用于番茄果秧分离的多组非圆行星轮系振动发生器设计
|
摘要
针对现有用于番茄果秧分离的双偏心块振动发生器运动参数易受载荷影响、分离滚筒易堵塞以及前期研究的单组非圆行星轮系振动发生器传动部件载荷不均衡等问题,设计了一种三组非圆行星轮系振动发生器。对双偏心块式振动发生器驱动下分离滚筒的运动进行了分析,获取了分离滚筒拟合角位移、角速度曲线,并将其作为三组非圆行星轮系振动发生器的输出目标曲线。通过建立非圆齿轮传动比方程以及节曲线方程,确定了三组非圆行星轮系振动发生器非圆齿轮的基本参数。搭建了分离滚筒运动测试试验台,利用高速摄像系统在振动发生器输入转速为111 r/min,高速摄像系统帧率为800帧/s的参数条件下获得实测角位移、角速度,通过MATLAB软件获取了分离滚筒在三组非圆行星轮系振动发生器驱动下的角位移和角速度拟合曲线,并分别与对应的仿真曲线和目标曲线进行对比分析,结果表明:试验角位移和角速度曲线与仿真及目标曲线基本吻合。验证了非圆行星轮系振动发生器设计的合理性。通过ADAMS获取了三组和单组非圆行星轮系振动发生器的齿面接触力,通过对比分析,发现单组非圆行星轮系振动发生器的齿面接触力变化范围为0~200 000 N,三组非圆行星轮系振动发生器齿面接触力为0~125 N,验证了三组相对于单组非圆行星轮系振动发生器更加均衡的特性。该研究为多组非圆行星轮系番茄果秧分离振动发生器的开发提供参考。
The processing tomato planting area is increasing year by year in Xinjiang,and mechanized harvesting has become an important mean of tomato harvesting.Fruit seedling separation device is one of the core working parts of processed tomato harvesting machine.At present,double eccentric block type of fruit seedling separating vibration generator is widely used.However,there are still some problems with this relatively matured technology,such as motion parameters are easily affected by load,device is easily blocked and so on,which strongly affect the performance of processing tomato harvesting machine.Some scholars proposed to apply non-circular planetary gear to the structure design of tomato fruit seedling vibration generator,but this type of tomato fruit seedling vibration generator has a problem that its transmission components load is imbalanced.To solve above problems,in this study,we put forward multiple-group non-circular planetary gear of tomato fruit seedling vibration generator.The research results published from other scholars about trajectories of separation roller and conditions of tomato harvesting vibration were used when we designed tomato fruit separation vibration generator base on multi-group non-circular planetary gear.Trigonometric function and MATLAB software were exploited to fit separate roller angular velocity and angular displacement scatter curve.Then fitting curve of angular displacement and angular velocity were obtained as well as input and output angular displacement fitting function type,which served as the objective function of tomato fruit separation vibration generator based on multi-group non-circular planetary gear.The fitting degree with no more than 0.85 of angular displacement and velocity were obtained.The Origin Pro9.0 was used to obtain angular velocity and angular displacement fitting function.According to the method of theoretical mechanics and dynamics,the theoretical equation of dynamics and kinematics were established to obtain the transmission ratio and pitch-curve equation of the non-circular gear train.Non-circular gears based on three groups were designed and gear tooth profiles of non-circular gear were generated by using gear’s pitch curve got from MATLAB.Then,the whole structure of fruit seedling vibration generator base on three group non-circular planetary gear was designed according to the selected type and corresponding parameters of gear train,which was mainly composed of input shaft assembly、tie rod assembly、shell and output shaft assembly.When this vibration generator working,power was input from the input shaft uniformly and transferred to the separation roller by transmission of this vibration generator.In this way,the uniform motion of input shaft was transformed into variable speed rotary motion of output shaft to drive the separation roller achieving the separation of fruit and stem seedlings.The model of vibration generator based on multi-group non-circular planetary gear was constructed,and this model was analyzed by simulating in the ADAMS at speeds of 111 revolutions per minute.The contrast figure of non-circular gear vibration generator and three groups non-circular gear vibration generator’s tooth surface contact force diagram was obtained by analyzing the tooth surface contact force between the planet gear and the output shaft gear,which showed that the vibration generator possessed uniform stress,and small vibration and the correctness of the model were verified.Finally,the physical prototype of vibration generator based on multi-group non-circular planetary gear was developed,and then tomato fruit seedling separation test was conducted in the way that replacing double eccentric block vibration generator with vibration generator based on multi-group non-circular planetary gear on tomato fruit seedling separation test platform,in this test,the motion process of separating drum was tracked shot using CPL-MS70k high speed camera system,whose frame rate was set to 800.The test data were analyzed and we found that the actual motion curve of drum separation fitted better with simulation curve and objective motion curve,from which maximum error was less than 0.4 rad/s,showing that the mechanism design was reasonable.This study provides a new idea for the improvement of processing tomato fruit seedling separation device.
