基于椭圆-不完全非圆齿轮传动的蔬菜钵苗取苗机构的优化和设计
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摘要
移植是蔬菜生产过程中的重要环节之一，移植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，国内已有的移植机械多为半自动移植机，半自动移植机靠手工喂苗，工作强度大、效率低，而国内自动移植机的研究刚刚起步，自动移植机从取苗到植苗都由机械完成，工作强度低、效率高。国外虽有一些自动移植机应用于生产，但还处于不段研究与推广阶段。而取苗机构是制约自动移植机发展的“瓶颈”，也是制约蔬菜大规模种植的关键问题之一。因此设计一种新型的取苗机构替代手工取苗，已成为我国蔬菜种植业发展的迫切需要。
本文总结吸收了国内外各种取苗机构的优缺点，在实验室已有研究成果的基础上，设计了一种新型蔬菜钵苗取苗机构——椭圆齿轮-不完全非圆齿轮行星轮系蔬菜钵苗取苗机构，该机构可以单独作为取苗机构，实现自动取苗。该蔬菜钵苗取苗机构结构简单，工作可靠，取苗效率高。已申请发明专利（201110270977.1）和实用新型专利（201120343300.1）。本文主要的研究内容如下：
1.根据蔬菜钵苗取苗的技术特点和农艺要求，模拟人工取苗的轨迹、动作和姿态要求，发明蔬菜钵苗取苗机构，满足机械取苗特殊的工作轨迹要求，比现有的蔬菜取苗机构工作效率高，并且工作平稳、抗振性好。
2.论述了该取苗机构的工作原理和结构特点，建立取苗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，自主开发蔬菜钵苗取苗机构辅助分析与优化软件（软件登记号：2011SR030044），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优化的难点。
4.根据蔬菜取苗农艺要求，提出蔬菜钵苗取苗机构参数优化的目标和优化方法，分析各参数变化对取苗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，优化出取苗机构的结构参数，满足蔬菜钵苗取苗的工作要求。
5.按照优化得到的结构参数，进行蔬菜钵苗取苗机构的总体设计，讨论了设计中应该注意的问题，最后在CAXA2007下完成装配图和各零件的设计。
6.建立取苗机构的三维实体模型，对其进行虚拟装配。利用ADAMS软件对取苗机构进行动态仿真。
7.试验平台研究。通过对蔬菜钵苗取苗机构部件制造，在试验台上测试蔬菜钵苗取苗机构的运动学特性，验证新型取苗机构工程应用的可实现性。
Transplanting is an important process of vegetable procreating, which has the function ofcompensating varying climate and shifting the procreating of plants to an earlier time. It helpsthe plants to use the source of light and temperature sufficiently, which will make considerableeconomical and social benefits. At present, most transplanting machines are semi-automatictransplanting machines，they need pick up plug seedling by man，which have high workintensity and low work efficiency,and domestic research on automatic transplanting machine isjust beginning. Automatic transplanting machine can pick up plug seedling and transplantingplug seedling by themselves,which have low work intensity and high work efficiency. Theoverseas have automatic transplanting machine be applied in production,but the application andresearch on automatic transplanting machine is developing.Thus the pick up plug seedlingmachine is the key issues,which restricted the development of automatic transplanting machineand at same time,which is also restricted the development of the plants of vegetable. So it's apressing requirement to design a new kind of pick up plug seedling machine.
This paper concludes the merits and demerits of several kinds of transplanting machinesfrom both domestic and abroad. Based on the achieved research result, a new vegetable plugseedling pick-up mechanism of planetary gear train with ellipse gears and incompletenon-circular gear has been designed. This vegetable plug seedling pick-up can be used asseedling fetching mechanism lonely to realize fetching seedlings automatically. Besides, if themechanism parameters of this mechanism have been optimized properly, the motion of fetchingseedlings and transplanting seedlings can both be realized by this mechanism. This vegetableplug seedling pick-up mechanism has simple structure and reliable performance. The inventivepatent (201110270977.1) and patent for utility model (201120343300.1) is disclosed. The maincontent of this paper is listed as bellow:
1. According to the technological characteristics and agricultural requirements, imitate therequirements of trajectory, motion and attitude of manual pick up plug seedling, invent thevegetable plug seedling pick-up mechanism, which can satisfy the special working trajectoryrequirements of fetching and pick up plug seedlings automatically. This new vegetable plugseedling pick-up mechanism has higher working efficiency, steadier transmission and lessvibration than existing mechanism.
