多段曲线拟合弹齿式枝条捡拾参数反求法求解

Subsection Curve Fitting Parameter of Spring-finger Cylinder on Branch Pickup Mechanism Calculated by Reverse Method

为了达到矮砧集约栽培种植模式果园行间果树枝条高效还田处理的目的,研究了拖拉机悬挂式枝条粉碎设备的关键部件—弹齿滚筒式枝条捡拾器。通过分段设计弹齿在空间的理想运行姿态及运动轨迹,来满足捡拾枝条过程中不同阶段的捡拾要求。使用反求法,建立弹齿滚筒式捡拾器的数学模型,编制人机对话软件,对滑道中心函数曲线求解,并进行曲线拟合及其数据后处理,同时优化曲柄半径L1、弹齿长度L2、弹齿角度β、十字架半径r、弹齿与曲柄夹角θ等变量参数,以达到捡拾枝条时各项参数最佳匹配的性能要求。优化后的具体参数为:L1=50 mm、L2=170 mm、r=80 mm、θ=55°,α在一个周期内顺时针旋转,将其分成了5段,即α1、α2、α3、α4、α5,相对应转动的角度分别是45°、45°、90°、90°、90°。与α每段对应的β值,即β1、β2、β3、β4、β5,对应的角度范围分别是:65°>β1> 60°,60°>β2>-70°,-70°>β3>-220°,-220°>β4>-280°,-280°>β5>-295°(65°)。

The purpose of this paper was to improve the performance and effectiveness of the smashing machine on branch.The paper achieved the function of picking up branch by chosing the structure of spring-finger cylinder.The design was aimed at the requirement of line work in the orchard of short stock close planting.The spring-finger rotates in a circle,that is,a full pickup cycle.It divided the whole pickup cycle into several parts.Each part completed one action.And then,it completed the whole pickup process by moving each section togeter.First,the mathematical model was built,then the software was written by matlab.Based on the reverse method,from the trajectory and space posture of spring-finger solved some points on the middle of slide function curve.These points were fitted by interpolation method,that is get the middle of slide function curve.Finally,data post-processing was done to get the optimized the middle of slide function curve.