蔬菜钵苗自动移栽机构的优化设计与试验

发布时间：2018-03-06 02:29

本文选题：蔬菜移栽　切入点：取苗机构　出处：《浙江理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：蔬菜育苗移栽可降低自然灾害的影响,提高阳光和水分的利用率,缩短生长周期。而全自动蔬菜移栽能够提高了工作效率,减少了工作强度,达到了省工节本的目的。移栽机构是全自动蔬菜钵苗移栽机的核心部件,该机构主要由取苗机构和植苗机构组成,而传动装置让两者满足了一定的传动关系。移栽机构性能的好坏也直接影响着蔬菜的栽植质量和存活率。本文的主要研究内容包括:1)结合国内外现有的蔬菜钵苗移栽机构的研究现状,分析了移栽机构的工作原理和性能要求,确定了移栽机构的具体方案,提出了一种非圆齿轮行星轮系取苗机构,优化设计了一种旋转式植苗机构。2)根据取苗机构的工作要求,确定其为共轭凹凸-傅里叶齿轮行星轮系取苗机构,可实现输出二次不等幅传动比,建立其运动学模型,基于MATLAB软件,自主开发人机交互式取苗机构辅助分析与优化软件。分析各参数对取苗轨迹和姿态的影响,根据取苗机构工作要求优化出一组相对较优的机构参数,取苗角度为135.2°,取苗深度为34.7mm,推苗角度为120.2°。3)基于共轭凹凸齿轮传动机构,提出了一种新型的齿廓生成方法,利用Pro/E软件,包络生成非圆齿轮齿廓。该方法适用于各种非圆齿轮的齿廓设计,且具有一定的通用性。基于优化后的机构参数,完成取苗机构的结构设计。4)针对现有旋转式植苗机构在试验中发现的不足,基于Visual Basic软件,优化了植苗机构的参数,得到的接苗角度为88°,植苗角度85°,栽植深度50mm。并完成了植苗机构结构的改进设计,同时完成了传动装置的结构设计。5)基于Solidworks三维软件完成取苗机构、植苗机构和传动装置的三维建模与虚拟装配,利用ADAMS软件完成取苗机构与植苗机构的联合仿真试验分析。得到的取苗爪尖点和栽植器尖点轨迹和速度与MATLAB软件得到的理论轨迹和速度数据基本一致,验证该蔬菜钵苗移栽机构设计的正确性与可行性。6)完成了取苗机构和植苗机构样机的加工与试验,分析了取苗机构和植苗机构的运动学特性,完成了植苗机构的田间试验,进一步验证了该移栽机构的可行性。
[Abstract]:Transplanting seedlings can reduce the influence of natural disasters, increase the utilization rate of sunlight and water, shorten the growth cycle, and the automatic transplanting of vegetables can improve the working efficiency and reduce the working intensity. The transplanting mechanism is the core part of the automatic vegetable pot seedling transplanter, which is mainly composed of the seedling collecting mechanism and the seedling planting mechanism. The performance of the transplanting mechanism also directly affects the planting quality and survival rate of vegetables. The main research contents of this paper include: 1) combining with the existing vegetable bowl seedlings at home and abroad. Research status of transplanting mechanism, The working principle and performance requirements of the transplanting mechanism are analyzed, the specific scheme of the transplanting mechanism is determined, a non-circular gear planetary gear train seedling picking mechanism is put forward, and a rotary seedling mechanism. 2) according to the working requirements of the seedling collecting mechanism, the paper puts forward a kind of plantlet mechanism of non-circular gear planetary gear train, and optimizes the design of a rotary seedling transplanting mechanism. It is determined that it is a conjugate concave convex Fourier gear planetary gear train seedling mechanism, which can realize the output of quadratic unequal transmission ratio, establish its kinematics model, based on MATLAB software, A human-computer interactive software for the analysis and optimization of seedling extraction mechanism is developed independently. The influence of each parameter on the track and attitude of the seedling is analyzed, and a group of relatively optimal mechanism parameters are optimized according to the working requirements of the mechanism. Based on the conjugate concave and convex gear transmission mechanism, a new method of tooth profile generation is proposed, which is based on the Pro/E software, which is based on the conjugate concave and convex gear transmission mechanism, and the seedling angle is 135.2 掳, 34.7 mm and 120.2 掳.3. The method is suitable for the tooth profile design of all kinds of non-circular gears, and has a certain generality. Based on the optimized mechanism parameters, the method is used to generate the tooth profile of non-circular gear. Finish the structure design of the seedling mechanism. 4) aiming at the deficiency found in the experiment of the existing rotary seedling mechanism, the parameters of the seedling mechanism are optimized based on the software of Visual Basic. The seedling grafting angle is 88 掳, the seedling planting angle is 85 掳, and the planting depth is 50 mm. The improved design of the seedling mechanism structure and the structure design of the transmission device. 5) are completed based on the Solidworks 3D software. Three-Dimensional Modeling and Virtual Assembly of Seedling Mechanism and Transmission, The ADAMS software was used to complete the joint simulation and analysis of seedling picking mechanism and seedling planting mechanism. The obtained trajectory and velocity of claw tip point and planter tip point were basically consistent with the theoretical track and velocity data obtained by MATLAB software. To verify the correctness and feasibility of the design of the transplanting mechanism of the vegetable pot. 6) the processing and test of the seedling collection mechanism and the seedling mechanism prototype were completed, the kinematic characteristics of the seedling collecting mechanism and the seedling transplanting mechanism were analyzed, and the field experiment of the seedling mechanism was completed. The feasibility of the transplanting mechanism was further verified.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S223.9

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