面向空间轨迹和姿态要求的宽窄行分插机构研究
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摘要
水稻宽窄行插秧是由农艺专家根据国内的水稻种植要求而提出的一项种植技术，它是在保证秧苗种植数量的前提下，通过宽行与窄行间隔栽插的方式增加水稻行间通风、光照，从而达到防止病害、抗倒伏、增加产量（增产率在4%以上）、保证稻米品质的效果。由于传统插秧机只能形成等行距的平面插秧轨迹，无法实现宽窄行插秧，且已有的宽窄行机器与育秧流水线不配套而未能得到推广，目前仍然靠人工宽行与窄行拉线栽插，严重影响了广大农户的生产积极性，制约了我国有机水稻生产的发展。
宽窄行插秧机与传统等行距插秧机的区别在于其核心工作部件“分插机构”，等行距分插机构只能形成平面轨迹，栽插秧苗行距与秧门间距相同（如30cm），而宽窄行分插机构要求在传统秧门间距下实现宽行与窄行间隔的非等距栽插，其插秧轨迹要求具有空间特性。由于国外不存在宽窄行种植方式和相应的宽窄行插秧机，无法通过吸收、消化、改进的方式来研制宽窄行分插机构，因此，开展具有空间插秧轨迹的宽窄行分插机构创新设计及相关理论研究对宽窄行插秧机的研制具有重要的应用价值。本文以空间行星轮系宽窄行分插机构为研究对象，通过理论分析和试验验证的方式研究机构的运动学和动力学特性，优化机构参数和动力学性能，并建立空间行星轮系宽窄行分插机构快速设计平台。论文主要研究内容和结果如下：
(1)研究国内外插秧机的平面轨迹和空间轨迹行星轮系分插机构的工作原理，分析行星轮系机构在宽窄行分插机构设计中存在的问题，阐述了适合不同类型空间行星轮系分插机构的正向和反向建模和设计方法，研究空间传动齿轮的齿廓设计方法，建立非圆锥齿轮球面齿廓的数值计算模型，编写求解程序并完成非圆锥齿轮的快速设计。
(2)根据宽窄行分插机构的两级传动空间行星轮系机构的设计要求，以宽窄行插秧轨迹的直取秧和小穴口为判断依据，分析不同组合类型的空间行星轮系机构在宽窄行分插机构设计中的优劣性，得出交错轴—相交轴组合行星轮系机构、两级两次相交轴行星轮系机构分别在形成直取秧、小穴口的空间腰子轨迹和空间海豚形轨迹具有潜力。
(3)提出应用于高速宽窄行插秧机的交错斜齿轮—非圆锥齿轮行星轮系宽窄行分插机构，建立机构运动学模型，分析了机构的运动学特性，给出了宽窄行分插机构的9个优化目标，建立优化目标与机构参数间的函数关系，利用Matlab的GUI开发平台开发目标引导式的人机交互优化软件，并优化出一组满足插秧要求的机构参数。
(4)根据机构优化参数设计并加工机构，在插秧机通用试验台上利用高速摄像技术开展检测机构运动学特性（轨迹形状、秧爪速度和姿态）的台架试验，研制旋转土槽的宽窄行插秧试验台，进行机构的无秧和带秧试验，检测插秧穴口大小、行距、株距、伤秧率、直立度、倒秧和漂秧率，结果符合水稻插秧的技术指标，检测结果验证了机构理论模型和设计方法的正确性，以及设计的宽窄行分插机构可以满足宽窄行插秧要求。
(5)对交错斜齿轮—非圆锥齿轮行星轮系宽窄行分插机构进行动力学分析，建立动力学模型，通过加载配重块的方式进行机构动力学性能优化，改进动力学试验台，并对加载配重前后的分插机构进行动力学试验，验证了增加配重可以改善机构动力学性能。
The technology of rice wide-narrow distance transplanting is based on domestic riceplanting requirements presented by agronomic experts. It is guaranteed by the premise of thenumber of seedlings planted, through wide row planting with narrow row spacing to increaseventilation, lighting, so as to prevent the disease, lodging, increase production (increase rate ofmore than4%), assure the rice quality. As the traditional transplanter can only form the planetransplanting trajectory and can’t be achieved wide-narrow distance planting, and the existingwide and narrow transplanter do not match the equipment of raising rice seedlings, so theexisting wide and narrow machine failed to get promotion. Still it is relied on manual pull widerow and narrow row line in the paddy field and planting, seriously affect the majority of farmers'production enthusiasm, restrict the development of organic rice production.