2. The working principle and structural features of this automatic vegetable plug seedling pick-up mechanism has been discussed and the kinematic mathematical model of thismechanism has been established.
3.Based on the established kinematic mathematical model and Visual Basic6.0, develop thekinematic aided analytical and optimal software of this vegetable plug seedling pick-upmechanism (Register Number:2011SR030044). Introduce the human-computer interactiveinterface and functions of this software. By this software, the difficulty of optimization withmultiple kinematic objects of this mechanism can be solved.
4. According to the agricultural requirements in our country, put forward the parametricoptimal objects and methods of the vegetable plug seedling pick-up mechanism. Analyze theinfluence of parameter vitiation on kinematic characteristics of this vegetable plug seedlingpick-up mechanism. Take advantage of the developed software, use the optimization method ofhuman-computer interactive, and obtain the structural parameters which can satisfy the workingrequirements of automatic vegetable pot seedling transplanting.
5. In accordance with the obtained structural parameters, design the ensemble of thevegetable plug seedling pick-up mechanism; discuss the problems which should be noticed in theprocess of designing. Finally finish the design of parts and the assembly drawing basing onCAXA2007.
6. Establish the solid model of all parts of this vegetable plug seedling pick-up mechanism inUG6.0and then carry out the virtual assemble. Use ADAMS to conduct dynamic simulation ofthis mechanism.
7. The research of test-bed. Manufacture a prototype of the vegetable plug seedling pick-upmechanism, at same time, design the test-bed. Measure the kinematic characteristics of thismechanism on the test-bed, prove the reliability in engineering application of this noveltransplanting mechanism.
本文总结吸收了国内外各种取苗机构的优缺点，在实验室已有研究成果的基础上，设计了一种新型蔬菜钵苗取苗机构——椭圆齿轮-不完全非圆齿轮行星轮系蔬菜钵苗取苗机构，该机构可以单独作为取苗机构，实现自动取苗。该蔬菜钵苗取苗机构结构简单，工作可靠，取苗效率高。已申请发明专利（201110270977.1）和实用新型专利（201120343300.1）。本文主要的研究内容如下：
1.根据蔬菜钵苗取苗的技术特点和农艺要求，模拟人工取苗的轨迹、动作和姿态要求，发明蔬菜钵苗取苗机构，满足机械取苗特殊的工作轨迹要求，比现有的蔬菜取苗机构工作效率高，并且工作平稳、抗振性好。
2.论述了该取苗机构的工作原理和结构特点，建立取苗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，自主开发蔬菜钵苗取苗机构辅助分析与优化软件（软件登记号：2011SR030044），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优化的难点。
4.根据蔬菜取苗农艺要求，提出蔬菜钵苗取苗机构参数优化的目标和优化方法，分析各参数变化对取苗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，优化出取苗机构的结构参数，满足蔬菜钵苗取苗的工作要求。
5.按照优化得到的结构参数，进行蔬菜钵苗取苗机构的总体设计，讨论了设计中应该注意的问题，最后在CAXA2007下完成装配图和各零件的设计。
6.建立取苗机构的三维实体模型，对其进行虚拟装配。利用ADAMS软件对取苗机构进行动态仿真。
7.试验平台研究。通过对蔬菜钵苗取苗机构部件制造，在试验台上测试蔬菜钵苗取苗机构的运动学特性，验证新型取苗机构工程应用的可实现性。
Transplanting is an important process of vegetable procreating, which has the function ofcompensating varying climate and shifting the procreating of plants to an earlier time. It helpsthe plants to use the source of light and temperature sufficiently, which will make considerableeconomical and social benefits. At present, most transplanting machines are semi-automatictransplanting machines，they need pick up plug seedling by man，which have high workintensity and low work efficiency,and domestic research on automatic transplanting machine isjust beginning. Automatic transplanting machine can pick up plug seedling and transplantingplug seedling by themselves,which have low work intensity and high work efficiency. Theoverseas have automatic transplanting machine be applied in production,but the application andresearch on automatic transplanting machine is developing.Thus the pick up plug seedlingmachine is the key issues,which restricted the development of automatic transplanting machineand at same time,which is also restricted the development of the plants of vegetable. So it's apressing requirement to design a new kind of pick up plug seedling machine.
