非圆齿轮行星轮系水稻钵苗移栽机构优化设计与试验

Optimized Design and Tests on Rice Potted Seedling Transplanting Mechanism of Planetary Gear Train with Non-circular Gears

针对现有水稻钵苗移栽机构结构复杂、成本高或工作效率低、振动大等问题,提出一种由1个不完全非圆齿轮、6个非圆齿轮和2个移栽臂组成的非圆齿轮行星轮系水稻钵苗移栽机构。分析了该移栽机构的工作机理,采用一种基于人机交互的参数优化方法,编制移栽机构的优化设计软件,得到一组实现水稻钵苗移栽较优工作轨迹和姿态的机构参数。建立移栽机构虚拟样机,研制移栽机构物理样机,开展虚拟样机运动仿真分析和物理样机高速摄影运动学试验,得到机构移栽臂的秧针尖点静轨迹和姿态。理论计算和实际测量得到的推秧角与取秧角角度差分别为53.52°与52.53°,误差为1.45%;仿真分析、试验测试结果与理论分析结果基本一致,验证了移栽机构设计方法和结果的正确性,以及机构应用于实际机器的可行性。

The technology of rice potted seedling transplanting can realize high yield, which has advantages of shallow planting, less damage on the seedlings, fast recovery, low and early tiller and high efficiency. Foreign rice potted seedling planting technology is not suitable in China for complicated structure and high cost problem. And there are defects for domestic transplanter with low efficiency, heavy vibration, and tossing transplantation with uncontrollable seedling perpendicularity. A new type of rice potted seedling transplanting mechanism of non-circular planetary gear train with one uncompleted non-circular gear, six non-circular gears and two transplanting arms was presented on the basis of analysis of the shortcomings of the existing rice potted seedling transplanter at home and abroad. The working principle of rice potted seedling transplanting mechanism was introduced, and the parameter optimization method of human-computer interaction optimization was proposed. The analysis and optimization software of the transplanting mechanism was self-developed and used to obtain a set of mechanism parameters for realizing better working trajectory and posture. The virtual prototype and physical prototype of the transplanting mechanism were developed to conduct virtual kinematic simulation analysis and kinematic tests with high-speed photography technology on the test-bed, and the static trajectory and posture of the seedling needle of the transplanting arm were obtained. The results of the simulation analysis, bench test and theoretical analysis are almost consistent, which shows the correctness of the design method and results and the application feasibility of the transplanting mechanism.