添加配重的蔬菜移栽机旋转式取苗机构动力学分析
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摘要
以一种应用于蔬菜钵苗移栽机、能实现非匀速连续传动的新型旋转式取苗机构为研究对象,针对取苗机构运转平稳性问题,应用配重法改进取苗机构的结构,以减小机构振动、改善其动力学性能。建立配重优化设计模型,采用穷举法通过UG和ADAMS软件分析得到配重的质量和质心向径分别为0. 21 kg和102 mm。应用ADAMS软件开展取苗机构动力学仿真与分析,并进行取苗机构样机的动力学试验,对安装配重前、后取苗机构支座反力的仿真和试验结果分别进行比较,验证取苗机构动力学性能的改善。试验结果表明,取苗机构x和y方向支座反力的最大幅值分别由改进前的409 N和77 N减小为369 N和69 N,降低了9. 8%和10. 4%;其方差由改进前的5 126 N2和553 N2分别减小为3 391 N2和398 N2,降低了33. 8%和28%,表明取苗机构的动力学性能得到了改善,工作平稳性得以提高。
A type of rotary seedling pick-up mechanism used in vegetable plug seedling transplanter which can realize non-uniform continuous transmission was taken as the research object. In order to improve the working stability of the seedling pick-up mechanism,the counterweights method was used to improve the structure of the seedling pick-up mechanism to reduce the vibration of the mechanism and improve the performance of the mechanism. The optimization design model of the counterweight was established,and the mass and centroid radius of the counterweight was determined as 0. 21 kg and102 mm respectively by using the exhaustive method through UG and ADAMS software. ADAMS software was applied to carry out the dynamics simulation and analysis of the seedling pick-up mechanism.Counterweight was machined and assembled on the mechanism prototype to conduct dynamics tests. The simulation and test results of bearing reaction force of the seedling pick-up mechanism after addition of the counterweight were compared with that before addition of the counterweight to verify the validity of the dynamics performance improvement of the seedling pick-up mechanism respectively. The prototype test results showed that the maximal amplitudes of bearing reaction force of the seedling pick-up mechanism in x and y directions were reduced from 409 N and 77 N before improvement to 369 N and 69 N,respectively,which were decreased by 9. 8% and 10. 4%. At the same time,the variances were reduced from 5 126 N2 and 553 N2 before improvement to 3 391 N2 and 398 N2,respectively,which were decreased by 33. 8% and 28%. The dynamics performance of the seedling pick-up mechanism was better and the working stability of the mechanism was also improved.
A type of rotary seedling pick-up mechanism used in vegetable plug seedling transplanter which can realize non-uniform continuous transmission was taken as the research object. In order to improve the working stability of the seedling pick-up mechanism,the counterweights method was used to improve the structure of the seedling pick-up mechanism to reduce the vibration of the mechanism and improve the performance of the mechanism. The optimization design model of the counterweight was established,and the mass and centroid radius of the counterweight was determined as 0. 21 kg and102 mm respectively by using the exhaustive method through UG and ADAMS software. ADAMS software was applied to carry out the dynamics simulation and analysis of the seedling pick-up mechanism.Counterweight was machined and assembled on the mechanism prototype to conduct dynamics tests. The simulation and test results of bearing reaction force of the seedling pick-up mechanism after addition of the counterweight were compared with that before addition of the counterweight to verify the validity of the dynamics performance improvement of the seedling pick-up mechanism respectively. The prototype test results showed that the maximal amplitudes of bearing reaction force of the seedling pick-up mechanism in x and y directions were reduced from 409 N and 77 N before improvement to 369 N and 69 N,respectively,which were decreased by 9. 8% and 10. 4%. At the same time,the variances were reduced from 5 126 N2 and 553 N2 before improvement to 3 391 N2 and 398 N2,respectively,which were decreased by 33. 8% and 28%. The dynamics performance of the seedling pick-up mechanism was better and the working stability of the mechanism was also improved.