The processing tomato planting area is increasing year by year in Xinjiang,and mechanized harvesting has become an important mean of tomato harvesting.Fruit seedling separation device is one of the core working parts of processed tomato harvesting machine.At present,double eccentric block type of fruit seedling separating vibration generator is widely used.However,there are still some problems with this relatively matured technology,such as motion parameters are easily affected by load,device is easily blocked and so on,which strongly affect the performance of processing tomato harvesting machine.Some scholars proposed to apply non-circular planetary gear to the structure design of tomato fruit seedling vibration generator,but this type of tomato fruit seedling vibration generator has a problem that its transmission components load is imbalanced.To solve above problems,in this study,we put forward multiple-group non-circular planetary gear of tomato fruit seedling vibration generator.The research results published from other scholars about trajectories of separation roller and conditions of tomato harvesting vibration were used when we designed tomato fruit separation vibration generator base on multi-group non-circular planetary gear.Trigonometric function and MATLAB software were exploited to fit separate roller angular velocity and angular displacement scatter curve.Then fitting curve of angular displacement and angular velocity were obtained as well as input and output angular displacement fitting function type,which served as the objective function of tomato fruit separation vibration generator based on multi-group non-circular planetary gear.The fitting degree with no more than 0.85 of angular displacement and velocity were obtained.The Origin Pro9.0 was used to obtain angular velocity and angular displacement fitting function.According to the method of theoretical mechanics and dynamics,the theoretical equation of dynamics and kinematics were established to obtain the transmission ratio and pitch-curve equation of the non-circular gear train.Non-circular gears based on three groups were designed and gear tooth profiles of non-circular gear were generated by using gear’s pitch curve got from MATLAB.Then,the whole structure of fruit seedling vibration generator base on three group non-circular planetary gear was designed according to the selected type and corresponding parameters of gear train,which was mainly composed of input shaft assembly、tie rod assembly、shell and output shaft assembly.When this vibration generator working,power was input from the input shaft uniformly and transferred to the separation roller by transmission of this vibration generator.In this way,the uniform motion of input shaft was transformed into variable speed rotary motion of output shaft to drive the separation roller achieving the separation of fruit and stem seedlings.The model of vibration generator based on multi-group non-circular planetary gear was constructed,and this model was analyzed by simulating in the ADAMS at speeds of 111 revolutions per minute.The contrast figure of non-circular gear vibration generator and three groups non-circular gear vibration generator’s tooth surface contact force diagram was obtained by analyzing the tooth surface contact force between the planet gear and the output shaft gear,which showed that the vibration generator possessed uniform stress,and small vibration and the correctness of the model were verified.Finally,the physical prototype of vibration generator based on multi-group non-circular planetary gear was developed,and then tomato fruit seedling separation test was conducted in the way that replacing double eccentric block vibration generator with vibration generator based on multi-group non-circular planetary gear on tomato fruit seedling separation test platform,in this test,the motion process of separating drum was tracked shot using CPL-MS70k high speed camera system,whose frame rate was set to 800.The test data were analyzed and we found that the actual motion curve of drum separation fitted better with simulation curve and objective motion curve,from which maximum error was less than 0.4 rad/s,showing that the mechanism design was reasonable.This study provides a new idea for the improvement of processing tomato fruit seedling separation device.
