基于顶出-夹钵式水稻钵苗插秧机构的机理分析与参数优化研究

Foreign rice pot seedling planting technology is not suitable in China for structure complication and high price problem. And there are defects for domestic applied transplanter with low efficiency and heavy vibration, and tossing transplantation with uncontrollable seedling perpendicularity and depth. For these reasons, a new rice pot seedling transplanting technology is proposed in this fund application. The theoretical and experiment research is mainly conducted for the rotary transplanting mechanism which is the key component of transplanter. Study on kinetic characteristic of the non-uniform intermittent transmission motion mechanism, tooth profile curve generating method for incomplete non-circular gears, kinetic characteristic of the non-uniform intermittent transmission planetary gear train mechanism, and kinematics and dynamics mode of the rotary transplanting mechanism. The parameter optimization method combines guidance parameter ‘forward design’ method and local ‘reverse design’ method. It will make rotary transplanting mechanism meet the requirements of transplanting movement trajectory and planting arm gesture which is a complicated kinetic optimization problem including multi-objective and multivariable. Develop rotary transplanting mechanism aided analysis software to carry out virtual experiment. Develop the rice seedling pot transplanting prototype to test the kinematics and dynamics of the mechanism, and to do the picking seedling and transplanting experiment. The successful project implementation will provide important theory and design basis for the rice pot seedling transplanter, and promote the development and application of rice pot seedling planting technology in China.

针对目前国外水稻钵苗摆栽技术不符合国情，结构复杂、成本高；国内应用的水稻钵苗移栽机构工作效率低、振动大，以及抛秧技术无法控制栽植秧苗直立度和深度等问题，本项目提出一种水稻钵苗插秧技术及其实现机构，重点对其关键部件旋转式插秧机构开展理论与试验研究。包括：非匀速间歇传动齿轮机构的运动特性与不完全非圆齿轮的齿廓曲线生成方法；非匀速间歇传动行星轮系机构的运动特性，以及旋转式插秧机构运动学与动力学模型建立；基于参数导引“正向设计”与局部“反求设计”相结合的参数优化方法，解决旋转式插秧机构要同时满足插秧动轨迹与栽植臂姿态要求的复杂多目标、多变量运动学优化问题；开发旋转式插秧机构辅助分析软件进行虚拟试验；研制水稻钵苗插秧试验台与插秧机构样机，进行机构运动学与动力学特性测试和取苗与插秧试验。项目成功实施，将为水稻钵苗插秧机的研发提供重要理论基础和设计依据，促进我国水稻钵苗栽植技术发展与应用。

由于目前国外水稻钵苗摆栽技术不符合国情，结构复杂、成本高，以及国内应用的水稻钵苗移栽机构工作效率低、振动大，以及抛秧技术无法控制栽植秧苗直立度和深度等问题，本项目开展了水稻钵苗插秧机构的工作机理与创新设计研究，分析了水稻钵苗机械移栽轨迹的工作要求，以及行星轮系中的非匀速间歇传动与移栽轨迹之间的关系，建立了非匀速间歇传动齿轮机构的运动学模型，以及提出了一种基于参数导引“正向设计”与局部“反求设计”相结合的移栽机构设计参数优化方法，发明了回转式三移栽臂水稻钵苗移栽机构和夹钵式水稻钵苗移栽机构。建立了旋转式水稻钵苗移栽机构动力学模型，分析了水稻移栽机构动力学特性，为水稻钵苗移栽机构动力学性能优化提供了理论依据。设计了水稻钵苗移栽机构的三维模型，并进行了动态仿真分析与虚拟试验，验证了理论分析计算结果的正确性。设计了水稻钵苗移栽的自动送秧装置，研制了试验台样机和3种移栽机构样机，在室内开展了水稻钵苗取苗移栽分析试验，试验效果良好。通过本项目的实施，系统地建立了旋转式水稻钵苗插秧机构的研究平台，为今后具有自主知识产权的水稻钵苗插秧机的研发提供了设计理论与试验基础。