偏心齿轮-非圆齿轮行星系取苗机构的运动学建模与参数优化

Kinematics modeling and parameters optimization of seedling pick-up mechanism of planetary gear train with eccentric gear and non-circular gear

针对目前蔬菜移栽作业中半自动移栽机需要人工喂苗、工作效率低等缺点,以及日本自动移栽机的复杂结构、高制造成本和工作效率不高等问题,设计了一种应用于蔬菜钵苗自动移栽机的偏心齿轮-非圆齿轮行星系自动取苗机构。在分析该旋转式自动取苗机构的结构特点和工作原理的基础上,建立了机构的运动学模型,开发了基于Visual Basic6.0的计算机辅助分析与优化软件对机构的结构参数进行优化。通过人机交互优化方法,得出了结构参数对取苗臂尖点运动轨迹和优化目标的影响规律,进而优化得到满足蔬菜钵苗自动取苗要求的机构结构参数。

In the current vegetable transplanting operation, the semi-automatic transplanting mechanism exists the shortcomings of artificial feeding seedlings and low efficiency, and the Japanese automatic transplanting mechanisms have the questions of complicated structure, high manufacturing costs and not-very-high efficiency, so a new kind of automatic seedling pick-up mechanism of planetary gear train with eccentric gear and non-circular gear was designed for being used in automatic vegetable transplanter. Based on the analysis of structural features and work principle of the rotary automatic seedling pick-up mechanism, its kinematic model was established. Then, a computer-aided analysis and optimization software based on Visual Basic6.0 was developed for optimizing structural parameters of the mechanism. At last, by means of the man-machine interactive optimization method, the influence law of the structural parameters to the kinematic locus of the seedling pick-up arm cusp and optimization objectives were acquired, and the structural parameters were optimized to meet the requirements of picking up vegetable seedlings from cell tray.