变差速水稻钵苗Z字形宽窄行移栽机构研究
发布时间：2018-11-07 08:28
【摘要】：水稻钵苗Z字形宽窄行移栽是一种新型农艺方式,通过将钵苗移栽和Z字形宽窄行种植相结合,可有效提高水稻的产量和质量。钵苗移栽是将带土钵的秧苗从钵盘中取出并植入田间的农艺过程,这种移栽方式克服了毯状苗插秧伤根的缺点,移栽的秧苗抗病能力强,成活率高,无缓苗期,可实现水稻的大幅增产。Z字形宽窄行种植是将相邻两行水稻秧苗交替种植,并以宽行和窄行间隔分布,这种种植方式可增加田间的光照和通风,从而减少病虫害,提高水稻抗倒伏能力,实现水稻产量和品质的提高。由于传统插秧机或钵苗移栽机均无法完成水稻钵苗Z字形宽窄行移栽,实际生产中主要依靠人工完成,作业成本高、效率低,导致这种农艺方式难以推广。本文提出一种变差速水稻钵苗Z字形宽窄行移栽机构,利用差速轮系的不等速传动和空间传动,结合齿轮箱双侧移栽臂结构,以空间轨迹实现水稻钵苗Z字形宽窄行移栽。本文的主要研究内容如下:1)机构创新,通过探索可以同时实现钵苗移栽和Z字形宽窄行移栽的机构构型,提出了一种以圆齿轮、非圆齿轮和交错斜齿轮组成的差速轮系为核心部件的变差速水稻钵苗Z字形宽窄行移栽机构。2)理论研究,将非均匀B样条曲线理论应用于非圆齿轮节曲线的拟合,并分析了非圆齿轮的传动特性,采用坐标变换方法建立了机构齿轮箱轮系的数学模型。3)参数优化,将水稻钵苗Z字形宽窄行移栽的轨迹和姿态要求参数化为9个具体的运动学优化目标,并利用MATLAB软件编写了基于机构数学模型的可视化参数优化界面,并分析了机构齿轮和移栽臂的结构和位置参数对移栽轨迹形状、姿态以及轨迹偏移量等目标参数的影响规律,优化出了一组满足水稻钵苗Z字形宽窄行移栽要求的结构参数。4)三维建模和仿真分析,完成了机构传动箱、齿轮箱和移栽臂中各零件的结构设计,利用UG软件进行了三维建模,并将装配后的虚拟样机导入ADAMS软件进行运动学仿真和分析,机构移栽臂取秧夹片尖点仿真轨迹和速度与理论数据基本一致。5)物理样机试验,加工了右侧移栽机构的零件并进行了装配,利用自制试验台架、工业相机和图像处理软件对机构移栽臂运动轨迹和姿态进了分析,结果与理论数据基本吻合,验证了移栽机构方案的可行性和结构的合理性。
[Abstract]:Rice potted seedling with narrow Z shape width and narrow row transplanting is a new type of agronomic method. The rice yield and quality can be effectively improved by combining the pot seedling transplanting with Z shaped width and narrow row planting. The transplanting of potted seedlings is an agronomic process in which the seedlings with soil bowl are removed from the bowl and implanted in the field. This transplanting method overcomes the shortcomings of the carpet seedling transplanting seedlings and hurts the roots. The transplanted seedlings have strong resistance to disease, high survival rate and no slow seedling period. Z zigzag width and narrow row planting is the alternate planting of adjacent two rows of rice seedlings and distributed in wide and narrow rows. This planting method can increase the light and ventilation in the field, thus reducing the disease and insect pests. To improve the lodging resistance of rice and to improve the yield and quality of rice. Because the traditional transplanter or the pot seedling transplanter can not complete the rice bowl seedling Z zigzag width narrow row transplanting, the actual production mainly depends on the manual completion, the work cost is high, the efficiency is low, resulting in this kind of agronomic method is difficult to popularize. In this paper, a kind of Z zigzag width narrow row transplanting mechanism of rice pot seedling with variable differential speed is proposed. By using the unequal speed transmission and space transmission of differential gear train and combining the double side transplanting arm structure of gear box, the Z shape width narrow row transplanting of rice bowl seedling is realized by space track. The main research contents of this paper are as follows: 1) Mechanism innovation, through exploring the mechanism configuration which can realize the transplanting of bowl seedling and Z shape width and narrow row transplanting simultaneously, a kind of round gear is put forward. The differential gear train composed of non-circular gear and staggered helical gear is the core component of the variable-differential rice seedling Z zigzag width and narrow row transplanting mechanism. 2) the theory of non-uniform B-spline curve is applied to the fitting of non-circular gear pitch curve. The transmission characteristics of non-circular gear are analyzed, and the mathematical model of gear train of mechanism gearbox is established by using coordinate transformation method. 3) parameter optimization. In this paper, the parameters of Z shape wide and narrow row transplanting of rice seedling are changed into nine specific kinematics optimization objectives, and the visual parameter optimization interface based on mechanism mathematical model is compiled by MATLAB software. The influence of the structure and position parameters of the gear and the transplanting arm on the target parameters such as the shape of the transplanting trajectory, the attitude and the trajectory deviation are analyzed. A set of structural parameters which can meet the requirement of Z shape width and narrow line transplanting of rice bowl seedling are optimized. 4) 3D modeling and simulation analysis are carried out, and the structural design of each part in the mechanism transmission box, gear box and transplanting arm is completed. The 3D modeling was carried out by using UG software, and the virtual prototype was imported into ADAMS software for kinematics simulation and analysis. The trajectory and velocity of the simulation of the tip point of the transplanting arm and the clip were basically consistent with the theoretical data. 5) physical prototype test. The parts of the right transplanting mechanism were machined and assembled. The motion track and attitude of the transplanting arm of the mechanism were analyzed by using self-made test-bed, industrial camera and image processing software. The results were in good agreement with the theoretical data. The feasibility of the scheme and the rationality of the structure are 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
