基于三次拉格朗日曲线拟合轨迹的斜置式扎穴机构研究
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摘要
为更好地满足斜置式扎穴机构喷肥针的入出土轨迹姿态以及不损伤作物的农艺要求,提出基于三次拉格朗日曲线拟合扎穴轨迹的逆向设计参数优化方法,为得到理想的"杏胡形"扎穴轨迹,通过改变相对轨迹上若干型值点的坐标,控制喷肥针入出土姿态并建立喷肥针的运动学模型,采用Matlab GUI开发平台,编写了斜置式非规则齿轮行星轮系扎穴机构的逆向设计与运动学分析仿真软件,最终得到非规则齿轮行星轮系的节曲线、喷肥针的入出土角及喷肥针尖的速度随行星架转角的变化曲线。通过高速摄影试验,观察和分析了在扎穴机构不同斜置角度下喷肥针尖相对运动轨迹的变化规律。试验结果表明,随着机构斜置角度的增大,喷肥针轨迹横向尺寸不变,纵向尺寸减小,扎穴轨迹段曲线逐渐向里收缩。在保证喷肥针扎入土壤一定深度情况下,喷肥针入出土角逐渐增大,随着机构斜置角度的增大,喷肥针轨迹的穴口宽度逐渐增大。
The effects of liquid fertilization for concentrating near crop root system are to speed up the absorption of crops and improve the yield and quality of crops. Deep-into type liquid fertilizer applicator makes the liquid fertilizer into the soil. Aiming to meet the agronomic requirement of trajectory and posture of spray fertilizer needle of oblique type pricking hole mechanism when it got into and out soil and spray fertilizer needle did not damage crops,an optimization method of parameters reverse design was put forward based on Lagrange curve for cubic fitting trajectory. In order to obtain the ideal "xing hu"shaped trajectory for pricking hole,the posture of spray fertilizer needle got into and out soil was controlled by changing the coordinates for some types of value points on static trajectory,and then the kinematics model of spray fertilizer needle was established. The simulation software of reverse design and kinematics analysis was compiled,which was written by Matlab GUI development platform. Finally,the pitch curve of non-circular planetary gear trains,the angle of spray fertilizer needle got into and out soil and speed curve of spray fertilizer needle point along with the change of planet frame angle were got. High-speed photography bench was established and tested. The regulars of relative motion trajectory and absolute motion trajectory of spray fertilizer needle in different oblique angles of pricking hole mechanism were observed and analyzed. The results showed that as the oblique angles of institution increased,the lateral size of track of spray fertilizer needle remained the same,the longitudinal size of track of spray fertilizer needle was decreased,the trajectory curve of pricking hole mechanism was gradually inward contraction.The angles of spray fertilizer needle got into and out the soil were increased gradually when the soil depth was certain; as the oblique angles of institution increased,the width of hole mouth was increased.
The effects of liquid fertilization for concentrating near crop root system are to speed up the absorption of crops and improve the yield and quality of crops. Deep-into type liquid fertilizer applicator makes the liquid fertilizer into the soil. Aiming to meet the agronomic requirement of trajectory and posture of spray fertilizer needle of oblique type pricking hole mechanism when it got into and out soil and spray fertilizer needle did not damage crops,an optimization method of parameters reverse design was put forward based on Lagrange curve for cubic fitting trajectory. In order to obtain the ideal "xing hu"shaped trajectory for pricking hole,the posture of spray fertilizer needle got into and out soil was controlled by changing the coordinates for some types of value points on static trajectory,and then the kinematics model of spray fertilizer needle was established. The simulation software of reverse design and kinematics analysis was compiled,which was written by Matlab GUI development platform. Finally,the pitch curve of non-circular planetary gear trains,the angle of spray fertilizer needle got into and out soil and speed curve of spray fertilizer needle point along with the change of planet frame angle were got. High-speed photography bench was established and tested. The regulars of relative motion trajectory and absolute motion trajectory of spray fertilizer needle in different oblique angles of pricking hole mechanism were observed and analyzed. The results showed that as the oblique angles of institution increased,the lateral size of track of spray fertilizer needle remained the same,the longitudinal size of track of spray fertilizer needle was decreased,the trajectory curve of pricking hole mechanism was gradually inward contraction.The angles of spray fertilizer needle got into and out the soil were increased gradually when the soil depth was certain; as the oblique angles of institution increased,the width of hole mouth was increased.