引文
[1]纵婧.中国新疆对哈萨克斯坦农产品出口潜力与市场开拓研究[D].乌鲁木齐:新疆财经大学,2014.Zong Jing.Research on Export Potential and Market Development of Xinjiang Agricultural products in Kazakhstan[D].Urumqi:Xinjiang University of Finance,2014.(in Chinese with English abstract)
[2]杨二军.新疆番茄酱出口市场潜力研究[D].乌鲁木齐:新疆农业大学,2013.Yang Erjun.Research on Tomato Products Export Market Potential in Xinjiang[D].Urumqi:Xinjiang Agricultural University.2013.(in Chinese with English abstract)
[3]李成松,坎杂,谭洪洋,等.4FZ-30型自走式番茄收获机的研制[J].农业工程学报,2012,28(10):20-26.Li Chengsong,Kan Za,Tan Hongyang,et al.Development of4FZ-30 self-propelled tomato harvester[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(10):20-26.(in Chinese with English abstract)
[4]梁喜凤,杨犇,王永维.番茄收获机械手轨迹跟踪模糊控制仿真与试验[J].农业工程学报,2013,29(17):16-23.Liang Xifeng,Yang Ben,Wang Yongwei.Simulation and test of trajectory tracking control for tomato harvesting manipulator based on fuzzy logic compensation[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(17):16-23.(in Chinese with English abstract)
[5]石河子大学.番茄收获分离装置及该装置所构成的番茄收获机:201010578942.X[P].2011-06-01.
[6]石河子大学.差速带式番茄收获分离装置及该装置所构成的番茄收获机:201210029978.1[P].2012-02-11.
[7]张源颖.新疆加工番茄产业发展面临的问题及对策[J].新疆农垦经济,2011,(11):46-49.
[8]王长勤,许林云,周宏平,等.偏心式林果振动采收机的研制与试验[J].农业工程学报,2012,28(16):10-16.Wang Changqin,Xu Linyun,Zhou Hongping,et al.Development and experiment of eccentric-type vibratory harvester for forest-fruits[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(16):10-16.(in Chinese with English abstract)
[9]Coby Lorenzen,Davls.Separator for tomato harvester:3420239[P].1969-01-07.
[10]Brown G K.Harvest mechanization status for horticultural crops[J].ASAE Paper,1980(80-1532).
[11]Henry E,Studer,Davis.Tomato harvester:4232506[P].1980-11-05.
[12]Johnson Farm Machinery Company.Multiple weight drum shaker:5316519[P].1994-05-31.
[13]FMC Corporation.Adjustable four-weight shaker head:5813910[P].1998-09-29.
[14]朱兴亮,李成松,坎杂,等.加工番茄果秧分离技术发展现状分析[J].河北科技大学学报,2013,34(5):399-402.Zhu Xingliang,Li Chengsong,Kan Za,et al.Analysis of present development of fruit-seedling separation technology in tomato processing[J].Journal of Hebei University of Science and Technology,2013,34(5):399-402.(in Chinese with English abstract)
[15]杨存.非圆齿轮运动学与动力学研究[D].兰州:兰州理工大学,2014.Yang Cun.Research on the Kinematics and Dynamics of Non-circular Gears[D].Lanzhou:Lanzhou University of Technology,2014.(in Chinese with English abstract)
[16]赵匀,高林弟,陈建能,等.变形偏心非圆齿轮行星系分插机构设计和参数优化[J].农业机械学报,2011,42(12):74-77.Zhao Yun,Gao Lindi,Chen Jianneng,et al.Design and parameter optimization of deformed eccentricnon-circulargear transplanting mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(12):74-77.(in Chinese with English abstract)
[17]熊镇芹,高本河,吴序堂.非圆行星齿轮液压马达的配流设计研究[J].机械科学与技术,2004,5:509-511.
