基于三次拉格朗日曲线拟合轨迹的斜置式扎穴机构研究

发布时间：2018-03-10 13:06

  本文选题：液态施肥机　切入点：扎穴机构　出处：《农业机械学报》2017年05期 　论文类型：期刊论文

【摘要】：为更好地满足斜置式扎穴机构喷肥针的入出土轨迹姿态以及不损伤作物的农艺要求,提出基于三次拉格朗日曲线拟合扎穴轨迹的逆向设计参数优化方法,为得到理想的"杏胡形"扎穴轨迹,通过改变相对轨迹上若干型值点的坐标,控制喷肥针入出土姿态并建立喷肥针的运动学模型,采用Matlab GUI开发平台,编写了斜置式非规则齿轮行星轮系扎穴机构的逆向设计与运动学分析仿真软件,最终得到非规则齿轮行星轮系的节曲线、喷肥针的入出土角及喷肥针尖的速度随行星架转角的变化曲线。通过高速摄影试验,观察和分析了在扎穴机构不同斜置角度下喷肥针尖相对运动轨迹的变化规律。试验结果表明,随着机构斜置角度的增大,喷肥针轨迹横向尺寸不变,纵向尺寸减小,扎穴轨迹段曲线逐渐向里收缩。在保证喷肥针扎入土壤一定深度情况下,喷肥针入出土角逐渐增大,随着机构斜置角度的增大,喷肥针轨迹的穴口宽度逐渐增大。
[Abstract]:In order to better meet the attitude of the injection needle unearthed and the agronomic requirements of the crops without damage, a reverse design parameter optimization method based on cubic Lagrangian curve fitting for the hole locus was proposed. In order to obtain the ideal trajectory of "apricot Hu shape", by changing the coordinates of several types of points on the relative locus, controlling the unearthed attitude of the injection needle and establishing the kinematics model of the needle, the platform of Matlab GUI is adopted. The inverse design and kinematics analysis simulation software of the skew irregular planetary gear train is developed, and finally the nodal curve of the irregular planetary gear train is obtained. The angle of release of the injection needle and the velocity of the tip of the spray needle follow the curve of the angle of rotation of the star frame. The changes of the relative trajectory of the tip of the sprayed needle are observed and analyzed at different oblique angles of the mechanism. The experimental results show that with the increase of the oblique angle of the mechanism, the lateral dimension of the needle trajectory is unchanged, and the longitudinal dimension decreases. The curve of the trajectory gradually shrinks inward. Under the condition that the injection needle penetrates into the soil at a certain depth, the angle of the injection needle into the unearthed soil increases gradually, and with the increase of the oblique angle of the mechanism, the width of the hole opening of the injection needle trajectory increases gradually.
【作者单位】： 东北农业大学工程学院;北京农业智能装备技术研究中心;
【基金】：国家自然科学基金项目(51675093) 黑龙江省教育厅科学技术研究项目(12531025)
【分类号】：S224.21
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本文编号：1593465