This paper concludes the merits and demerits of several kinds of transplanting machinesfrom both domestic and abroad. Based on the achieved research result, a new vegetable plugseedling pick-up mechanism of planetary gear train with ellipse gears and incompletenon-circular gear has been designed. This vegetable plug seedling pick-up can be used asseedling fetching mechanism lonely to realize fetching seedlings automatically. Besides, if themechanism parameters of this mechanism have been optimized properly, the motion of fetchingseedlings and transplanting seedlings can both be realized by this mechanism. This vegetableplug seedling pick-up mechanism has simple structure and reliable performance. The inventivepatent (201110270977.1) and patent for utility model (201120343300.1) is disclosed. The maincontent of this paper is listed as bellow:
1. According to the technological characteristics and agricultural requirements, imitate therequirements of trajectory, motion and attitude of manual pick up plug seedling, invent thevegetable plug seedling pick-up mechanism, which can satisfy the special working trajectoryrequirements of fetching and pick up plug seedlings automatically. This new vegetable plugseedling pick-up mechanism has higher working efficiency, steadier transmission and lessvibration than existing mechanism.
2. The working principle and structural features of this automatic vegetable plug seedling pick-up mechanism has been discussed and the kinematic mathematical model of thismechanism has been established.
3.Based on the established kinematic mathematical model and Visual Basic6.0, develop thekinematic aided analytical and optimal software of this vegetable plug seedling pick-upmechanism (Register Number:2011SR030044). Introduce the human-computer interactiveinterface and functions of this software. By this software, the difficulty of optimization withmultiple kinematic objects of this mechanism can be solved.
4. According to the agricultural requirements in our country, put forward the parametricoptimal objects and methods of the vegetable plug seedling pick-up mechanism. Analyze theinfluence of parameter vitiation on kinematic characteristics of this vegetable plug seedlingpick-up mechanism. Take advantage of the developed software, use the optimization method ofhuman-computer interactive, and obtain the structural parameters which can satisfy the workingrequirements of automatic vegetable pot seedling transplanting.
5. In accordance with the obtained structural parameters, design the ensemble of thevegetable plug seedling pick-up mechanism; discuss the problems which should be noticed in theprocess of designing. Finally finish the design of parts and the assembly drawing basing onCAXA2007.
6. Establish the solid model of all parts of this vegetable plug seedling pick-up mechanism inUG6.0and then carry out the virtual assemble. Use ADAMS to conduct dynamic simulation ofthis mechanism.
7. The research of test-bed. Manufacture a prototype of the vegetable plug seedling pick-upmechanism, at same time, design the test-bed. Measure the kinematic characteristics of thismechanism on the test-bed, prove the reliability in engineering application of this noveltransplanting mechanism.