The difference between wide-narrow distance transplanter and traditional equal row spacingtransplanter is the core components "Transplanting Mechanism". Equal row spacingtransplanting mechanism can form a planar trajectory. Seedling planting row spacing is the samewith the distance between seedling doors (e.g.30cm). The wide and narrow distancetransplanting mechanisms achieve non-equidistant planting rows in traditional seedling door. Itsplanting trajectory requires spatial characteristics. Due to the absence of wide and narrowplanting patterns and corresponding wide-narrow distance transplanter, so it can’t through theway of absorbing, digesting and improving to develop wide-narrow distance transplantingmechanism. Therefore, to carry out innovative design and theoretical studies of the wide-narrowdistance transplanting mechanism with spatial transplanting trajectory has important applicationvalue for the development of wide-narrow distance transplanter. In this dissertation, thekinematic and dynamic characteristics of the wide-narrow distance transplanting mechanismwith spatial planetary gear train were studied by the way of theoretical analysis and experimentalverification as well as the mechanism parameters and dynamic performance. Finally, a quicklydesign platform for wide-narrow distance transplanting mechanism was established. The mainresearch contents and results are as follows:
(1)The home and abroad transplanting mechanism working principles that have planartrajectory and spatial trajectory were studied and the problems of application of planetary gearstrains in the wide-narrow distance transplanting mechanism were analyzed. The forward andreverse design methods for different types of the transplanting mechanism with spatial planetarygear trains were expounded. The design method of the spatial transmission gear tooth profile andnumerical model of the noncircular bevel gear tooth profile on spherical surface was studied.After developing the calculation program, the rapid design of noncircular bevel gear wasrealized.
(2) The advantages and disadvantages about the different spatial planetary gear train mechanism used in the design of the wide-narrow distance transplanting mechanism based on theshape property of planting trajectory (e.g. have small side offset in grasping seedling and smallhole) were analyzed. Then a conclusion was made that the staggered axis and the intersectantaxis compound planetary gear train mechanism and two-stage intersectant axes planetary geartrain mechanism have the potential to achieve spatial kidney-shaped trajectories and spatialdolphin-shaped trajectories that have the character of small side offset and plant holerespectively.
(3) A wide-narrow distance transplanting mechanism with staggered helix gear andnoncircular bevel gear planetary gear train applied in high-speed wide-narrow distancetransplanter was put forward. The kinematic model was established and the mechanismkinematics characteristic was analyzed. After giving the9optimization goals about wide-narrowdistance transplanting mechanism, the functional relationship between optimization objectivesand mechanism parameters were expressed. Optimization program was compiled by usingMatlab software, and a set of parameters required to meet planting was obtained.
(4) Physical prototype of wide-narrow transplanting mechanism was manufactured. Basedon transplanter currency test-bed, the shape of trajectory, velocity and attitude of seedling pawwas tested by using high-speed digital camera. After developing a wide-narrow distancetransplanting test-bed which is used on rotary trial soil bin, a series of tests were carried out withno seedling and seedling and the planting hole, line spacing, row spacing, upright degree,damaged seedling, laid seedling was measured. All of the inspected results agree with therequirements of planting seedling, which give a convincing proof to verify the theoretical modeland design method of the transplanting mechanism.
