本文選題：自走式移栽機(jī) + 行星輪轉(zhuǎn)臂式栽植機(jī)構(gòu)　； 參考：《江蘇大學(xué)》2017年碩士論文

【摘要】：栽植機(jī)構(gòu)作為自走式移栽機(jī)的核心工作部件,是將穴盤苗植入土壤的直接作業(yè)部件,其性能直接影響著穴盤苗的栽植質(zhì)量和移栽機(jī)的整機(jī)性能。本文在課題組對(duì)行星輪轉(zhuǎn)臂式栽植機(jī)構(gòu)的研究基礎(chǔ)上,針對(duì)栽植直立度較低、適用株距單一、局限性較大等問(wèn)題,結(jié)合適栽期蔬菜穴盤苗物理特性,建立栽植機(jī)構(gòu)前后鴨嘴的運(yùn)動(dòng)學(xué)模型,開(kāi)展了栽植機(jī)構(gòu)運(yùn)動(dòng)軌跡、參數(shù)優(yōu)化、虛擬樣機(jī)及孔穴成型仿真、樣機(jī)田間試驗(yàn)等研究工作,以改善行星輪轉(zhuǎn)臂式栽植機(jī)構(gòu)栽植性能,提高其適用性及通用性。本文的主要研究?jī)?nèi)容如下:(1)對(duì)適栽期蔬菜穴盤苗物理特性進(jìn)行研究,對(duì)穴盤苗高度、葉冠直徑、苗缽質(zhì)量及缽體尺寸等參數(shù)進(jìn)行測(cè)定,統(tǒng)計(jì)分析穴盤苗的幾何尺寸及形態(tài)特性的分布區(qū)間,并以此為參考依據(jù)設(shè)計(jì)栽植鴨嘴結(jié)構(gòu)形狀及開(kāi)合凸輪結(jié)構(gòu)尺寸。(2)對(duì)自走式自動(dòng)移栽機(jī)整機(jī)結(jié)構(gòu)和栽植工作過(guò)程詳細(xì)闡述,明確栽植機(jī)構(gòu)的工作條件;對(duì)行星輪轉(zhuǎn)臂式栽植機(jī)構(gòu)結(jié)構(gòu)組成及工作原理進(jìn)行詳細(xì)說(shuō)明,設(shè)計(jì)栽植部件多行同步栽植方案和傳動(dòng)方案;對(duì)栽植部件各參數(shù)間關(guān)系進(jìn)行詳盡理論推導(dǎo),確定栽植部件設(shè)計(jì)轉(zhuǎn)臂數(shù)和傳動(dòng)比參數(shù)及三種對(duì)應(yīng)設(shè)計(jì)株距280mm、310mm和345mm。(3)建立栽植機(jī)構(gòu)前后栽植點(diǎn)的運(yùn)動(dòng)數(shù)學(xué)模型,提出栽植機(jī)構(gòu)軌跡優(yōu)化條件,基于MATLAB/GUI平臺(tái)開(kāi)發(fā)計(jì)算機(jī)輔助優(yōu)化設(shè)計(jì)人機(jī)交互界面,對(duì)該界面各模塊功能進(jìn)行詳細(xì)說(shuō)明;基于該輔助優(yōu)化設(shè)計(jì)界面,研究分析了各主要變量參數(shù)對(duì)前后栽植點(diǎn)運(yùn)動(dòng)軌跡的影響規(guī)律,對(duì)栽植機(jī)構(gòu)各變量參數(shù)進(jìn)行優(yōu)化,基于各變量參數(shù)影響變化規(guī)律,由人機(jī)交互優(yōu)化出一組滿足優(yōu)化要求的機(jī)構(gòu)參數(shù):L_1=83mm,L_2=22mm,L_3=38mm,L_4=145mm,R_d=120mm,a=82°,b=8°,C(105,-22),D(165,-17)。(4)根據(jù)優(yōu)化后的機(jī)構(gòu)參數(shù)對(duì)關(guān)鍵部件結(jié)構(gòu)進(jìn)行設(shè)計(jì),利用Pro/E建立栽植機(jī)構(gòu)的三維模型虛擬樣機(jī),將其導(dǎo)入ADAMS中進(jìn)行虛擬樣機(jī)運(yùn)動(dòng)仿真,得到植苗過(guò)程中苗缽與前后鴨嘴的相對(duì)位置,由仿真后處理得到機(jī)構(gòu)運(yùn)動(dòng)軌跡和苗缽速度、加速度曲線,對(duì)比仿真結(jié)果與理論優(yōu)化結(jié)果的差異,對(duì)栽植機(jī)構(gòu)優(yōu)化設(shè)計(jì)理論分析和結(jié)果的合理性進(jìn)行驗(yàn)證;并對(duì)栽植孔穴成型過(guò)程及孔穴形狀尺寸進(jìn)行仿真研究。(5)試制栽植部件物理樣機(jī)并裝配至自走式移栽機(jī)樣機(jī)上,進(jìn)行栽植機(jī)構(gòu)田間植苗試驗(yàn),檢驗(yàn)栽植機(jī)構(gòu)理論分析可行性與實(shí)際作業(yè)性能;通過(guò)田間試驗(yàn)可以發(fā)現(xiàn),實(shí)際栽植結(jié)果與理論分析結(jié)果基本一致,表明該機(jī)構(gòu)運(yùn)動(dòng)建模和優(yōu)化設(shè)計(jì)是正確可行的,優(yōu)化設(shè)計(jì)的機(jī)構(gòu)能滿足移栽工作要求。
[Abstract]:As the core part of self-walking transplanting machine, planting mechanism is the direct working part of transplanting plantlets into soil, and its performance directly affects the planting quality of plantlets and the whole machine performance of transplanting machine. In this paper, based on the research of planetary rotation arm planting mechanism, aiming at the problems of low upright degree, single plant spacing and great limitation, this paper combines the physical characteristics of vegetable plantlets in suitable planting period. The kinematics model of duck beak before and after planting mechanism was established, and the research work such as motion track, parameter optimization, simulation of virtual prototype and hole forming, field experiment of prototype were carried out in order to improve the planting performance of planetary rotation arm type planting mechanism. Improve its applicability and versatility. The main contents