[18]付威,罗锡文,曾山,等.水稻精量旱穴播机穴距电液比例控制系统的设计与试验[J].农业工程学报,2015,31(9):25-31.Fu Wei,Luo Xiwen,Zeng Shan,et al.Design and experiment of electro-hydraulic proportional control hill distance system of precision rice hill-drop drilling machine for dry land[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(9):25-31.(in Chinese with English abstract)
[19]任根勇.剑杆织机非圆齿轮行星轮系引纬机构的反求设计与仿真分析[D].杭州:浙江理工大学,2012.Ren Genyong.Reverse Design and Simulation Analysis of the Planetary Non-circular Gears Trains Weft Insertion Mechanism Applied on Rapier Loom[D].Hangzhou:Zhejiang Sci-tech University,2012.(in Chinese with English abstract)
[20]董剑,吴序堂,贺敬良,等.新型非圆齿轮行星轮系低速大扭矩液压马达:CN101463792[P].2009-06-24.
[21]俞高红,张玮炜,孙良,等.偏心齿轮-非圆齿轮行星轮系在后插旋转式分插机构中的应用[J].农业工程学报,2011,27(4):100-105.Yu Gaohong,Zhang Weiwei,Sun Liang,et al.Application of planetary gear train with eccentric gears and non-circular gear in backward rotary transplanting mechanism[J].Transactions of the Chinese Society for Agricultural Engeering(Transactions of the CSAE),2011,27(4):100-105.(in Chinese with English abstract)
[22]陈度,杜小强,王书茂,等.振动式果品收获技术机理分析及研究进展[J].农业工程学报,2011,27(8):195-200.Chen Du,Du Xiaoqiang,Wang Shumao,et al.Mechanism of vibratory fruit harvest and review of current advance[J].Transactions of the Chinese Society for Agricultural Engeering,2011,27(8):195-200.(in Chinese with English abstract)
[23]朱兴亮,王丽红,坎杂,等.非圆轮系加工番茄果秧分离振动发生器的设计[J].江苏农业科学,2016,44(3):398-401.
[24]吴序堂,王贵海.非圆齿轮及非匀速传动比[M].北京:机械工业出版社,1997:57-112.
[25]张春鹏.非圆齿轮行星轮系传动性能分析[D].沈阳:沈阳工业大学,2016.Zhang Chunpeng.Analysis of Non-circular Planetary Gear Train Transmission Performance[D].Shenyang:Shenyang University of Technology,2016.(in Chinese with English abstract)
[26]李成松,坎杂,谭洪洋,等.加工番茄果秧分离装置运动过程分析[J].农业机械学报,2012,43(4):66-69.Li Chengsong,Kan Za,Tan Hongyang,et al.Movement process analysis on processing tomato fruit separation device[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):66-69.(in Chinese with English abstract)
[27]王丽红,梁荣庆,秦金伟,等.加工番茄果秧分离参数优化及验证[J].农业工程学报,2015,31(5):23-28.Wang Lihong,Liang Rongqing,Qin Jinwei,et al.Parameters’optimization and verification for processing tomato fruit-seeding separation[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(5):23-28.(in Chinese with English abstract)
[28]谭洪洋.加工番茄果秧分离装置的试验研究[D]石河子:石河子大学,2012.Tan Hongyang.Experimental Study on Processing of Tomato Seedling Separator.[D].Shihezi:Shihezi University,2012.(in Chinese with English abstract)
[29]孙良,祝建彬,陈建能,等.基于球面曲线的空间非匀速行星轮系分插机构逆向设计[J].农业工程学报,2014,30(7):9-17.Sun Liang,Zhu Jianbin,Chen Jianneng,et al.Reverse design of transplanting mechanism with spatial planetary gear train based on spherical curve[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2014,30(7):9-17.(in Chinese with English abstract)