引文
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5李伟,李絮花,李海燕,等.控释尿素与普通尿素混施对夏玉米产量和氮肥效率的影响[J].作物学报,2012,38(4):700-709.LI Wei,LI Xuhua,LI Haiyan,et al.Effect of different mixing rates of controlled-release urea and common urea on grain yield and nitrogen use efficiency of summer maize[J].Acta Agronomica Sinica,2012,38(4):700-709.(in Chinese)
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7刘春香,王金武,周文琪,等.液肥深施双斜孔式喷肥针动力学分析与试验[J/OL].农业机械学报,2016,47(3):54-58.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160308&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.03.008.LIU Chunxiang,WANG Jinwu,ZHOU Wenqi,et al.Dynamics analysis and experiment of double oblique hole spray fertilizer needle of liquid fertilizer deep-fertilization[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):54-58.(in Chinese)
8刘春香,王金武,唐汉,等.基于贝塞尔曲线的液肥扎穴机构动力学分析与试验[J/OL].农业机械学报,2016,47(5):116-122.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160516&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.05.016.LIU Chunxiang,WANG Jinwu,TANG Han,et al.Dynamics analysis and test on picking hole mechanism of liquid fertilizer based on bezier curve[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(5):116-122.(in Chinese)
9冯金龙,王金武,周文琪,等.变形椭圆齿轮式扎穴机构设计与工作参数试验优化[J/OL].农业机械学报,2017,48(4):1-8.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170411&journal_id=jcsam.10.6041/j.issn.1000-1298.2017.04.011.FENG Jinlong,WANG Jinwu,ZHOU Wenqi,et al.Design of pricking hole mechanism with deformation elliptical gears and optimization of experiment with work parameters[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):1-8.(in Chinese)
10何剑南.液肥注射式工作部件的工作机理与试验研究[D].哈尔滨:东北农业大学,2013.HE Jiannan.Study on working principle and experiment of work components of liquid fertilizer injection type[D].Harbin:Northeast Agricultural University,2013.(in Chinese)
11陈建能,黄前泽,王英,等.钵苗移栽机非圆齿轮行星轮系栽植机构参数分析与反求[J].农业工程学报,2013,29(8):18-26.CHEN Jianneng,HUANG Qianze,WANG Ying,et al.Parametric analysis and inversion of transplanting mechanism with planetary non-circular gears for potted-seedling transplanter[J].Transactions of the CSAE,2013,29(8):18-26.(in Chinese)
12王金武,潘振伟,杨欣伦,等.深施型液态施肥机液肥转子式转换器设计与试验[J/OL].农业机械学报,2014,45(10):110-115.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20141018&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.10.018.WANG Jinwu,PAN Zhenwei,YANG Xinlun,et al.Design and experiment of rotary converter of liquid fertilizer[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):110-115.(in Chinese)
13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)
14 YOSHIAKI Yokoyama,KIYOSHI Ogawa.Dynamic characteristic of the noncircular planetary gear mechanisms with nonuniform motion[J].Bulletin of the JSME,1974,17(103):149-152.
15陈修龙,孙德才,王清.基于拉格朗日的冗余驱动并联机构刚体动力学建模[J/OL].农业机械学报,2015,46(12):329-336.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151245&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.12.045.CHEN Xiulong,SUN Decai,WANG Qing.Rigid dynamics modeling of redundant actuation parallel mechanism based on Lagrange method[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):329-336.(in Chinese)
16赵雄,陈建能,王英,等.水稻钵苗“D形”静轨迹移栽机构逆向设计与分析[J].农业工程学报,2012,28(8):92-97.ZHAO Xiong,CHEN Jianneng,WANG Ying,et al.Reverse design and analysis of rice seedling transplanter with D-shape static trajectory[J].Transactions of the CSAE,2012,28(8):92-97.(in Chinese)
17张春凤.非圆齿轮行星系扎穴机构的反求设计与仿真[D].哈尔滨:东北农业大学,2014.ZHANG Chunfeng.Reverse design and kinematic analysis of non-circular planetary gear trains pricking hole mechanism[D].Harbin:Northeast Agricultural University,2014.(in Chinese)
18吴序堂,王贵海.非圆齿轮及非匀速比传动[M].北京:机械工业出版社,1997.