(5) The dynamic analysis of wide-narrow distance transplanting mechanism with staggeredhelix gear and noncircular bevel gear train was made as well as its dynamics model. Thedynamic performance was optimized by appending counterweight on the panting arm and thedynamic test bench which is used to verify the dynamics performance was improved. The testingresults conduct that appending counterweight on the planting arm is a valid method to improvethe dynamic performance of transplanting mechanism.
宽窄行插秧机与传统等行距插秧机的区别在于其核心工作部件“分插机构”，等行距分插机构只能形成平面轨迹，栽插秧苗行距与秧门间距相同（如30cm），而宽窄行分插机构要求在传统秧门间距下实现宽行与窄行间隔的非等距栽插，其插秧轨迹要求具有空间特性。由于国外不存在宽窄行种植方式和相应的宽窄行插秧机，无法通过吸收、消化、改进的方式来研制宽窄行分插机构，因此，开展具有空间插秧轨迹的宽窄行分插机构创新设计及相关理论研究对宽窄行插秧机的研制具有重要的应用价值。本文以空间行星轮系宽窄行分插机构为研究对象，通过理论分析和试验验证的方式研究机构的运动学和动力学特性，优化机构参数和动力学性能，并建立空间行星轮系宽窄行分插机构快速设计平台。论文主要研究内容和结果如下：
(1)研究国内外插秧机的平面轨迹和空间轨迹行星轮系分插机构的工作原理，分析行星轮系机构在宽窄行分插机构设计中存在的问题，阐述了适合不同类型空间行星轮系分插机构的正向和反向建模和设计方法，研究空间传动齿轮的齿廓设计方法，建立非圆锥齿轮球面齿廓的数值计算模型，编写求解程序并完成非圆锥齿轮的快速设计。
(2)根据宽窄行分插机构的两级传动空间行星轮系机构的设计要求，以宽窄行插秧轨迹的直取秧和小穴口为判断依据，分析不同组合类型的空间行星轮系机构在宽窄行分插机构设计中的优劣性，得出交错轴—相交轴组合行星轮系机构、两级两次相交轴行星轮系机构分别在形成直取秧、小穴口的空间腰子轨迹和空间海豚形轨迹具有潜力。
(3)提出应用于高速宽窄行插秧机的交错斜齿轮—非圆锥齿轮行星轮系宽窄行分插机构，建立机构运动学模型，分析了机构的运动学特性，给出了宽窄行分插机构的9个优化目标，建立优化目标与机构参数间的函数关系，利用Matlab的GUI开发平台开发目标引导式的人机交互优化软件，并优化出一组满足插秧要求的机构参数。
(4)根据机构优化参数设计并加工机构，在插秧机通用试验台上利用高速摄像技术开展检测机构运动学特性（轨迹形状、秧爪速度和姿态）的台架试验，研制旋转土槽的宽窄行插秧试验台，进行机构的无秧和带秧试验，检测插秧穴口大小、行距、株距、伤秧率、直立度、倒秧和漂秧率，结果符合水稻插秧的技术指标，检测结果验证了机构理论模型和设计方法的正确性，以及设计的宽窄行分插机构可以满足宽窄行插秧要求。
(5)对交错斜齿轮—非圆锥齿轮行星轮系宽窄行分插机构进行动力学分析，建立动力学模型，通过加载配重块的方式进行机构动力学性能优化，改进动力学试验台，并对加载配重前后的分插机构进行动力学试验，验证了增加配重可以改善机构动力学性能。
The technology of rice wide-narrow distance transplanting is based on domestic riceplanting requirements presented by agronomic experts. It is guaranteed by the premise of thenumber of seedlings planted, through wide row planting with narrow row spacing to increaseventilation, lighting, so as to prevent the disease, lodging, increase production (increase rate ofmore than4%), assure the rice quality. As the traditional transplanter can only form the planetransplanting trajectory and can’t be achieved wide-narrow distance planting, and the existingwide and narrow transplanter do not match the equipment of raising rice seedlings, so theexisting wide and narrow machine failed to get promotion. Still it is relied on manual pull widerow and narrow row line in the paddy field and planting, seriously affect the majority of farmers'production enthusiasm, restrict the development of organic rice production.
