蔬菜钵苗自动移栽机构的机理分析与优化设计
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摘要
移栽是蔬菜生产过程中的重要环节之一,移栽具有对气候的补偿作用和使作物生育提早的综合效益,可以充分利用光热资源,其经济效益和社会效益均非常可观。目前,国内对移栽机械的研究和开发基本属于仿造,没有对国外的移栽机进行重大的改进和技术上的突破,而且国外移栽机结构复杂,价格昂贵,在国内推广难度很大。因此设计一种新型的移栽机械已成为我国蔬菜种植业发展的迫切需求。
本文总结吸收了国内外各种移栽机构的优缺点,在实验室已有研究成果的基础上,设计了一种蔬菜钵苗自动移栽机构——椭圆齿轮行星轮系蔬菜钵苗自动移栽机构,该机构可以单独作为取苗机构,实现自动取苗;或通过优化其结构参数,集取苗与栽植苗功能于一体,即取苗和栽植苗动作都由该套机构完成。该蔬菜钵苗自动移栽机构结构简单,工作可靠。已公开发明专利(201010104378.8)和授权实用新型专利(201020105717.X)。本文主要的研究内容如下:
1.根据蔬菜钵苗机械移栽的技术特点和农艺要求,模拟人工移栽的轨迹、动作和姿态要求,发明蔬菜钵苗自动移栽机构,满足机械自动取苗和栽植苗的特殊工作轨迹要求,比现有的蔬菜移栽机构工作效率高,并且工作平稳、抗振性好。
2.论述了该移栽机构的工作原理和结构特点,建立机构的运动学数学模型。
3.以建立的运动学数学模型为基础,基于可视化开发平台VB6.0,自主开发蔬菜钵苗自动移栽机构辅助分析与优化软件(软件登记号:2010R11S001084),介绍了该软件的人机交互界面及功能,基于该软件,解决了该机构运动学多目标的优化难点。
4.根据蔬菜移栽农艺要求,提出蔬菜钵苗自动移栽机构参数优化的目标和优化方法,分析参数变化对移栽机构运动特性的影响,利用自主开发软件,采用人机交互的优化方法,优化出移栽机构的结构参数,满足蔬菜钵苗自动移栽的工作要求。
5.按照优化得到的结构参数,进行蔬菜钵苗自动移栽机构的总体设计,讨论了设计中应该注意的问题,最后在AutoCAD2004下完成装配图和各零件的设计。
6.建立移栽机构的三维实体模型,对其进行虚拟装配。利用ADAMS对机构进行动态仿真。
7.试验平台研究。通过对蔬菜钵苗自动移栽机构部件制造,在试验台上测试蔬菜钵苗自动移栽机构的运动学特性,验证新型移栽机构工程应用的可实现性。
Transplanting is an important process of vegetable procreating, which has the function of compensating varying climate and shifting the procreating of plants to an earlier time. It helps the plants to use the source of light and temperature sufficiently, which will make considerable economical and social benefits. At present, domestic research and development of transplanting machine is on the level of copying. Significant improvement and technological penetration of abroad transplanting machines has not been done yet. The transplanting machines from overseas are complicated in structure and rich in price, it's difficult to popularize in domestic. So it's a pressing requirement to design a new kind of transplanting machine.
This paper concludes the merits and demerits of several kinds of transplanting machines from both domestic and abroad. Based on the achieved research result, a novel automatic vegetable pot seedling transplanting mechanism with planetary elliptic gear train has been designed. This mechanism can be used as seedling fetching mechanism lonely to realize fetching seedlings automatically. Besides, if the mechanism parameters of this mechanism have been optimized properly, the motion of fetching seedlings and transplanting seedlings can both be realized by this mechanism. This automatic vegetable pot seedling transplanting mechanism has simple structure and reliable performance. The inventive patent (201010104378.8) and patent for utility model (201020105717.X) is disclosed. The main content of this paper is listed as bellow:
1. According to the technological characteristics and agricultural requirements, imitate the requirements of trajectory, motion and attitude of manual transplanting, invent the automatic vegetable pot seedling transplanting mechanism, which can satisfy the special working trajectory requirements of fetching and transplanting seedlings automatically. This novel vegetable transplanting mechanism has higher working efficiency, steadier transmission and less vibration than existing mechanism.