of this paper are as follows: (1) the physical characteristics of vegetable poop seedlings at suitable stage were studied. The seedling height, the diameter of leaf crown, the quality of seedling bowl and the size of bowl were measured. The distribution interval of geometric size and morphological characteristics of plantlets are statistically analyzed, and the structure of self-walking automatic transplanting machine and the working process of planting are described in detail according to the structural shape of duckbill and the size of opening and closing cam. The working conditions of the planting mechanism are defined, the structure and working principle of the planetary rotation arm planting mechanism are explained in detail, and the multi-row synchronous planting scheme and transmission scheme of the planting parts are designed. The relationship between the parameters of planting components is deduced in detail, and the number of rotation arms and transmission ratio parameters of planting components and the three corresponding design plant spacing of 280 mm ~ 310mm and 345mm 路m ~ (3) are determined to establish the kinematic mathematical model of the planting points before and after planting mechanism. Based on the MATLAB/GUI platform, the human-computer interactive interface for computer-aided optimization design is developed, and the functions of each module of the interface are explained in detail. The influence of the main variable parameters on the track of the front and rear planting points is studied and the parameters of the planting mechanism are optimized. Based on human-computer interaction, a set of mechanism parameters: 1 / L _ 1 / 83mm / L _ _ _ It is introduced into ADAMS to simulate the motion of virtual prototyping, and the relative position of the seedling bowl and the front and rear duck beak in the process of seedling planting is obtained. After the simulation, the track of the mechanism, the velocity and acceleration curve of the seedling bowl are obtained. The differences between the simulation results and the theoretical optimization results are compared to verify the rationality of the theoretical analysis and the results of the optimal design of the planting mechanism. Simulation study on the forming process and the shape and size of the hole is also carried out. The physical prototype of the planting parts is manufactured and assembled into the prototype of the self-walking transplanting machine, and the field seedling planting experiment of the planting mechanism is carried out. The feasibility of theoretical analysis and practical performance of the planting mechanism were tested, and the results of field experiments showed that the actual planting results were basically consistent with the theoretical analysis results, which indicated that the kinematic modeling and optimal design of the mechanism were correct and feasible. The optimum design mechanism can meet the requirement of transplanting.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：S223.9

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