞高红,项筱洁,等.三移栽臂水稻钵苗移栽机构设计与试验[J].农业工程学报,2017,33(15):15-22.WU Guohuan,YU Gaohong,XIANG Xiaojie,et al. Design and test of rice potted-seedling transplanting mechanism with three transplanting arms[J]. Transactions of the CSAE,2017,33(15):15-22.(in Chinese)
[13]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 Machanical Engineering,2012,48(13):32-39.(in Chinese)
[14]叶秉良,唐涛,俞高红,等.组合式非圆齿轮行星轮系取苗机构动力学分析与试验[J/OL].农业机械学报,2018,49(12):74-82. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20181209&journal_id=jcsam.DOI:10. 6041/j. issn. 1000-1298. 2018. 12. 009.YE Bingliang,TANG Tao,YU Gaohong,et al. Dynamics analysis and tests on seedling pick-up mechanism of planetary gear train of combined gear transmission with non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(12):74-82.(in Chinese)
[15]俞高红,俞腾飞,叶秉良,等.一种新型行星轮系机构的研究[J].机械工程学报,2013,49(15):55-61.YU Gaohong,YU Tengfei,YE Bingliang,et al. Research on a new planetary gear train mechanism[J]. Journal of Machanical Engineering,2013,49(15):55-61.(in Chinese)
[16]王金武,张春凤,周文琪,等.基于MATLAB仿真的非规则齿轮行星系扎穴机构的优化设计[J].农业工程学报,2016,32(3):22-28.WANG Jinwu,ZHANG Chunfeng,ZHOU Wenqi,et al. Optimization design of non-circular planetary gear trains pricking hole mechanism based on MATLAB[J]. Transactions of the CSAE,2016,32(3):22-28.(in Chinese)
[17] JOVAN D,IVAN K,MARKO D. One approach for modelling intermittent motion mechanism with noncircular gears[J].Machine Design,2011,3(2):121-126.
[18] MUNDO D. Geometric design of a planetary gear train with non-circular gears[J]. Mechanism and Machine Theory,2006,41:456-472.
[19]俞高红,钱孟波,赵匀,等.偏心齿轮-非圆齿轮行星系分插机构运动机理分析[J].农业机械学报,2009,40(3):81-84.YU Gaohong,QIAN Mengbo,ZHAO Yun,et al. Analysis of kinematic principle of transplanting mechanism with eccentric gears and non-circular gear[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(3):81-84.(in Chinese)
[20]李建生,李华敏.不同类型非圆行星齿轮液压马达的性能分析[J].中国机械工程,1994,5(4):21-23.LI Jiansheng,LI Huamin. Property analysis of the hydraulic motor with different noncircular gear mechanism[J]. China Mechanical Engineering,1994,5(4):21-23.(in Chinese)
[21]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 CSAE,2014,30(18):13-21.(in Chinese)