旱地穴盘苗取栽一体化移栽机构优化设计方法研究

Plug seedlings transplanting is a planting patterns of high yielding. Since it is difficult to achieve automatic transplanting, dry-land transplanting machine adopts many mechanisms respectively to pick seedling and transplant in China and abroad, the mechanical structure is complex and lack of efficiency, it is necessary to carry out efficient and concise integrated plant transplanting mechanism as an innovation research.. Non-circular gear planetary system has good rotation property.it can form a closed non-circle path. However it is lack of this kind of institution can reproduce the trajectory space research, which cannot evaluate mechanism’s applicability for the new task. This project intends to reproduce path criterion research and planning method which is based on the output component of mechanism’s relative rotation monotonic. Aimed at the difficulty in complex trajectory and attitude of picking and planting multi-objective design, thus researching the reverse combination of optimized design method of multi-objective hierarchical navigation optimization method; develop optimal design of mechanism software. Combine several kinds of particular dry-land transplanting trajectory and work attitudes to optimize the parameters of the transplanting mechanism, virtual experiment and trial production prototypes. Finally, plug seedlings transplanting tests are carried out in rotating soil tank.. This project is designed for application requirement. It will provide technical support for efficient automatic transplanting machine research and development, and perfect the non-circular gear planetary mechanism path design theory. The reverse combination of multi-objective hierarchical navigation optimization method has reference significance for the complex multi-objective requirements of mechanism designs.

穴盘苗移栽是农作物高产的种植方式，由于自动移栽实现难度大，国内外旱地移栽均采用多套机构分别实现取苗和移栽工作，机械结构复杂且效率不足，需开展高效简洁的取栽一体化移栽机构创新研究。.非圆齿轮行星轮系旋转性能好，能形成非圆封闭轨迹，但尚缺乏该种机构可再现轨迹空间研究，无法明确机构对新任务的适用性，项目拟开展基于机构输出构件相对转角单调性规律的非圆齿轮行星轮系再现轨迹判别准则与规划方法研究；针对取和栽工作复杂轨迹及姿态的多目标设计难点研究正逆向相结合的多层分级导航优化设计方法，开发机构优化设计软件；结合旱地移栽的几种特定轨迹和工作姿态进行移栽机构的参数优化、虚拟试验和样机试制，最后在圆形土槽上开展穴盘苗自动移栽试验测试。.项目面向应用需求，将为高效自动移栽机的研发提供技术支撑，完善非圆齿轮行星轮系机构轨迹设计理论，正逆向相结合的多层分级导航优化方法对具有复杂多目标要求的机构设计具有借鉴意义。

穴盘苗移栽是农作物高产的种植方式，由于自动移栽实现难度大，国内外旱地移栽均采用多套机构分别实现取苗和移栽工作，机械结构复杂且效率不足，需开展高效简洁的取栽一体化移栽机构创新研究。.项目围绕取栽一体化移栽机构创新和设计方法开展了研究工作，主要开展工作包括：取栽一体化农艺要求分析，明确了移栽农艺要求；开展了相对转角单调性规律的非圆齿轮行星轮系再现轨迹判别准则与规划方法，为机构的轨迹设计提供了理论依据；针对取栽工作复杂轨迹及姿态的多目标设计进行了基于给定位姿的参数优选设计方法研究，该方法可以大大增强机构的优化解的选择，开发机构的优化设计软件；根据移栽机构的优化参数设计制造了取栽一体化移栽机构样机，虚拟试验验证了设计方法的有效性和通用性，最后在圆形土槽上开展穴盘苗自动移栽试验测试。.项目面向应用需求，可为高效自动移栽机的研发提供技术支撑，项目提出的机构轨迹设计理论，基于给定位姿的行星轮系参数优化方法对具有复杂多目标要求的机构设计具有借鉴意义。项目按照计划书开展了研究工作，项目执行期发表论文7篇，其中SCI/EI论文6篇，获得软件著作权6项，获得发明专利8项，实用新型4项。