19俞高红,赵凤芹,武传宇,等.正齿行星轮分插机构的运动特性分析[J].农业机械学报,2004,35(6):55-57,51.YU Gaohong,ZHAO Fengqin,WU Chuanyu,et al.Analysis of kinematic property of separating-planting mechanism with planetary gears[J].Transactions of the Chinese Society for Agricultural Machinery,2004,35(6):55-57,51.(in Chinese)
20黄前泽.钵苗移栽机行星轮系植苗机构关键技术研究及试验[D].杭州:浙江理工大学,2012.HUANG Qianze.Study on key technology and test of transplanting mechanism with planetary gears for potted-seeding transplanter[D].Hangzhou:Zhejiang Sci-Tech University,2012.(in Chinese)
21余佳佳,丁幼春,廖宜涛,等.基于高速摄像的气力式油菜精量排种器投种轨迹分析[J].华中农业大学学报,2014,33(3):103-108.YU Jiajia,DING Youchun,LIAO Yitao,et al.High-speed photography analysis of dropping trajectory on pneumatic metering device for rapeseed[J].Journal of Huazhong Agricultural University,2014,33(3):103-108.(in Chinese)
22陶桂香,衣淑娟,汪春,等.基于高速摄像技术的水稻钵盘精量播种装置投种过程分析[J].农业工程学报,2012,28(2):197-201.TAO Guixiang,YI Shujuan,WANG Chun,et al.Analysis on dropping processing of precision sowing device in rice seeding bowl by high-speed photography[J].Transactions of the CSAE,2012,28(2):197-201.(in Chinese)
2王云霞.液体肥料的应用现状与发展趋势[J].化肥设计,2003,41(4):10-13.
3徐秀成.提高肥料利用率化工部门能做些什么[J].磷肥与复肥,1999,14(3):6-11.XU Xiucheng.What can departments of chemical industry do for raising fertilizer use efficiency[J].Phosphate&Compound Fertilizer,1999,14(3):6-11.(in Chinese)
4窦桂梅,刘巧英.机械深施化肥应用技术研究[J].山西农业科学,2000,28(2):56-58.DOU Guimei,LIU Qiaoying.Research on application technology of mechanized deep fertilization[J].Agricultural Science of Shanxi,2000,28(2):56-58.(in Chinese)
5李伟,李絮花,李海燕,等.控释尿素与普通尿素混施对夏玉米产量和氮肥效率的影响[J].作物学报,2012,38(4):700-709.LI Wei,LI Xuhua,LI Haiyan,et al.Effect of different mixing rates of controlled-release urea and common urea on grain yield and nitrogen use efficiency of summer maize[J].Acta Agronomica Sinica,2012,38(4):700-709.(in Chinese)
6王金武,周文琪,张春凤,等.非规则齿轮行星系扎穴机构反求设计与试验[J/OL].农业机械学报,2015,46(11):71-75.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151111&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.11.011.WANG Jinwu,ZHOU Wenqi,ZHANG Chunfeng,et al.Reverse design and experiment of non-circular gear planetary system picking hole mechanism[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(11):71-75.(in Chinese)
7刘春香,王金武,周文琪,等.液肥深施双斜孔式喷肥针动力学分析与试验[J/OL].农业机械学报,2016,47(3):54-58.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160308&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.03.008.LIU Chunxiang,WANG Jinwu,ZHOU Wenqi,et al.Dynamics analysis and experiment of double oblique hole spray fertilizer needle of liquid fertilizer deep-fertilization[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):54-58.(in Chinese)
8刘春香,王金武,唐汉,等.基于贝塞尔曲线的液肥扎穴机构动力学分析与试验[J/OL].农业机械学报,2016,47(5):116-122.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20160516&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2016.05.016.LIU Chunxiang,WANG Jinwu,TANG Han,et al.Dynamics analysis and test on picking hole mechanism of liquid fertilizer based on bezier curve[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(5):116-122.(in Chinese)
9冯金龙,王金武,周文琪,等.变形椭圆齿轮式扎穴机构设计与工作参数试验优化[J/OL].农业机械学报,2017,48(4):1-8.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170411&journal_id=jcsam.10.6041/j.issn.1000-1298.2017.04.011.FENG Jinlong,WANG Jinwu,ZHOU Wenqi,et al.Design of pricking hole mechanism with deformation elliptical gears and optimization of experiment with work parameters[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):1-8.(in Chinese)