引文
[1]许文奎.辽宁蔬菜产业的现状、问题及持续发展的对策[J]．辽宁农业科技，2003(02)：15~17．
[2]我国蔬菜育苗移栽机械化的现状与发展方向，http://news.jgny.net/2007/3-5/94922.htm
[3]陈殿奎.蔬菜机械化育苗的现状与展望[J]．农业工程学报，1990,(12)：20~25．
[4]胡军.大葱移栽机的现状与发展趋势[J]．农机化研究，2002,(1)：39~41．
[5]王君玲，高玉芝，李成华.蔬菜移栽生产机械化现状与发展方向.农机化研究,2004(02)：22~28
[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.JARQ34,21~28(2000)
[9]毛罕平，胡建平，丁文芹，刘发.一种穴盘苗取苗机构.江苏大学（专利号：201010510119.5）,2010.10
[10]徐丽明，张铁中，史志清.玉米自动移栽机取苗机械的设计[J]．中国农业大学学报，2000，5（4）：58~60
[11][日本]竹山智洋.蔬菜移植机.洋马农机株式会社（专利号ZL200480007602.4），2004.9
[12] Konosuke TSUGA.Development of fully automatic vegetable transplanter.JARQ34,21~28,(2000)
[13][日本]伊藤尚胜，清水修一等.移植机的苗移植机构.洋马农机株式会社（专利号ZL99118740.7）,2006.3
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[19]周婷,王超群，郑亮.温室穴盘苗移栽机的设计与仿真分析[J].机械设计及研究.2009,25(2):121-124
[20]张丽华，邱立春，田素博，向权力.指针夹紧式穴盘苗移栽爪设计[J]沈阳农业大学学报.2010-04,41(2):235-237
[21]李其昀．机械化育苗移栽的现状与展望[J]．农机化研究，2006年3月，第3期：27．
[22]李其昀，汪遵元.双输送带式栽植器主要结构参数的分析[J]．农业机械学报，1997，28(4)：46~49.
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[2]我国蔬菜育苗移栽机械化的现状与发展方向，http://news.jgny.net/2007/3-5/94922.htm
[3]陈殿奎.蔬菜机械化育苗的现状与展望[J]．农业工程学报，1990,(12)：20~25．
[4]胡军.大葱移栽机的现状与发展趋势[J]．农机化研究，2002,(1)：39~41．
[5]王君玲，高玉芝，李成华.蔬菜移栽生产机械化现状与发展方向.农机化研究,2004(02)：22~28
[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.JARQ34,21~28(2000)
[9]毛罕平，胡建平，丁文芹，刘发.一种穴盘苗取苗机构.江苏大学（专利号：201010510119.5）,2010.10
[10]徐丽明，张铁中，史志清.玉米自动移栽机取苗机械的设计[J]．中国农业大学学报，2000，5（4）：58~60
[11][日本]竹山智洋.蔬菜移植机.洋马农机株式会社（专利号ZL200480007602.4），2004.9
[12] Konosuke TSUGA.Development of fully automatic vegetable transplanter.JARQ34,21~28,(2000)
[13][日本]伊藤尚胜，清水修一等.移植机的苗移植机构.洋马农机株式会社（专利号ZL99118740.7）,2006.3
[14] W.C.Choi, D.C.Kim, I.H.Ryu, K.U.Kim.2001. Development of seedling pick-up device for vegetable transplants[J]. ASAE，45(1):13~19
[15]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．
[16]陈风.旱地移栽机现状和发展趋势[J]．农机化研究，2005(3)：24~26．
[17]任烨,蒋焕煜,申川.农业机器人末端执行件的研究发展[J].农机化研究,2007(3)：201-203.
[18]张诗,田素博.穴盘苗自动移栽机械手的结构设计与仿真[J].沈阳农业大学学报,2007,38(3):437-439.
[19]周婷,王超群，郑亮.温室穴盘苗移栽机的设计与仿真分析[J].机械设计及研究.2009,25(2):121-124
[20]张丽华，邱立春，田素博，向权力.指针夹紧式穴盘苗移栽爪设计[J]沈阳农业大学学报.2010-04,41(2):235-237
[21]李其昀．机械化育苗移栽的现状与展望[J]．农机化研究，2006年3月，第3期：27．
[22]李其昀，汪遵元.双输送带式栽植器主要结构参数的分析[J]．农业机械学报，1997，28(4)：46~49.
[23]赵匀．农业机械计算机辅助分析与设计[M]．北京：清华大学出版社，1998．
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