非圆齿轮-连杆组合式水稻钵苗膜上移栽机构优化设计与试验

Optimization Design and Experiment of Non-circular Gear-Linkage Combination Type Transplanting Mechanism of Rice Pot Seedling on Film

为实现机械化一体式水稻钵苗膜上移栽要求,提出非圆齿轮-连杆组合式行星轮系移栽机构,用一套机构实现取苗、送苗、破膜挖穴和栽植4个工序协同配合作业,满足水稻钵苗膜上移栽所需的轨迹与姿态要求。对移栽机构进行理论分析并建立运动学模型,结合优化目标,基于Matlab GUI平台开发了数字可视化优化设计软件,通过人机交互获得1组满足移栽要求的机构参数。根据优化参数对机构开展结构设计与三维建模,通过ADAMS软件完成了虚拟样机仿真验证。研制了水稻钵苗膜上移栽机构物理样机与多功能试验测试台架,开展了移栽机构在空转和带苗状态下运动学特性和工作性能试验,结果表明,理论轨迹、虚拟样机仿真轨迹和物理样机台架试验轨迹在误差允许范围内保持一致,验证了移栽机构设计的一致性与正确性,性能试验结果:取苗成功率为94%,移栽成功率为92.36%,栽植株距变异系数为2.67%,满足移栽作业要求,验证了水稻钵苗膜上移栽机构设计的合理性与可行性。

To achieve the mechanized integrated transplanting requirement of rice pot seedlings on film,a non-circular gear-linkage combined planetary gear system transplanting mechanism was proposed.This mechanism enabled a single set of components to achieve the coordinated operation of four processes:seedling picking,seedling delivery,film perforation and digging,and planting meeting the trajectory and attitude requirements of rice pot seedling transplanting on film.The transplanting mechanism was theoretically analyzed,and a kinematic model was established.Combining optimization objectives,a digital visualization optimization design software for the mechanism was developed based on the Matlab GUI platform,resulting in a set of mechanism parameters that met the transplanting requirements through human-computer interaction.Based on the optimized parameters,a comprehensive structural design of the mechanism was conducted,and a 3D model was established.Virtual prototype simulation was performed by using ADAMS software.A physical prototype of the rice pot seedling transplanting mechanism on film and a multifunctional test bench were developed.The kinematic characteristics and performance of the transplanting mechanism under idle and seedling-carrying states were studied.The results showed that the theoretical trajectory,virtual prototype simulation trajectory,and physical prototype test bench trajectory remained consistent within an acceptable error range,validating the consistency and correctness of the design of the transplanting mechanism.The performance test showed a seedling extraction success rate of 94%,a transplanting success rate of 92.36%,and a coefficient of variation of planting spacing of 2.67%,meeting the requirements of transplanting operation.This validated the rationality and feasibility of the design of the rice pot seedling transplanting mechanism on film.