高接低栽式差速变姿态行星轮系栽植机构设计与试验

Optimization Design and Experiment of High Catching and Low Planting Type Differential Variable Attitude Planetary Gear System Planting Mechanism

针对目前旱地蔬菜钵苗移栽机大多适用于大株距(大于260 mm)移栽且投接苗与栽植位置作业高度差大、移栽性能不佳等问题,本文提出一种高接低栽式差速变姿态行星轮系栽植机构。根据中小株距蔬菜钵苗移栽农艺指导与机构设计要求,解析双行星架差速行星轮系栽植机构工作原理并建立其运动学理论模型;结合所提出优化目标构建目标函数,开发了基于Matlab GUI的栽植机构计算机辅助分析优化设计软件,通过人机交互方式获得1组较优的机构设计参数组合。通过三维建模与装配以及ADAMS软件虚拟仿真,初步验证了机构正确性与合理性。开展栽植机构物理样机试制与试验台架系统开发研究,通过空转试验测试,验证了栽植机构实际作业轨迹、姿态与虚拟仿真及理论设计的一致性;开展栽植机构接苗与栽植性能试验,试验结果表明,栽植机构在接苗与栽植各项试验指标均较为优秀,能够满足栽植机构预期设计要求与旱地移栽机械标准,验证了该机构的可行性与实用性。

In response to the current problem that dryland vegetable pot seedling transplanting machine mostly applies to large plant spacing(more than 260 mm)transplanting,and there is a large height difference between the seedling catching and planting position,as well as a poor transplanting performance,the high catching and low planting type differential variable attitude planetary gear system planting mechanism was proposed.Based on the agronomic guidance for small and medium plant spacing of vegetable pot seedling transplanting and transplanting mechanism design requirements,the working principle of the double planetary carrier differential planetary gear system planting mechanism was analyzed and its kinematic theoretical model was established.A computer-aided analysis and optimization design software for planting mechanism based on Matlab GUI was developed by combining the objective function constructed with the proposed optimization objectives.A set of optimal mechanism design parameter combinations was obtained through human-computer interaction.The correctness and rationality of the mechanism were preliminarily verified through 3D modeling and assembly,as well as virtual simulation by ADAMS software.The experimental research on the physical prototype of planting mechanisms and the development of test bench systems were carried out.Through idle testing,the consistency of trajectory and attitude of planting mechanism among the actual operation,virtual simulation,and theoretical design was verified.The experimental research on the seedling catching and planting performance of planting mechanism was conducted.The results showed that the planting mechanism was excellent in all experimental indicators of seedling catching and planting,which could meet the expected design requirements of planting mechanism and the standards of dry land transplanting machinery,and it verified the feasibility and practicality of the planting mechanism.