行星轮系取栽一体化蔬菜移栽机构优化设计及试验  

Optimization Design and Experiment of Integrated Planetary Carrier Transplanting Mechanism for Vegetable Seedling

作　　者：张鹏飞 刘冬梅[1] 赵雄[2] 徐亚丹[1] 刘东 Zhang Pengfei;Liu Dongmei;Zhao Xiong;Xu Yadan;Liu Dong(Geely Automotive Institute,Hangzhou Vocational&Technical College,Hangzhou 310018,China;Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]杭州职业技术学院吉利汽车学院,浙江杭州310018 [2]浙江理工大学,浙江杭州310018

出　　处：《机械传动》2024年第8期141-149,共9页Journal of Mechanical Transmission

基　　金：杭州市农业和社会发展一般项目(202203B08);杭州市农业和社会发展一般项目(20201203B92);上海市科技兴农项目(2021)第4-1号;浙江省公益性技术应用研究计划项目(LGN21E050001)。

摘　　要：为简化蔬菜毯苗移栽机构、提高移栽效率,提出了一种非圆齿轮行星轮系和变形椭圆行星轮系组合的取苗挖穴一体化移栽机构,可完成蔬菜毯苗切块、取苗、送苗、挖穴、投苗的工作过程。首先,根据蔬菜毯苗的农艺要求,选取合适的移栽轨迹,设定精确位姿点,采用运动生成机构综合方法建立取苗机构运动学模型;根据取苗机构的运动轨迹要求,基于求解参数拟合优化,获得输入轴与输出轴转角关系曲线,计算非圆齿轮行星轮系总传动比和非圆齿轮节曲线参数。其次,确定挖穴机构优化目标,获得挖穴机构参数。最后,完成整套机构组合与三维模型装配,并进行仿真和样机试验。结果表明,理论轨迹、仿真轨迹和试验轨迹基本一致,幼苗移栽平均漏栽率为2%,平均倒伏率、伤苗率、埋苗率均为1.5%,均满足农艺要求,验证了机构设计方法的准确性。In order to simplify the transplanting mechanism of vegetable blanket seedlings and improve the transplanting efficiency,an integrated planetary carrier transplanting mechanism of picking and digging seedlings combined with non-circular gear planetary gear train and deformed elliptical planetary gear train is proposed to complete the working process of cutting,picking,sending,digging and throwing vegetable blanket seedlings.Firstly,according to the agronomic requirements of vegetable blanket seedlings,this study selects the appropriate transplanting trajectory,sets the accurate pose points,and establishes the kinematics model of the seedling pick-up mechanism by using the motion generation synthesis method.According to the motion trajectory requirements of the pick-up mechanism of seedlings,the relation curve of the input shaft and the output shaft rotation angle is obtained based on the parameter fitting optimization,and the total transmission ratio of the non-circular gear planetary gear train and the non-circular gear pitch curve parameters are calculated.Secondly,the optimization goal of the digging mechanism are determined and the parameters of the digging mechanism are obtained.Finally,the assembly of the whole mechanism combination and 3D model is completed,and the simulation and prototype test are carried out.The results show that the theoretical trajectory,simulation trajectory and test trajectory are basically the same.The average missed transplanting rate of seedlings is 2%,and the average lodging rate,injured seedling rate,and buried seedling rate are all 1.5%.All of them meet the agronomic requirements and the correctness of the mechanism design method is verified.

关 键 词：行星轮系 非圆齿轮 变形椭圆齿轮 蔬菜移栽 

分 类 号：S223[农业科学—农业机械化工程]