引文
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[12]叶秉良,俞高红,陈志威,等.偏心齿轮-非圆齿轮行星系取苗机构的运动学建模与参数优化[J].农业工程学报,2011,27(12):7-12.YE Bingliang,YU Gaohong,CHEN Zhiwei,et al. Kinematics modeling and parameters optimization of seedling pick-up mechanism of planetary gear train and non-circular gear[J]. Transactions of the CSAE,2011,27(12):7-12.(in Chinese)
[13]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)
[14]周梅芳,俞高红,赵匀,等.椭圆齿轮行星轮系蔬菜钵苗取苗机构的参数优化与试验[J].农业工程学报,2014,30(18):13-21.ZHOU Meifang,YU Gaohong,ZHAO Yun,et al. Parameter optimization and test on pick-up mechanism of planetary gear train with ellipse gears for vegetable plug seedling[J]. Transactions of the CSAE,2014,30(18):13-21.(in Chinese)
[15] ZHAO Xiong,CUI Haiyang,DAI Li,et al. Kinematic analysis and experimental research on the seedling pick-up mechanism of a second-order free noncircular planetary gear system[J]. Applied Engineering in Agriculture,2017,33(2):169-179.
[16]叶秉良,金学军,俞高红,等.凹齿-不完全偏心圆-非圆齿轮行星系蔬菜取苗机构:ZL201610118934.4[P]. 2017-09-05.
[17]叶秉良,唐涛,俞高红,等.组合式非圆齿轮行星轮系取苗机构动力学分析与试验[J/OL].农业机械学报,2018,49(12):74-82.YE Bingliang,TANG Tao,YU Gaohong,et al. Dynamics analysis and tests on seedling pick-up mechanism of planetary gear train of combined gear transmission with non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(12):74-82. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20181209&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 12. 009.(in Chinese)
[18]金学军.组合式不完全偏心圆—非圆齿轮行星轮系取苗机构的优化设计与试验[D].杭州:浙江理工大学,2017.JIN Xuejun. Optimization design and tests of seedling pick-up mechanism of planetary geartrain with combined gear transmission of incomplete eccentric circle gear and non-circular gears[D]. Hangzhou:Zhejiang Sci-Tech University,2017.(in Chinese)
[19]汤攀,李红,陈超,等.考虑配重的垂直摇臂式喷头摇臂运动规律及水力性能[J].农业工程学报,2015,31(2):37-44.TANG Pan,LI Hong,CHEN Chao,et al. Arm movement law and hydraulic performance of vertical impact sprinkler with counterweight[J]. Transactions of the CSAE,2017,31(2):37-44.(in Chinese)
[20]易卫明.组合式非圆齿轮行星轮系取苗机构动力学分析与试验[D].杭州:浙江理工大学,2018.YI Weiming. Dynamics analysis and tests on seedling pick-up mechanism of planetary gear train of combined gear transmission with non-circular gears[D]. Hangzhou:Zhejiang Sci-Tech University,2018.(in Chinese)
[21]宋鹏,谌德荣,潘海,等.旋转折叠舵面收放机构设计及动力学仿真[J].中北大学学报(自然科学版),2014,36(6):666-670,698.SONG Peng,CHEN Derong,PAN Hai,et al. Design and dynamic simulation of rotating-folding retracting mechanism for rubber[J]. Journal of North University of China(Natural Science Edition),2014,36(6):666-670,698.(in Chinese)
[22]张国凤,赵匀,陈建能.基于动力学序列求解法的椭圆齿轮动力学分析[J].浙江理工大学学报,2005,22(2):157-161.ZHANG Guofeng,ZHAO Yun,CHEN Jianneng. Dynamics analysis of elliptic gear based on dynamics sequence solution[J].Journal of Zhejiang Sci-Tech University,2005,22(2):157-161.(in Chinese)
[23]叶秉良,朱浩,俞高红,等.旋转式水稻钵苗移栽机构动力学分析与试验[J/OL].农业机械学报,2016,47(5):53-61.YE Bingliang,ZHU Hao,YU Gaohong,et al. Dynamics analysis and tests of rotary transplanting mechanism for rice potseedling[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(5):53-61. http:∥www. jcsam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20160508&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2016. 05. 008.(in Chinese)