[30]李成松,高振江,坎杂,等.双支撑酿酒葡萄果实振动分离装置作业机理[J].农业工程学报,2015,31(4):26-32.Li Chengsong,Gao Zhenjiang,Kan Za,et al.Operation mechanism of double support vibration separation device for wine grape berry[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(4):26-32.(in Chinese with English abstract)
[2]杨二军.新疆番茄酱出口市场潜力研究[D].乌鲁木齐:新疆农业大学,2013.Yang Erjun.Research on Tomato Products Export Market Potential in Xinjiang[D].Urumqi:Xinjiang Agricultural University.2013.(in Chinese with English abstract)
[3]李成松,坎杂,谭洪洋,等.4FZ-30型自走式番茄收获机的研制[J].农业工程学报,2012,28(10):20-26.Li Chengsong,Kan Za,Tan Hongyang,et al.Development of4FZ-30 self-propelled tomato harvester[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(10):20-26.(in Chinese with English abstract)
[4]梁喜凤,杨犇,王永维.番茄收获机械手轨迹跟踪模糊控制仿真与试验[J].农业工程学报,2013,29(17):16-23.Liang Xifeng,Yang Ben,Wang Yongwei.Simulation and test of trajectory tracking control for tomato harvesting manipulator based on fuzzy logic compensation[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(17):16-23.(in Chinese with English abstract)
[5]石河子大学.番茄收获分离装置及该装置所构成的番茄收获机:201010578942.X[P].2011-06-01.
[6]石河子大学.差速带式番茄收获分离装置及该装置所构成的番茄收获机:201210029978.1[P].2012-02-11.
[7]张源颖.新疆加工番茄产业发展面临的问题及对策[J].新疆农垦经济,2011,(11):46-49.
[8]王长勤,许林云,周宏平,等.偏心式林果振动采收机的研制与试验[J].农业工程学报,2012,28(16):10-16.Wang Changqin,Xu Linyun,Zhou Hongping,et al.Development and experiment of eccentric-type vibratory harvester for forest-fruits[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2012,28(16):10-16.(in Chinese with English abstract)
[9]Coby Lorenzen,Davls.Separator for tomato harvester:3420239[P].1969-01-07.
[10]Brown G K.Harvest mechanization status for horticultural crops[J].ASAE Paper,1980(80-1532).
[11]Henry E,Studer,Davis.Tomato harvester:4232506[P].1980-11-05.
[12]Johnson Farm Machinery Company.Multiple weight drum shaker:5316519[P].1994-05-31.
[13]FMC Corporation.Adjustable four-weight shaker head:5813910[P].1998-09-29.
[14]朱兴亮,李成松,坎杂,等.加工番茄果秧分离技术发展现状分析[J].河北科技大学学报,2013,34(5):399-402.Zhu Xingliang,Li Chengsong,Kan Za,et al.Analysis of present development of fruit-seedling separation technology in tomato processing[J].Journal of Hebei University of Science and Technology,2013,34(5):399-402.(in Chinese with English abstract)
[15]杨存.非圆齿轮运动学与动力学研究[D].兰州:兰州理工大学,2014.Yang Cun.Research on the Kinematics and Dynamics of Non-circular Gears[D].Lanzhou:Lanzhou University of Technology,2014.(in Chinese with English abstract)
[16]赵匀,高林弟,陈建能,等.变形偏心非圆齿轮行星系分插机构设计和参数优化[J].农业机械学报,2011,42(12):74-77.Zhao Yun,Gao Lindi,Chen Jianneng,et al.Design and parameter optimization of deformed eccentricnon-circulargear transplanting mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(12):74-77.(in Chinese with English abstract)
[17]熊镇芹,高本河,吴序堂.非圆行星齿轮液压马达的配流设计研究[J].机械科学与技术,2004,5:509-511.
