基于开链3R杆组解域综合的行星轮系移栽机构设计方法研究

Potted-seedling transplantation has a great economic benefit, and the design of seedling transplanting mechanism is the difficult and hot in the research of the modern agricultural mechanism. The seedling transplanting mechanism with a gear system has a well rotation performance, which is suitable for the high-speed transplanting. However, the existing configuration of gear system type transplanting mechanism is fewer and the flexibility of the movement is insufficient as well. Meanwhile, the design method of gear system mechanism in achieving the exact position and posture is also lacking.. Noncircular planetary gear system mechanism will be considered as a combination of the open chain linkage-group and the gears system in this project, and a design method of noncircular planetary gear system mechanism will be proposed which can achieve the given exact position and posture based on solution region synthesis of the linkage-group rotation combing with the plan of the joints, the configuration and parameters research of planetary gear system which is combined by the open chain 3R linkage mechanism and gears will be conducted, and an integrated software for exact position and posture of planetary gear system mechanism will be designed, combined with the international work requirements of the potted-seedling’s picking up and planting in dryland production, a potted-seedling transplanting mechanism of a planetary gear system with double planet carriers will be researched and designed, a mechanism prototype will be produced to carry out the transplanting experiment research, in order to verify and perfect the design methods of gear system mechanism which can achieve the exact position and posture.. Aiming at the application requirements, this project can provide the technical supports for the design and research of the high-efficiency automatic equipments in potted-seedling transplanting, the design difficulties in gear system mechanism with the requirement of achieving the various exact positions and postures will be solved hopefully, and the design methods of noncircular planetary gear system mechanism will be perfected, which can lay the foundation for the popularization and application of gear system mechanism.

钵苗移栽生产具有巨大的经济价值，移栽机构是现代农业机构研究的难点和热点，轮系式移栽机构旋转性能好，利于高速移栽作业，但现有的轮系式移栽机构构型较少、运动灵活性不足，也缺乏实现精确位姿的轮系式机构设计方法。. 项目将非圆齿轮行星轮系机构视为开链杆组和齿轮的复合，提出杆组解域综合和运动副转角规划实现给定精确位姿的非圆齿轮行星轮系机构设计方法；开展开链3R杆机构与齿轮复合的轮系式机构构型与尺度设计研究，编制面向精确位姿的轮系式机构运动综合软件；结合旱地钵苗取栽一体化工作要求，研发双行星架轮系式钵苗移栽机构；试制机构样机并进行移栽试验研究，验证与完善实现精确位姿的轮系式机构设计方法。. 项目面向应用需求，可为钵苗高效自动移栽装备的研发提供技术支撑；项目有望解决多精确位姿要求的轮系机构设计难题，完善非圆齿轮行星轮系机构设计理论和方法，为轮系机构的推广应用奠定基础。

钵苗移栽生产具有巨大的经济价值，移栽机构是现代农业机构研究的难点和热点，轮系式移栽机构旋转性能好，利于高速移栽作业，但现有的轮系式移栽机构构型较少、运动灵活性不足，也缺乏实现精确位姿的轮系式机构设计方法。.项目将非圆齿轮行星轮系机构视为开链杆组和齿轮的复合，开展了杆组解域综合和运动副转角规划实现给定精确位姿的非圆齿轮行星轮系机构设计方法研究，提出了精确位姿点和轨迹轮廓控制点的输出运动设定方法，使得机构参数寻优指向明确的目标、提出了整转副的筛选算法，促进了非圆齿轮与3R开链杆的复合运用；研究了双周转一摆动和三周转形式的双行星架轮系式机构构型，编制面向精确位姿的轮系式机构运动综合软件；结合旱地钵苗取栽一体化工作要求，研发双行星架轮系式钵苗移栽机构；试制机构样机并进行移栽试验研究，验证与完善实现精确位姿的轮系式机构设计方法。.项目的研究过程中发表了SCI期刊论文8篇，申请了国家发明专利5件，授权发明专利1件、实用新型专利5件，依托项目培养研究生4人，1名项目成员获得了职称晋升。本项目面向应用需求，可为钵苗高效自动移栽装备的研发提供技术支撑；项目成果为多精确位姿要求的轮系机构设计提供了解决方案，完善了非圆齿轮行星轮系机构设计理论和方法，为轮系机构的推广应用奠定了基础。.