共轭凸轮非圆行星轮系水稻钵苗移栽机构机理分析与优化设计

发布时间：2019-03-06 16:56

【摘要】：水稻为我国主要粮食作物，种植面积常年维持在3000万公顷左右，占我国谷物种植总面积的30%，稻谷总产量约20000万吨，占我国粮食总产量的40%。全国近60%的人口以稻米为主食，水稻在我国粮食生产中的作用不可替代，在粮食安全问题上也举足轻重，而我国水稻种植机械化总体水平不高。在有限劳动力及耕种面积约束下，水稻种植机械化是提高粮食产量的必经之路。钵苗移栽是水稻主要机械种植方式之一。钵苗移栽可充分利用光热资源，提高作物复种指数，具有对气候的补偿作用和延长作物生育期的综合效益，能有效地提高单产和作物的品质，节约成本效果明显，具有其他种植方式不可比拟的优势。移栽机构作为水稻钵苗移栽机的核心工作部件，其性能优劣直接决定了移栽机的整体水平。现有移栽机构工作机理和结构复杂，加工困难，作业质量得不到保证，成为限制移栽机应用和推广的主要原因。如果能发明一种结构简单、作业质量好、工作可靠、效率高的移栽机构，这将解决水稻钵苗移栽机研制和推广的难题，为我国水稻种植机械化水平的提高创造有利条件。本文突破传统结构，成功设计了一种“共轭凸轮非圆行星轮系水稻钵苗移栽机构”，具有独立的自主知识产权，主要研究内容如下：（1）通过对现有水稻钵苗移栽机构的工作机理和运动特性分析，指出旋转式水稻钵苗移栽机构研究面临的关键问题，即在实现取苗的同时实现栽植动作，并针对旋转式水稻钵苗移栽机构需要的工作轨迹进行了探讨。（2）针对旋转式水稻钵苗移栽机构所需满足的工作轨迹复杂、折点多及突变大的特点，而单靠非圆齿轮传动难以实现的问题，本文提出了一种“共轭凸轮非圆行星轮系水稻钵苗移栽机构”（专利申号：201210421617.1），将非圆行星轮系的牵引运动与共轭凸轮形成的摆动合理的叠加在一起，，促使移栽机构形成类似企鹅形的静工作轨迹。取秧段轨迹细长如鸟喙，能够保证移栽臂将钵苗从钵盘中取出，栽植阶段轨迹如同企鹅的身体，保证移栽臂有足够行程将钵苗以一定姿态植入地里，从而实现钵苗移栽。机构集取苗及植苗于一体，工作过程中传动连续、平稳，没有刚性冲击，同时具有结构简单，重量轻，振动小，制造成本低等优点。（3）对机构工作机理及特点进行了详细论述，建立了共轭凸轮非圆行星轮系水稻钵苗移栽机构的数学学模型，其中主要包括两方面：非圆行星轮系牵引机构数学模型及摆动共轭凸轮机构数学模型，并对机构运动学进行了分析。（4）以机构数学模型为基础，自主开发了移栽机构计算机辅助分析与优化软件系统（软件登记号：2012R11L093174），详细介绍各子软件界面、功能模块及特点。基于该软件，成功解决了移栽机构的优化、共轭凸轮结构设计及非圆齿轮加工问题。（5）根据水稻钵苗移栽的农艺要求，制定了机构运动学优化目标，并对机构结构提出要求。对机构优化方法进行了探讨，并分析参数变化对移栽机构运动特性及结构性能的影响，为机构优化指明方向。利用自主开发的分析与优化软件系统，优化出移栽机构结构参数，较好地满足水稻钵苗移栽农艺要求及结构要求。（6）根据优化得到的结构参数，利用自主开发软件，完成了移栽机构的整体结构及零部件的设计，并讨论了设计中应该注意的问题，最后在AutoCAD2008下完成机构装配图和各零部件设计。（7）借助UG软件对移栽机构零部件进行三维建模及和虚拟装配，并将三维模型导入到ADAMS中进行了虚拟样机仿真。将虚拟样机实验结果与自主开发的优化软件分析结果进行了对比，两者的机构工作轨迹、速度及加速度曲线高度一致。验证了理论计算的正确性，并为后续移栽机构样机加工提供有力保障。
[Abstract]:Rice is the main grain crop in China. The planting area is maintained at about 30 million hectares for a year, accounting for 30% of the total area of grain planting in China. The total output of rice is about 20 million tons, accounting for 40% of the total grain output in China. Nearly 60% of the population in China is the main food of rice, and the role of rice in grain production in China is not a substitute. It is also very important in the problem of food security, and the overall level of rice planting mechanization in China is not high. Under the constraints of limited labor force and cultivation area, rice planting mechanization is the only way to improve grain yield. The transplanting of pot seedlings is the main mechanical planting method of rice 1. The transplanting of the pot seedlings can fully utilize the photothermal resources, improve the cropping index of the crops, have the comprehensive benefit to the climate compensation function and prolong the growth period of the crops, can effectively improve the quality of the single production and the crops, save the cost effect, and have the advantages that the other planting methods are not comparable the transplanting mechanism is used as the core working part of the rice pot seedling transplanter, and the performance of the transplanting mechanism directly determines the whole water of the transplanter, the invention has the advantages that the working mechanism and the structure of the existing transplanting mechanism are complicated, the processing is difficult, the operation quality is not guaranteed, and the invention becomes the main raw material for limiting the application and the popularization of the transplanter The transplanting mechanism has the advantages of simple structure, good operation quality, reliable work and high efficiency, This paper breaks through the traditional structure, successfully designs a kind of "Common-type cam non-circular planetary gear train rice pot seedling transplanting mechanism", has the independent independent intellectual property, the main research The method comprises the following steps: (1) through the working mechanism and the transportation