夹钵式水稻钵苗移栽机构设计与试验
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摘要
针对夹苗式水稻钵苗移栽机构取苗易失败,以及推秧爪推秧不充分影响钵苗直立度等问题,根据水稻钵苗移栽机构的工作要求,提出了一种夹钵式水稻钵苗移栽机构。基于Visual Basic 6. 0开发了移栽机构辅助分析优化软件,分析了主要参数对移栽轨迹的影响,通过人机交互方式得到了一组满足移栽工作要求的机构参数。根据得到的机构参数,完成移栽机构的结构设计,进行了移栽机构的虚拟仿真分析,验证了移栽机构理论设计的正确性。设计了水稻钵苗移栽试验台并进行了移栽机构取苗试验,移栽机构回转速度设定为50 r/min时,平均取苗成功率为93. 06%,当转速为80 r/min时,平均取苗成功率为88. 89%,取苗成功率随着转速的提高而降低。研究表明,该机构具有较高的取苗效率和取苗成功率,可应用于水稻钵苗移栽机。
In order to solve the problem of failure on clipping-seedling type transplanting mechanism of rice plug-seedling during seedling pick-up and not fully push-pull pushing that affect the upright degree of seedling,according to the design requirement of rice plug-seedling transplanting mechanism,a kind of clipping-plug type transplanting mechanism of rice plug-seedling was proposed. Firstly,according to the kinematic model of transplanting mechanism,an auxiliary analysis and optimization software of this kind of rice potted-seedling transplanting mechanism was independently developed with Visual Basic 6. 0,and the influence of main parameters on the transplanting trajectory was also analyzed by the software. With the method of human-computer interaction based on visualization,a set of structural parameters satisfying the transplanting requirements was carried out. Then, according to the optimized parameters of mechanism,the overall structural design of the transplanting mechanism was completed. The correctness of the theoretical model and design of the transplanting mechanism was verified by the virtual simulation analysis of the transplanting mechanism. Finally,the test-bed for rice plug-seedling transplanting was designed,on which the seedling experiment of the transplanting mechanism was carried out. When the rotational speed of the transplanting mechanism was 50 r/min,the average success rate of seedling pickup was 93. 06%,which was decreased with the increase of rotational speed. When the rotational speed was 80 r/min,the average success rate of seedling pick-up dropped to 88. 89%. It was showed that the mechanism had high seedling transplanting efficiency and high seedling success rate,so it can be applied to rice plug-seedling transplanting machine.
In order to solve the problem of failure on clipping-seedling type transplanting mechanism of rice plug-seedling during seedling pick-up and not fully push-pull pushing that affect the upright degree of seedling,according to the design requirement of rice plug-seedling transplanting mechanism,a kind of clipping-plug type transplanting mechanism of rice plug-seedling was proposed. Firstly,according to the kinematic model of transplanting mechanism,an auxiliary analysis and optimization software of this kind of rice potted-seedling transplanting mechanism was independently developed with Visual Basic 6. 0,and the influence of main parameters on the transplanting trajectory was also analyzed by the software. With the method of human-computer interaction based on visualization,a set of structural parameters satisfying the transplanting requirements was carried out. Then, according to the optimized parameters of mechanism,the overall structural design of the transplanting mechanism was completed. The correctness of the theoretical model and design of the transplanting mechanism was verified by the virtual simulation analysis of the transplanting mechanism. Finally,the test-bed for rice plug-seedling transplanting was designed,on which the seedling experiment of the transplanting mechanism was carried out. When the rotational speed of the transplanting mechanism was 50 r/min,the average success rate of seedling pickup was 93. 06%,which was decreased with the increase of rotational speed. When the rotational speed was 80 r/min,the average success rate of seedling pick-up dropped to 88. 89%. It was showed that the mechanism had high seedling transplanting efficiency and high seedling success rate,so it can be applied to rice plug-seedling transplanting machine.
