水稻钵苗“D形”静轨迹移栽机构逆向设计与分析  

Reverse design and analysis of rice seedling transplanter with D-shape static trajectory

作　　者：赵雄[1] 陈建能[1] 王英[1] 赵匀[1] 李传龙 

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018 [2]玉柴重工(天津)有限公司,天津301700

出　　处：《农业工程学报》2012年第8期92-97,共6页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金(51005214);浙江省自然科学基金(Y1110362;Y1110100);浙江省教育厅项目(Y201019088)

摘　　要：通过对夹取式水稻钵苗移栽作业农艺要求的分析,得出具有"D形"静轨迹的取苗爪更便于从秧箱中夹取水稻钵苗进行移栽。为了实现"D形"静轨迹,采用封闭节曲线拟合技术,通过给定型值点确定机构作业要求的运动轨迹,建立机构逆运动学模型,求解出非圆齿轮非匀速传动比函数,从而设计出非圆齿轮节曲线。计算实例验证了该逆向设计方法的可行性,通过该方法可方便获得更为复杂要求的运动规律,实现轨迹的再现和取苗段姿态的控制,可为移栽机的设计提供一种新方法。Through analysis on the agricultural requirement of gripper-type rice seedling transplanting,the fetching claw which forms D-trajectory could facilitate seedling gripping from rice box.To design a transplanter which can form a D-trajectory,the reverse kinematic model of the mechanism was established and the function of non-uniform velocity transmission ratio of the non-circular gears was solved based on the fitting technique of close pitch curve and the motion trajectory that met with the requirements of operation determined through the given typical points.Finally the pitch curve of the non-circular gears was achieved.A calculated example verified the feasibility of this reverse design method,and indicated that it was convenient to obtain more complicated motion regularity,realize trajectory reappearance and attitude controlling,which supplied a new method for the design of transplants.

关 键 词：轨迹 设计 移栽机 姿态控制 非圆齿轮 夹取 

分 类 号：S223.91[农业科学—农业机械化工程]