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机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (7): 76-84.doi: 10.3901/JME.2017.07.076

• 机构学及机器人 • 上一篇    下一篇

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钵苗有效零速移栽栽植机构运动学分析与试验*

刘姣娣1,2, 曹卫彬1,3, 田东洋1, 赵宏政1   

  1. 1. 石河子大学机械电气工程学院 石河子 832000;
    2. 重庆大学机械传动国家重点实验室 重庆 404100;
    3. 兵团农业机械重点实验室 石河子 832000
  • 出版日期:2017-04-05 发布日期:2017-04-05
  • 作者简介:

    刘姣娣，女，1975年出生，博士，副教授。主要研究方向为农业种植机械设计与机构学。

    E-mail：xingtianliu@sjtu.edu.cn

    曹卫彬(通信作者)，男，1959年出生，博士，教授，博士研究生导师。主要研究方向为现代农业装备及技术。

    E-mail：wbc828@163.com

  • 基金资助:
    * 国家自然科学基金(51565048)、重庆大学国家机械传动重点实验室开放课题(SKLMT-KFKT-201516)和兵团科技支疆项目(2013AB024)资助项目; 20160531收到初稿，20170104收到修改稿;

Kinematic Analysis and Test on Transplanting Mechanism with Effective Zero-speed Transplanting on Mulch Film

LIU Jiaodi1,2, CAO Weibin1,3, TIAN Dongyang1, ZHAO Hongzheng1   

  1. 1. College of Machine and Electrical Engineering， Shihezi University， Shihezi 832000;
    2. The State Key Laboratory of Mechanical Transmissions， Chongqing University， Chongqing 404100;
    3. Corps Key Laboratory of Agricultural Machinery， Shihezi University， Shihezi 832000
  • Online:2017-04-05 Published:2017-04-05

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摘要：

针对膜上移栽存在穴口大、直立度低、穴口地膜破损等问题，基于有效零速栽植机理提出一种行星轮系五杆栽植机构。针对有效零速栽植运动特性，分析该机构的运动要求及轨迹形成原理，建立圆柱凸轮间歇运动机构与行星轮式五杆栽植机构的运动学模型。在确定优化目标的基础上，基于VB的人机交互分析软件优选机构参数，通过虚拟样机运动仿真表明优化参数可以满足栽植嘴植苗轨迹要求。台架高速摄影试验表明栽植机构运动轨迹与零速栽植理论要求轨迹一致，栽植嘴入土前后栽植嘴垂直性好，重合度高，能实现有效零速植苗。田间试验结果表明，机组前进速度为0.5 m/s，栽植频率为50株/min时，该机构移栽漏苗率为3%，膜口撕裂率为3.2%，穴口大小其实只是栽植嘴的实体尺寸大小，小于70 mm，钵苗直立度为96.7%，达到了加工番茄钵苗膜上移栽的栽植性能要求，验证了栽植机构设计的合理性与准确性。该研究可为膜上钵苗自动移栽机栽植机构的研发提供参考。

关键词: 参数优化, 试验验证, 有效零速度栽植, 圆柱凸轮, 运动学, 膜上钵苗移栽

Abstract:

To solve these problems of larger diameter, upright position, and film damage, a mechanism with planetary five-bar is proposed based on the theory of zero-speed transplanting. According to the movement characteristics of zero-speed transplanting, the mechanism movement trajectory is analyzed and presented kinematics model. A computer-aided analysis program based on Visual Basic 6.0 is developed for optimizing the structural parameters as well as optimized to satisfy the motion trajectory conditions by human-computer interaction analysis method. The image shows that the static trajectory tallies with its computer simulation. During the field test with the forward speed of 0.5m/s and transplanting frequency of 50 seedlings per minute, note that the advantages of the seedling transplanting mechanism are that the diameter of the planting cave is less than 70 millimeter, 96.7% of the seedling perpendicularity qualification rate can be reached, the film injury rate is only 3.2%, the missing rate of seedling transplanting is merely 3%, and the hanging membrane phenomenon is avoided. The mechanism achieves requirement for a mulch-film transplanting machine.

Key words: cylindrical cam, effective zero-speed transplanting, experimental validation, kinematic, parameter optimization, seedling transplanting on mulch-film

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