[24]叶秉良,易卫明,俞高红,等.不完全非圆齿轮传动钵苗移栽机构缓冲装置研究[J/OL].农业机械学报,2017,48(3):70-75.YE Bingliang,YI Weiming,YU Gaohong,et al. Buffer device of transplanting mechanism for plug seedlings based on transmission with incomplete non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(3):70-75. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170308&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 03. 008.(in Chinese)
[2]韩长杰,张学军,杨宛章,等.旱地钵苗自动移栽技术现状与分析[J].农机化研究,2011,33(11):238-240.HAN Changjie,ZHANG Xuejun,YANG Wanzhang,et al. Present status and analysis of dry-land auto-transplanting seedling technique[J]. Journal of Agricultural Mechanization Research,2011,33(11):238-240.(in Chinese)
[3]崔巍,徐盼,王海峰,等.旱地自动移栽技术发展现状与分析[J].农机化研究,2015,37(6):1-5,28.CUI Wei,XU Pan,WANG Haifeng,et al. Present status and analysis of dry-land auto-transplanting seedling technique[J].Journal of Agricultural Mechanization Research,2015,37(6):1-5,28.(in Chinese)
[4] KUMAR G V,RAHEMAN H. Vegetable transplanters for use in developing countries a review[J]. International Journal of Vegetable Science,2008,14(3):232-255.
[5]吕志军,单伊尹,王杰,等.蔬菜移栽装备研究现状和钵苗移栽装备展望[J].中国农机化学报,2017,38(11):30-34.LZhijun,SHAN Yiyin,WANG Jie,et al. Research progress of vegetable transplanting machine and prospects of seedlingpicking machinery of transplanter[J]. Journal of Chinese Agricultural Mechanization,2017,38(11):30-34.(in Chinese)
[6] TAKEYAMA T. Vegetable transplanter:JP 2003—76923A[P]. 2003-03-20.
[7] CHOI W C,KIM D C,RYU I H,et al. Development of seedling pick-up device for vegetable transplanters[J]. Transactions of the ASAE,2001,45(1):13-19.
[8] KONOSUKE T. Development of fully automatic vegetable transplanter[J]. Japan Agricultural Research Quarterly,2000,34(1):21-28.
[9] WAN ISHAK W I,AWAL M A,ELANGO R. Development of an automatic transplanter for thegantry system[J]. Asian Journal of Scientific Research,2008,1(4):451-457.
[10] TSUGA K. Development of fully automatic vegetable transplanter[J]. Japan Agriculture Research Quarterly,2000,34(1):21-28.
[11]俞高红,刘炳华,赵匀,等.椭圆齿轮行星轮系蔬菜钵苗自动移栽机构的运动机理分析[J].农业机械学报,2011,42(4):53-57.YU Gaohong,LIU Binghua,ZHAO Yun,et al. Kinematic principle analysis of transplanting mechanism with planetary elliptic gears in automatic vegetable transplanter[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(4):53-57.(in Chinese)
[12]叶秉良,俞高红,陈志威,等.偏心齿轮-非圆齿轮行星系取苗机构的运动学建模与参数优化[J].农业工程学报,2011,27(12):7-12.YE Bingliang,YU Gaohong,CHEN Zhiwei,et al. Kinematics modeling and parameters optimization of seedling pick-up mechanism of planetary gear train and non-circular gear[J]. Transactions of the CSAE,2011,27(12):7-12.(in Chinese)
[13]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)
[14]周梅芳,俞高红,赵匀,等.椭圆齿轮行星轮系蔬菜钵苗取苗机构的参数优化与试验[J].农业工程学报,2014,30(18):13-21.ZHOU Meifang,YU Gaohong,ZHAO Yun,et al. Parameter optimization and test on pick-up mechanism of planetary gear train with ellipse gears for vegetable plug seedling[J]. Transactions of the CSAE,2014,30(18):13-21.(in Chinese)
[15] ZHAO Xiong,CUI Haiyang,DAI Li,et al. Kinematic analysis and experimental research on the seedling pick-up mechanism of a second-order free noncircular planetary gear system[J]. Applied Engineering in Agriculture,2017,33(2):169-179.