10何剑南.液肥注射式工作部件的工作机理与试验研究[D].哈尔滨:东北农业大学,2013.HE Jiannan.Study on working principle and experiment of work components of liquid fertilizer injection type[D].Harbin:Northeast Agricultural University,2013.(in Chinese)
11陈建能,黄前泽,王英,等.钵苗移栽机非圆齿轮行星轮系栽植机构参数分析与反求[J].农业工程学报,2013,29(8):18-26.CHEN Jianneng,HUANG Qianze,WANG Ying,et al.Parametric analysis and inversion of transplanting mechanism with planetary non-circular gears for potted-seedling transplanter[J].Transactions of the CSAE,2013,29(8):18-26.(in Chinese)
12王金武,潘振伟,杨欣伦,等.深施型液态施肥机液肥转子式转换器设计与试验[J/OL].农业机械学报,2014,45(10):110-115.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20141018&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2014.10.018.WANG Jinwu,PAN Zhenwei,YANG Xinlun,et al.Design and experiment of rotary converter of liquid fertilizer[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(10):110-115.(in Chinese)
13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)
14 YOSHIAKI Yokoyama,KIYOSHI Ogawa.Dynamic characteristic of the noncircular planetary gear mechanisms with nonuniform motion[J].Bulletin of the JSME,1974,17(103):149-152.
15陈修龙,孙德才,王清.基于拉格朗日的冗余驱动并联机构刚体动力学建模[J/OL].农业机械学报,2015,46(12):329-336.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20151245&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.12.045.CHEN Xiulong,SUN Decai,WANG Qing.Rigid dynamics modeling of redundant actuation parallel mechanism based on Lagrange method[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):329-336.(in Chinese)
16赵雄,陈建能,王英,等.水稻钵苗“D形”静轨迹移栽机构逆向设计与分析[J].农业工程学报,2012,28(8):92-97.ZHAO Xiong,CHEN Jianneng,WANG Ying,et al.Reverse design and analysis of rice seedling transplanter with D-shape static trajectory[J].Transactions of the CSAE,2012,28(8):92-97.(in Chinese)
17张春凤.非圆齿轮行星系扎穴机构的反求设计与仿真[D].哈尔滨:东北农业大学,2014.ZHANG Chunfeng.Reverse design and kinematic analysis of non-circular planetary gear trains pricking hole mechanism[D].Harbin:Northeast Agricultural University,2014.(in Chinese)
18吴序堂,王贵海.非圆齿轮及非匀速比传动[M].北京:机械工业出版社,1997.
19俞高红,赵凤芹,武传宇,等.正齿行星轮分插机构的运动特性分析[J].农业机械学报,2004,35(6):55-57,51.YU Gaohong,ZHAO Fengqin,WU Chuanyu,et al.Analysis of kinematic property of separating-planting mechanism with planetary gears[J].Transactions of the Chinese Society for Agricultural Machinery,2004,35(6):55-57,51.(in Chinese)
20黄前泽.钵苗移栽机行星轮系植苗机构关键技术研究及试验[D].杭州:浙江理工大学,2012.HUANG Qianze.Study on key technology and test of transplanting mechanism with planetary gears for potted-seeding transplanter[D].Hangzhou:Zhejiang Sci-Tech University,2012.(in Chinese)
21余佳佳,丁幼春,廖宜涛,等.基于高速摄像的气力式油菜精量排种器投种轨迹分析[J].华中农业大学学报,2014,33(3):103-108.YU Jiajia,DING Youchun,LIAO Yitao,et al.High-speed photography analysis of dropping trajectory on pneumatic metering device for rapeseed[J].Journal of Huazhong Agricultural University,2014,33(3):103-108.(in Chinese)
22陶桂香,衣淑娟,汪春,等.基于高速摄像技术的水稻钵盘精量播种装置投种过程分析[J].农业工程学报,2012,28(2):197-201.TAO Guixiang,YI Shujuan,WANG Chun,et al.Analysis on dropping processing of precision sowing device in rice seeding bowl by high-speed photography[J].Transactions of the CSAE,2012,28(2):197-201.(in Chinese)