of the existing rice pot seedling transplanting mechanism, The dynamic characteristic analysis indicates the key problem of the research of the transplanting mechanism of the rotary rice pot seedling, that is, the planting action is realized while the seedling taking is realized, and the working track required by the rotary rice pot seedling transplanting mechanism is The paper has made a discussion. (2) In order to solve the problem that the operation track of the rotary type rice pot seedling transplanting mechanism is complex, large and abrupt, and the problem that the non-circular gear transmission is difficult to realize, this paper puts forward a kind of "Common-type cam non-circular planetary gear train rice pot seedling transplanting mechanism" (Patent No.:20121042 1617.1), superposing the traction motion of the non-circular planetary gear train with the swing of the co-rotating cam to cause the transplanting mechanism to form a similar penguin, the track of the seedling taking section is as long as the beak of the bird, the transplanting arm can be ensured to be taken out from the bowl, the track of the planting stage is as the body of the penguin, and the mechanism is simple in structure, light in weight, small in vibration, In this paper, the mechanism and characteristics of the mechanism are discussed in detail, and the mathematical model of the transplanting mechanism of the non-circular planetary gear train of the co-rotating cam is established. The main features include two aspects: the mathematical model of the traction mechanism of the non-circular planetary gear train and the swing co-operation The mathematical model of the cam mechanism, and the machine Based on the mathematical model of the mechanism, the computer-aided analysis and optimization software system of the transplanting mechanism (software registration No.:2012 R11L093174) was developed and the sub-software was introduced in detail. Based on the software, the optimization of the transplanting mechanism and the structure of the co-rotation cam are successfully solved. The design and non-circular gear machining problems. (5) The mechanism kinematics optimization is established according to the agronomic requirements of the rice pot seedling transplantation The aim of this paper is to make a request to the structure of the mechanism. The method of mechanism optimization is discussed, and the motion characteristics and structural performance of the transplanting mechanism are analyzed by the change of the parameters. By using the analysis and optimization software system of the independent development, the structure parameters of the transplanting mechanism are optimized, and the rice is better satisfied. (6) According to the optimized structure parameters, the whole structure of the transplanting mechanism and the design of the parts are completed, and the problems that should be paid attention to in the design are discussed. Finally, in AutoCAD2008 The assembly drawing of the mechanism and the design of each component are completed. (7) Three-dimensional modeling and virtual assembly of the components of the transplanting mechanism are carried out by the UG software, and the three-dimensional model is conducted. The simulation of the virtual prototype is carried out in ADAMS. The result of the experiment of the virtual prototype is compared with the result of the optimization software of the independent development. the working track, the speed and the acceleration curve are highly consistent, and the correctness of the theoretical calculation is verified, and
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：S223.9

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