回转式花卉盆栽钵苗装备的工作机理与参数优化研究

With the improvement of people's living standards, potted flowers flow into every household. And the enterprises of potted flower have been built everywhere. The process of the hand-potted flowers has becoming the bottleneck of enterprises improvement, it is urgent for us to develop mechanical equipments to solve it. The international organization of potted flowers still used the way of transplanting seedlings in field. The route of the electromechanical integration that was brought from the information technology was used. Taking and planting mechanism were applied by the rod mechanism that is complex structure, low efficiency and high cost. The rapid development of computer, language and market software were brought from information technology, this project depended upon the development above three technical and the different approach were applied. Optimization and design problem of the rotation type mechanism of pot flowers are solved by raising the level of optimization and design. Mechanical and electrical components assembled would be substituted with the simple rotating mechanism. This project has firstly invented the rotation type mechanism of potted flowers, and the theoretical analysis of it was carried out. Moreover, the theoretical model was established; The series of goal requirements were put forward. After transforming the geometry goal digitization into the objective function, the optimization algorithm that solved the multi-objective, multi-parameter, strong coupling complex optimization problem was called “ Parameter Guided” heuristic optimization algorithm , which was invented by the host of this project was used to solve the optimization and design problem of the rotation type mechanism of pot flowers successfully. Depending on the optimated parameters and the advanced means such as 3D printing developed the potted flowers mechanism and test bench. Based on the above, the complete set of flowers potted transplanting equipments were developed.

随着人民生活水平的提高，盆栽花卉进入千家万户，各地纷纷建立花卉盆栽企业，其中花卉手工盆栽工序成为企业发展的瓶颈，急需研制机械化装备解决。国际花卉盆栽机构沿用大田钵苗移栽方式，采用信息化技术带来的机电一体化路线，应用杆机构取秧、栽植，其结构复杂、效率低、造价高。信息化技术带来了计算机、语言和市场软件的飞速发展，本项目拟依靠以上三项技术的发展，另辟蹊径：通过提高优化设计水平，解决回转式花卉盆栽机构的优化设计难题，用简单的回转机构替代机电一体化元件的组装。本项目首先发明了回转式盆栽机构；对盆栽机构进行理论分析，建立理论模型；提出系列目标要求，将几何目标数字化后转换为目标函数，应用项目主持人发明的解决多目标、多参数、强耦合性的复杂优化问题的“参数导引”启发式优化算法，解决回转式盆栽机构的优化设计难题。依靠所优化的参数，通过3D打印等先进手段，研制盆栽机构和试验台架，在此基础上研制整套盆栽移栽装备。

针对我国目前缺乏相应高效、轻简化花卉盆栽装备、机械化盆栽工序技术发展瓶颈亟待解决的问题，本项目以回转式花卉盆栽钵苗移栽机构为研究对象，将花卉盆栽移栽技术与非圆齿轮行星轮系机构研究相结合，围绕具有配合功能的非圆齿轮行星轮系盆栽机构的创新发明、理论建模、轨迹姿态探索、目标函数建立及多目标参数优化设计等关键问题开展研究。.分析了适合我国推广发展的纯机械式花卉盆栽钵苗移栽轨迹、姿态及工作要求的描述方法，以及与盆栽工序技术相配合的探出式“鹰嘴形”花卉盆栽非圆齿轮行星轮系机构的作业轨迹与姿态要求，提出一种满足探出式取苗要求且配置扎土装置的移栽、挖穴一体式非圆齿轮行星轮系盆栽机构，发明了系列实现低损伤取盆栽钵苗的末端执行机构，并探讨确定了非圆齿轮行星轮系机构与扎土装置驱动耦合的花卉盆栽机构实施方案；研究其工作机理并建立基于非圆齿轮行星轮系机构的理论模型，提出非圆齿轮节曲线插值成型方法，进行非圆齿轮节曲线和齿廓成型设计，实现了整体盆栽机构运动学模型建立与分析；开展对目标要求的归一化与目标函数数值化处理研究，提出基于参数导引启发式优化算法的花卉盆栽机构多目标复杂优化问题解决方法，建立参数化优化设计模型，完成软件的编程开发，实现了花卉盆栽机构整体设计参数的优化；对盆栽机构进行结构设计并建立三维模型，进行动态虚拟仿真测试与分析，初步验证了理论设计的正确性与可行性，进而研制花卉盆栽机构物理样机及试验台架，进行了空转验证试验与性能试验，最终整体试验结果符合花卉盆栽移栽要求。.本项目的实施可为研制结构简单、成本低、效率高的系列一体式回转式花卉盆栽机构提供较完整的研究方法与理论，提出的关键机构创新设计思路及优化方法，也为促进具有自主知识产权的该类型装置特点的机械及整机研发，提供理论设计基础与技术支持，具有重要的理论研究与工程实践意义。