The difference between wide-narrow distance transplanter and traditional equal row spacingtransplanter is the core components "Transplanting Mechanism". Equal row spacingtransplanting mechanism can form a planar trajectory. Seedling planting row spacing is the samewith the distance between seedling doors (e.g.30cm). The wide and narrow distancetransplanting mechanisms achieve non-equidistant planting rows in traditional seedling door. Itsplanting trajectory requires spatial characteristics. Due to the absence of wide and narrowplanting patterns and corresponding wide-narrow distance transplanter, so it can’t through theway of absorbing, digesting and improving to develop wide-narrow distance transplantingmechanism. Therefore, to carry out innovative design and theoretical studies of the wide-narrowdistance transplanting mechanism with spatial transplanting trajectory has important applicationvalue for the development of wide-narrow distance transplanter. In this dissertation, thekinematic and dynamic characteristics of the wide-narrow distance transplanting mechanismwith spatial planetary gear train were studied by the way of theoretical analysis and experimentalverification as well as the mechanism parameters and dynamic performance. Finally, a quicklydesign platform for wide-narrow distance transplanting mechanism was established. The mainresearch contents and results are as follows:
(1)The home and abroad transplanting mechanism working principles that have planartrajectory and spatial trajectory were studied and the problems of application of planetary gearstrains in the wide-narrow distance transplanting mechanism were analyzed. The forward andreverse design methods for different types of the transplanting mechanism with spatial planetarygear trains were expounded. The design method of the spatial transmission gear tooth profile andnumerical model of the noncircular bevel gear tooth profile on spherical surface was studied.After developing the calculation program, the rapid design of noncircular bevel gear wasrealized.
(2) The advantages and disadvantages about the different spatial planetary gear train mechanism used in the design of the wide-narrow distance transplanting mechanism based on theshape property of planting trajectory (e.g. have small side offset in grasping seedling and smallhole) were analyzed. Then a conclusion was made that the staggered axis and the intersectantaxis compound planetary gear train mechanism and two-stage intersectant axes planetary geartrain mechanism have the potential to achieve spatial kidney-shaped trajectories and spatialdolphin-shaped trajectories that have the character of small side offset and plant holerespectively.
(3) A wide-narrow distance transplanting mechanism with staggered helix gear andnoncircular bevel gear planetary gear train applied in high-speed wide-narrow distancetransplanter was put forward. The kinematic model was established and the mechanismkinematics characteristic was analyzed. After giving the9optimization goals about wide-narrowdistance transplanting mechanism, the functional relationship between optimization objectivesand mechanism parameters were expressed. Optimization program was compiled by usingMatlab software, and a set of parameters required to meet planting was obtained.
(4) Physical prototype of wide-narrow transplanting mechanism was manufactured. Basedon transplanter currency test-bed, the shape of trajectory, velocity and attitude of seedling pawwas tested by using high-speed digital camera. After developing a wide-narrow distancetransplanting test-bed which is used on rotary trial soil bin, a series of tests were carried out withno seedling and seedling and the planting hole, line spacing, row spacing, upright degree,damaged seedling, laid seedling was measured. All of the inspected results agree with therequirements of planting seedling, which give a convincing proof to verify the theoretical modeland design method of the transplanting mechanism.
(5) The dynamic analysis of wide-narrow distance transplanting mechanism with staggeredhelix gear and noncircular bevel gear train was made as well as its dynamics model. Thedynamic performance was optimized by appending counterweight on the panting arm and thedynamic test bench which is used to verify the dynamics performance was improved. The testingresults conduct that appending counterweight on the planting arm is a valid method to improvethe dynamic performance of transplanting mechanism.
引文
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