2. The working principle and structural features of this automatic vegetable pot seedling transplanting mechanism has been discussed and the kinematic mathematical model of this mechanism has been established.
3. Based on the established kinematic mathematical model and Visual Basic 6.0, develop the kinematic aided analytical and optimal software of this automatic vegetable pot seedling transplanting mechanism (Register Number: 2010R11S001084). Introduce the human-computer interactive interface and functions of this software. By this software, the difficulty of optimization with multiple kinematic objects of this mechanism can be solved.
4. According to the agricultural requirements in our country, put forward the parametric optimal objects and methods of the automatic vegetable pot seedling transplanting mechanism. Analyze the influence of parameter vitiation on kinematic characteristics of this transplanting mechanism. Take advantage of the developed software, use the optimization method of human-computer interactive, and obtain the structural parameters which can satisfy the working requirements of automatic vegetable pot seedling transplanting.
5. In accordance with the obtained structural parameters, design the ensemble of the automatic vegetable pot seedling transplanting mechanism; discuss the problems which should be noticed in the process of designing. Finally finish the design of parts and the assembly drawing basing on AutoCAD2004.
6. Establish the solid model of all parts of this mechanism in UG and then carry out the virtual assemble. Use ADAMS to conduct dynamic simulation of this mechanism.
7. The research of test-bed. Manufacture a prototype of the automatic vegetable pot seedling transplanting mechanism, meanwhile design the test-bed. Measure the kinematic characteristics of this mechanism on the test-bed, prove the reliability in engineering application of this novel transplanting mechanism.
本文总结吸收了国内外各种移栽机构的优缺点,在实验室已有研究成果的基础上,设计了一种蔬菜钵苗自动移栽机构——椭圆齿轮行星轮系蔬菜钵苗自动移栽机构,该机构可以单独作为取苗机构,实现自动取苗;或通过优化其结构参数,集取苗与栽植苗功能于一体,即取苗和栽植苗动作都由该套机构完成。该蔬菜钵苗自动移栽机构结构简单,工作可靠。已公开发明专利(201010104378.8)和授权实用新型专利(201020105717.X)。本文主要的研究内容如下:
1.根据蔬菜钵苗机械移栽的技术特点和农艺要求,模拟人工移栽的轨迹、动作和姿态要求,发明蔬菜钵苗自动移栽机构,满足机械自动取苗和栽植苗的特殊工作轨迹要求,比现有的蔬菜移栽机构工作效率高,并且工作平稳、抗振性好。
2.论述了该移栽机构的工作原理和结构特点,建立机构的运动学数学模型。
3.以建立的运动学数学模型为基础,基于可视化开发平台VB6.0,自主开发蔬菜钵苗自动移栽机构辅助分析与优化软件(软件登记号:2010R11S001084),介绍了该软件的人机交互界面及功能,基于该软件,解决了该机构运动学多目标的优化难点。
4.根据蔬菜移栽农艺要求,提出蔬菜钵苗自动移栽机构参数优化的目标和优化方法,分析参数变化对移栽机构运动特性的影响,利用自主开发软件,采用人机交互的优化方法,优化出移栽机构的结构参数,满足蔬菜钵苗自动移栽的工作要求。
5.按照优化得到的结构参数,进行蔬菜钵苗自动移栽机构的总体设计,讨论了设计中应该注意的问题,最后在AutoCAD2004下完成装配图和各零件的设计。
6.建立移栽机构的三维实体模型,对其进行虚拟装配。利用ADAMS对机构进行动态仿真。
7.试验平台研究。通过对蔬菜钵苗自动移栽机构部件制造,在试验台上测试蔬菜钵苗自动移栽机构的运动学特性,验证新型移栽机构工程应用的可实现性。
Transplanting is an important process of vegetable procreating, which has the function of compensating varying climate and shifting the procreating of plants to an earlier time. It helps the plants to use the source of light and temperature sufficiently, which will make considerable economical and social benefits. At present, domestic research and development of transplanting machine is on the level of copying. Significant improvement and technological penetration of abroad transplanting machines has not been done yet. The transplanting machines from overseas are complicated in structure and rich in price, it's difficult to popularize in domestic. So it's a pressing requirement to design a new kind of transplanting machine.