引文
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[12]王金武,周文琪,李鑫,等.卵形-全正圆齿轮行星系变速扎穴机构设计与试验[J/OL].农业机械学报,2018,49(5):136-142.WANG Jinwu,ZHOU Wenqi,LI Xin,et al. Design and experiment of variable speed picking hole mechanism for oval and circular gear planetary system[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):136-142. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180515&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 05. 015.(in Chinese)
[13]王金武,周文琪,白海超,等.液肥深施机差动式双向供肥分配装置设计与试验[J/OL].农业机械学报,2018,49(6):105-111.WANG Jinwu,ZHOU Wenqi,BAI Haichao,et al. Design and experiment of differential-type bidirectional distribution device for fertilizer supply for deep-fertilizer liquid fertilizer application[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(6):105-111. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180612&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 06. 012.(in Chinese)
[14]叶秉良,李丽,俞高红,等.蔬菜钵苗移栽机取苗臂凸轮机构的设计与试验[J].农业工程学报,2014,30(8):21-29.YE Bingliang,LI Li,YU Gaohong,et al. Design and test on cam mechanism of seedling pick-up arm for vegetable transplanter for pot seedling[J]. Transactions of the CSAE,2014,30(8):21-29.(in Chinese)
[15]俞高红,陈志威,赵匀,等.椭圆-不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J].机械工程学报,2012,48(13):32-39.YU Gaohong,CHEN Zhiwei,ZHAO Yun,et al. Study on vegetable plug seedling pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear[J]. Journal of Mechanical Engineering,2012,48(13):32-39.(in Chinese)
[16]叶秉良,刘安,俞高红,等.蔬菜钵苗移栽机取苗机构人机交互参数优化与试验[J/OL].农业机械学报,2013,44(2):57-62.YE Bingliang,LIU An,YU Gaohong,et al. Parameters optimization with human-computer interaction method and experiment of vegetable seedling pick-up mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):57-62. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20130212&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2013. 02. 012.(in Chinese)
[17]武传宇,赵匀,陈建能.水稻插秧机分插机构人机交互可视化优化设计[J].农业机械学报,2008,39(1):46-49.WU Chuanyu,ZHAO Yun,CHEN Jianneng. Optimization design of rice transplanter separating-planting mechanism with visualization human-computer interaction method[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(1):46-49.(in Chinese)
[18] THOMAS E V. Development of a mechanism for transplanting rice seedlings[J]. Mechanism and Machine Theory,2002,37(4):395-410.
[19]叶秉良,吴国环,俞高红,等.非圆齿轮行星轮系水稻钵苗移栽机构优化设计与试验[J/OL].农业机械学报,2016,47(11):68-73,67.YE Bingliang,WU Guohuan,YU Gaohong,et al. Optimized design and tests on rice potted seedling transplanting mechanism of planetary gear train with non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):68-73,67. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20161109&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. 11. 009.(in Chinese)
[20]李革,陈孝明,俞高红,等.基于VB的旋转式分插机构运动干涉判别方法[J].农业机械学报,2007,38(11):44-47.LI Ge,CHEN Xiaoming,YU Gaohong,et al. Distinguishing method for motion interference of rotary transplanting mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(11):44-47.(in Chinese)
[2]徐洪广,赵匀,张允慧,等.水稻钵苗移栽机变性卵形齿轮分秧机构的运动机理分析[J].农业工程学报,2012,28(11):9-15.XU Hongguang,ZHAO Yun,ZHANG Yunhui,et al. Analysis on kinematic principle for seedling-picking machinery of rice transplanter with deformed oval gears[J]. Transactions of the CSAE,2012,28(11):9-15.(in Chinese)
[3]杜立恒.高速水稻移栽机新型送秧装置的设计与试验[D].杭州:浙江理工大学,2015.
[4]于晓旭,赵匀,陈宝成,等.移栽机械发展现状与展望[J/OL].农业机械学报,2014,45(8):44-53.YU Xiaoxu,ZHAO Yun,CHEN Baocheng,et al. Current situation and prospect of transplanter[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):44-53. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract.aspx? flag=1&file_no=20140808&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2014. 08. 008.(in Chinese)
[5]张永松.基于夹钵式水稻钵苗移栽机构的优化设计与试验[D].杭州:浙江理工大学,2018.
[6]叶秉良,吴国环,俞高红,等.旋转式水稻钵苗移栽机构移栽臂设计与试验[J/OL].农业机械学报,2015,46(7):45-52.YE Bingliang,WU Guohuan,YU Gaohong,et al. Design and experiment of variablespeed picking hole mecnanism for oval and circular gear planetary system[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):45-52.http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20150707&journal_id=jcsam. DOI:10.6041/j. issn. 1000-1298. 2015. 07. 007.(in Chinese)
[7] YE Bingliang,YI Weiming,YU Gaohong,et al. Optimization design and test of rice plug seedling transplanting mechanism of planetary gear train with incomplete eccentric circular gear and non-circular gears[J]. International Journal of Agricultural&Biological Engineering,2017,10(6):43-55.
[8] YE Bingliang,JIN Xuejun,YU Gaohong,et al. Parameter modification guiding optimization design and tests of a rotary transplanting mechanism for rice plug seedlings[J]. Applied Engineering in Agriculture,2015,31(6):863-873.