[16]叶秉良,金学军,俞高红,等.凹齿-不完全偏心圆-非圆齿轮行星系蔬菜取苗机构:ZL201610118934.4[P]. 2017-09-05.
[17]叶秉良,唐涛,俞高红,等.组合式非圆齿轮行星轮系取苗机构动力学分析与试验[J/OL].农业机械学报,2018,49(12):74-82.YE Bingliang,TANG Tao,YU Gaohong,et al. Dynamics analysis and tests on seedling pick-up mechanism of planetary gear train of combined gear transmission with non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(12):74-82. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20181209&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 12. 009.(in Chinese)
[18]金学军.组合式不完全偏心圆—非圆齿轮行星轮系取苗机构的优化设计与试验[D].杭州:浙江理工大学,2017.JIN Xuejun. Optimization design and tests of seedling pick-up mechanism of planetary geartrain with combined gear transmission of incomplete eccentric circle gear and non-circular gears[D]. Hangzhou:Zhejiang Sci-Tech University,2017.(in Chinese)
[19]汤攀,李红,陈超,等.考虑配重的垂直摇臂式喷头摇臂运动规律及水力性能[J].农业工程学报,2015,31(2):37-44.TANG Pan,LI Hong,CHEN Chao,et al. Arm movement law and hydraulic performance of vertical impact sprinkler with counterweight[J]. Transactions of the CSAE,2017,31(2):37-44.(in Chinese)
[20]易卫明.组合式非圆齿轮行星轮系取苗机构动力学分析与试验[D].杭州:浙江理工大学,2018.YI Weiming. Dynamics analysis and tests on seedling pick-up mechanism of planetary gear train of combined gear transmission with non-circular gears[D]. Hangzhou:Zhejiang Sci-Tech University,2018.(in Chinese)
[21]宋鹏,谌德荣,潘海,等.旋转折叠舵面收放机构设计及动力学仿真[J].中北大学学报(自然科学版),2014,36(6):666-670,698.SONG Peng,CHEN Derong,PAN Hai,et al. Design and dynamic simulation of rotating-folding retracting mechanism for rubber[J]. Journal of North University of China(Natural Science Edition),2014,36(6):666-670,698.(in Chinese)
[22]张国凤,赵匀,陈建能.基于动力学序列求解法的椭圆齿轮动力学分析[J].浙江理工大学学报,2005,22(2):157-161.ZHANG Guofeng,ZHAO Yun,CHEN Jianneng. Dynamics analysis of elliptic gear based on dynamics sequence solution[J].Journal of Zhejiang Sci-Tech University,2005,22(2):157-161.(in Chinese)
[23]叶秉良,朱浩,俞高红,等.旋转式水稻钵苗移栽机构动力学分析与试验[J/OL].农业机械学报,2016,47(5):53-61.YE Bingliang,ZHU Hao,YU Gaohong,et al. Dynamics analysis and tests of rotary transplanting mechanism for rice potseedling[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(5):53-61. http:∥www. jcsam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20160508&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2016. 05. 008.(in Chinese)
[24]叶秉良,易卫明,俞高红,等.不完全非圆齿轮传动钵苗移栽机构缓冲装置研究[J/OL].农业机械学报,2017,48(3):70-75.YE Bingliang,YI Weiming,YU Gaohong,et al. Buffer device of transplanting mechanism for plug seedlings based on transmission with incomplete non-circular gears[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(3):70-75. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170308&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2017. 03. 008.(in Chinese)
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