本文编号：2315783
[Abstract]:Rice potted seedling with narrow Z shape width and narrow row transplanting is a new type of agronomic method. The rice yield and quality can be effectively improved by combining the pot seedling transplanting with Z shaped width and narrow row planting. The transplanting of potted seedlings is an agronomic process in which the seedlings with soil bowl are removed from the bowl and implanted in the field. This transplanting method overcomes the shortcomings of the carpet seedling transplanting seedlings and hurts the roots. The transplanted seedlings have strong resistance to disease, high survival rate and no slow seedling period. Z zigzag width and narrow row planting is the alternate planting of adjacent two rows of rice seedlings and distributed in wide and narrow rows. This planting method can increase the light and ventilation in the field, thus reducing the disease and insect pests. To improve the lodging resistance of rice and to improve the yield and quality of rice. Because the traditional transplanter or the pot seedling transplanter can not complete the rice bowl seedling Z zigzag width narrow row transplanting, the actual production mainly depends on the manual completion, the work cost is high, the efficiency is low, resulting in this kind of agronomic method is difficult to popularize. In this paper, a kind of Z zigzag width narrow row transplanting mechanism of rice pot seedling with variable differential speed is proposed. By using the unequal speed transmission and space transmission of differential gear train and combining the double side transplanting arm structure of gear box, the Z shape width narrow row transplanting of rice bowl seedling is realized by space track. The main research contents of this paper are as follows: 1) Mechanism innovation, through exploring the mechanism configuration which can realize the transplanting of bowl seedling and Z shape width and narrow row transplanting simultaneously, a kind of round gear is put forward. The differential gear train composed of non-circular gear and staggered helical gear is the core component of the variable-differential rice seedling Z zigzag width and narrow row transplanting mechanism. 2) the theory of non-uniform B-spline curve is applied to the fitting of non-circular gear pitch curve. The transmission characteristics of non-circular gear are analyzed, and the mathematical model of gear train of mechanism gearbox is established by using coordinate transformation method. 3) parameter optimization. In this paper, the parameters of Z shape wide and narrow row transplanting of rice seedling are changed into nine specific kinematics optimization objectives, and the visual parameter optimization interface based on mechanism mathematical model is compiled by MATLAB software. The influence of the structure and position parameters of the gear and the transplanting arm on the target parameters such as the shape of the transplanting trajectory, the attitude and the trajectory deviation are analyzed. A set of structural parameters which can meet the requirement of Z shape width and narrow line transplanting of rice bowl seedling are optimized. 4) 3D modeling and simulation analysis are carried out, and the structural design of each part in the mechanism transmission box, gear box and transplanting arm is completed. The 3D modeling was carried out by using UG software, and the virtual prototype was imported into ADAMS software for kinematics simulation and analysis. The trajectory and velocity of the simulation of the tip point of the transplanting arm and the clip were basically consistent with the theoretical data. 5) physical prototype test. The parts of the right transplanting mechanism were machined and assembled. The motion track and attitude of the transplanting arm of the mechanism were analyzed by using self-made test-bed, industrial camera and image processing software. The results were in good agreement with the theoretical data. The feasibility of the scheme and the rationality of the structure are 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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