[9]俞高红,黄小艳,叶秉良,等.旋转式水稻钵苗移栽机构的机理分析与参数优化[J].农业工程学报,2013,29(3):16-22.YU Gaohong,HUANG Xiaoyan,YE Bingliang,et al. Principle analysis and parameters optimization of rotary rice pot seedling transplanting mechanism[J]. Transactions of the CSAE,2013,29(3):16-22.(in Chinese)
[10]孙良,刘兵,陈旋,等.差速水稻钵苗Z字形宽窄行移栽机构设计[J].农业工程学报,2017,33(17):18-27.SUN Liang,LIU Bing,CHEN Xuan,et al. Design of differential transplanting mechanism for zigzag wide-narrow row rice pot seedlings[J]. Transactions of the CSAE,2017,33(17):18-27.(in Chinese)
[11]吴国环,俞高红,项筱洁,等.三移栽臂水稻钵苗移栽机构设计与试验[J].农业工程学报,2017,33(15):15-22.WU Guohuan,YU Gaohong,XIANG Xiaojie,et al. Design and test of rice potted-seedling transplanting mechanism with three transplanting arms[J]. Transactions of the CSAE,2017,33(15):15-22.(in Chinese)
[12]王金武,周文琪,李鑫,等.卵形-全正圆齿轮行星系变速扎穴机构设计与试验[J/OL].农业机械学报,2018,49(5):136-142.WANG Jinwu,ZHOU Wenqi,LI Xin,et al. Design and experiment of variable speed picking hole mechanism for oval and circular gear planetary system[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(5):136-142. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180515&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 05. 015.(in Chinese)
[13]王金武,周文琪,白海超,等.液肥深施机差动式双向供肥分配装置设计与试验[J/OL].农业机械学报,2018,49(6):105-111.WANG Jinwu,ZHOU Wenqi,BAI Haichao,et al. Design and experiment of differential-type bidirectional distribution device for fertilizer supply for deep-fertilizer liquid fertilizer application[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(6):105-111. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20180612&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2018. 06. 012.(in Chinese)
[14]叶秉良,李丽,俞高红,等.蔬菜钵苗移栽机取苗臂凸轮机构的设计与试验[J].农业工程学报,2014,30(8):21-29.YE Bingliang,LI Li,YU Gaohong,et al. Design and test on cam mechanism of seedling pick-up arm for vegetable transplanter for pot seedling[J]. Transactions of the CSAE,2014,30(8):21-29.(in Chinese)
[15]俞高红,陈志威,赵匀,等.椭圆-不完全非圆齿轮行星系蔬菜钵苗取苗机构的研究[J].机械工程学报,2012,48(13):32-39.YU Gaohong,CHEN Zhiwei,ZHAO Yun,et al. Study on vegetable plug seedling pick-up mechanism of planetary gear train with ellipse gears and incomplete non-circular gear[J]. Journal of Mechanical Engineering,2012,48(13):32-39.(in Chinese)
[16]叶秉良,刘安,俞高红,等.蔬菜钵苗移栽机取苗机构人机交互参数优化与试验[J/OL].农业机械学报,2013,44(2):57-62.YE Bingliang,LIU An,YU Gaohong,et al. Parameters optimization with human-computer interaction method and experiment of vegetable seedling pick-up mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):57-62. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20130212&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2013. 02. 012.(in Chinese)
[17]武传宇,赵匀,陈建能.水稻插秧机分插机构人机交互可视化优化设计[J].农业机械学报,2008,39(1):46-49.WU Chuanyu,ZHAO Yun,CHEN Jianneng. Optimization design of rice transplanter separating-planting mechanism with visualization human-computer interaction method[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(1):46-49.(in Chinese)
[18] THOMAS E V. Development of a mechanism for transplanting rice seedlings[J]. Mechanism and Machine Theory,2002,37(4):395-410.
[19]叶秉良,吴国环,俞高红,等.非圆齿轮行星轮系水稻钵苗移栽机构优化设计与试验[J/OL].农业机械学报,2016,47(11):68-73,67.YE Bingliang,WU Guohuan,YU Gaohong,et al. Optimized design and tests on rice potted seedling transplanting mechanism of planetary gear train with non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(11):68-73,67. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20161109&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2016. 11. 009.(in Chinese)
[20]李革,陈孝明,俞高红,等.基于VB的旋转式分插机构运动干涉判别方法[J].农业机械学报,2007,38(11):44-47.LI Ge,CHEN Xiaoming,YU Gaohong,et al. Distinguishing method for motion interference of rotary transplanting mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(11):44-47.(in Chinese)