This paper concludes the merits and demerits of several kinds of transplanting machines from both domestic and abroad. Based on the achieved research result, a novel automatic vegetable pot seedling transplanting mechanism with planetary elliptic gear train has been designed. This mechanism can be used as seedling fetching mechanism lonely to realize fetching seedlings automatically. Besides, if the mechanism parameters of this mechanism have been optimized properly, the motion of fetching seedlings and transplanting seedlings can both be realized by this mechanism. This automatic vegetable pot seedling transplanting mechanism has simple structure and reliable performance. The inventive patent (201010104378.8) and patent for utility model (201020105717.X) is disclosed. The main content of this paper is listed as bellow:
1. According to the technological characteristics and agricultural requirements, imitate the requirements of trajectory, motion and attitude of manual transplanting, invent the automatic vegetable pot seedling transplanting mechanism, which can satisfy the special working trajectory requirements of fetching and transplanting seedlings automatically. This novel vegetable transplanting mechanism has higher working efficiency, steadier transmission and less vibration than existing mechanism.
2. The working principle and structural features of this automatic vegetable pot seedling transplanting mechanism has been discussed and the kinematic mathematical model of this mechanism has been established.
3. Based on the established kinematic mathematical model and Visual Basic 6.0, develop the kinematic aided analytical and optimal software of this automatic vegetable pot seedling transplanting mechanism (Register Number: 2010R11S001084). Introduce the human-computer interactive interface and functions of this software. By this software, the difficulty of optimization with multiple kinematic objects of this mechanism can be solved.
4. According to the agricultural requirements in our country, put forward the parametric optimal objects and methods of the automatic vegetable pot seedling transplanting mechanism. Analyze the influence of parameter vitiation on kinematic characteristics of this transplanting mechanism. Take advantage of the developed software, use the optimization method of human-computer interactive, and obtain the structural parameters which can satisfy the working requirements of automatic vegetable pot seedling transplanting.
5. In accordance with the obtained structural parameters, design the ensemble of the automatic vegetable pot seedling transplanting mechanism; discuss the problems which should be noticed in the process of designing. Finally finish the design of parts and the assembly drawing basing on AutoCAD2004.
6. Establish the solid model of all parts of this mechanism in UG and then carry out the virtual assemble. Use ADAMS to conduct dynamic simulation of this mechanism.
7. The research of test-bed. Manufacture a prototype of the automatic vegetable pot seedling transplanting mechanism, meanwhile design the test-bed. Measure the kinematic characteristics of this mechanism on the test-bed, prove the reliability in engineering application of this novel transplanting mechanism.
引文
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[6]张波屏.现代种植机械工程[M].北京:机械工业出版社,1997.
[7]封俊.论我国早地栽植机械的开发前景与方向[J].中国农机化,2000,(4):12~13.
[8] Konosuke TSUGA. Development of fully automatic vegetable transplanter.JARQ 34, 21~28 (2000)
[9]王君玲.旱地钵苗机械化生产的现状及发展趋势[J].中国农机化,2003(6):12~l4.
[10]陈风.旱地移栽机现状和发展趋势[J].农机化研究,2005(3):24~26.
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[12] Brewer, H. L.1994. Conceptual modeling automated seeding transfer from growing trays to shipping modulus[J]. Trans. ASAE 37(4): 1043~1051.
[13] Hassan, A. E., and W. H. Haddock. 1991. Packing of pine seedlings using soil failure criteria[J]. Trans. ASAE 34(2): 695~698.
[14] [日本]伊藤尚胜,清水修一等.移植机的苗移植机构[P].洋马农机株式会社(专利号ZL99118740.7),2006.3
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