[18]付威,罗锡文,曾山,等.水稻精量旱穴播机穴距电液比例控制系统的设计与试验[J].农业工程学报,2015,31(9):25-31.Fu Wei,Luo Xiwen,Zeng Shan,et al.Design and experiment of electro-hydraulic proportional control hill distance system of precision rice hill-drop drilling machine for dry land[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(9):25-31.(in Chinese with English abstract)
[19]任根勇.剑杆织机非圆齿轮行星轮系引纬机构的反求设计与仿真分析[D].杭州:浙江理工大学,2012.Ren Genyong.Reverse Design and Simulation Analysis of the Planetary Non-circular Gears Trains Weft Insertion Mechanism Applied on Rapier Loom[D].Hangzhou:Zhejiang Sci-tech University,2012.(in Chinese with English abstract)
[20]董剑,吴序堂,贺敬良,等.新型非圆齿轮行星轮系低速大扭矩液压马达:CN101463792[P].2009-06-24.
[21]俞高红,张玮炜,孙良,等.偏心齿轮-非圆齿轮行星轮系在后插旋转式分插机构中的应用[J].农业工程学报,2011,27(4):100-105.Yu Gaohong,Zhang Weiwei,Sun Liang,et al.Application of planetary gear train with eccentric gears and non-circular gear in backward rotary transplanting mechanism[J].Transactions of the Chinese Society for Agricultural Engeering(Transactions of the CSAE),2011,27(4):100-105.(in Chinese with English abstract)
[22]陈度,杜小强,王书茂,等.振动式果品收获技术机理分析及研究进展[J].农业工程学报,2011,27(8):195-200.Chen Du,Du Xiaoqiang,Wang Shumao,et al.Mechanism of vibratory fruit harvest and review of current advance[J].Transactions of the Chinese Society for Agricultural Engeering,2011,27(8):195-200.(in Chinese with English abstract)
[23]朱兴亮,王丽红,坎杂,等.非圆轮系加工番茄果秧分离振动发生器的设计[J].江苏农业科学,2016,44(3):398-401.
[24]吴序堂,王贵海.非圆齿轮及非匀速传动比[M].北京:机械工业出版社,1997:57-112.
[25]张春鹏.非圆齿轮行星轮系传动性能分析[D].沈阳:沈阳工业大学,2016.Zhang Chunpeng.Analysis of Non-circular Planetary Gear Train Transmission Performance[D].Shenyang:Shenyang University of Technology,2016.(in Chinese with English abstract)
[26]李成松,坎杂,谭洪洋,等.加工番茄果秧分离装置运动过程分析[J].农业机械学报,2012,43(4):66-69.Li Chengsong,Kan Za,Tan Hongyang,et al.Movement process analysis on processing tomato fruit separation device[J].Transactions of the Chinese Society for Agricultural Machinery,2012,43(4):66-69.(in Chinese with English abstract)
[27]王丽红,梁荣庆,秦金伟,等.加工番茄果秧分离参数优化及验证[J].农业工程学报,2015,31(5):23-28.Wang Lihong,Liang Rongqing,Qin Jinwei,et al.Parameters’optimization and verification for processing tomato fruit-seeding separation[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(5):23-28.(in Chinese with English abstract)
[28]谭洪洋.加工番茄果秧分离装置的试验研究[D]石河子:石河子大学,2012.Tan Hongyang.Experimental Study on Processing of Tomato Seedling Separator.[D].Shihezi:Shihezi University,2012.(in Chinese with English abstract)
[29]孙良,祝建彬,陈建能,等.基于球面曲线的空间非匀速行星轮系分插机构逆向设计[J].农业工程学报,2014,30(7):9-17.Sun Liang,Zhu Jianbin,Chen Jianneng,et al.Reverse design of transplanting mechanism with spatial planetary gear train based on spherical curve[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2014,30(7):9-17.(in Chinese with English abstract)
[30]李成松,高振江,坎杂,等.双支撑酿酒葡萄果实振动分离装置作业机理[J].农业工程学报,2015,31(4):26-32.Li Chengsong,Gao Zhenjiang,Kan Za,et al.Operation mechanism of double support vibration separation device for wine grape berry[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2015,31(4):26-32.(in Chinese with English abstract)