| The pot seedling transplanting on film is the combination of planting on film and pot seedling transplanting.Its advantages are:(1)It can choose the suitable time for filming,which conducive to improve the ground temperature,water and soil moisture.The crop slow seedling period after transplanting is short,and crop roots after transplanting early,early development,prolong the growth period of crops;(2)It can increase the yield per unit,which is generally increased by more than 50%,or even more than 100% that of the planting method without film;(3)It can be early breeding,which is conducive to access to strong seedlings;(4)It can choose the appropriate time to transplant,which is conducive to avoid drought,floods,frost and other harsh climate and environment.This method is widely used in Xinjiang agricultural area.Xinjiang agricultural area is located in the northwest of China,may be affected by the drought,frost and other weather,the transplanting on film can significantly improve yield,increase farmers' economic benefits.Although transplanting on film is widely used in the agricultural area of Xinjiang,but few of the semi automatic film transplanting machine(Artificial completion of picking seedlings and feeding seedlings,equipment to complete punching and planting),mostly uses the manual transplanting(artificial completion of punching,transplanting and casing suppression)in particular,the degree of mechanization is low,high labor intensity.The working efficiency is low.At present,our country is badly in need of high efficiency and light-weight pot seedling transplanting equipment on film.In the research of transplanting equipment on film,the developed countries such as Europe and the United States are at the leading level in the world.The invention of the pot seedling transplanter on film through the combination of single chip microcomputer,solenoid valve,mechanical hand and other mechanical and electrical integration results,with a plurality of sets of institutions or devices to complete pot seedling transplant on film.Because of its patchwork of a large number of mechanical and electrical integration results,resulting in the structure of transplanted equipment is complex,high cost,can only be used for economic crop transplanting.The current crop on the pot seedling transplant equipment is still blank.This paper through institutional innovation and optimization,to solve the rotary transplanting equipment's complex optimization problems with multi targets,multi parameters,strong coupling,a pure mechanical rotary pot seedling transplanting mechanism on film is presented.With a mechanism to complete the pot seedling transplanting on film needed to pick seedlings,transport,film breaking,punching and planting a series of actions.The development of the pot seeding transplanting mechanism is shifted from the lever mechanism to the efficient and light-weight rotary mechanism(planetary gear train with non-circular gear),which greatly reduces the cost and improves the efficiency.The work done in this paper is as follows:(1)A rotary pot seeding transplanting mechanism on film is proposed,which combines planetary gear train with non-circular gear and plane bar mechanism.Through the unequal speed rotation between the planetary wheel and the planetary frame to drive the plane four-bar mechanism,and completes a series of actions of seedling picking,transportation,film breaking,punching and planting.Which is unequal speed planetary gear system to complete the seedling picking,transportation and planting required complex trajectory and gesture,plane four-bar institutions to complete the film breaking and punching required complex trajectory and gesture.(2)With the planetary frame angle as known variable,the kinematic model of the rotary pot seeding transplanting mechanism on film is established,and the analytical formula of the trajectory and gesture of the transplanting arm and the shovel is obtained,which lays the theoretical foundation for the development of the rotary pot seeding transplanting mechanism on film.(3)A series of point sets based on pitch curve is used to deduce the numerical calculation model of the tooth processing of the non-circular displacement gear.The theory and method of non-circular displacement gear shaping are presented.The model simulates the process of gear cutting gear,ignores the cutting motion and the radial feed motion,only consider the teeth into the movement.The tooth profile of the shaper cutter envelops the tooth profile of the non-circular gear.In addition,in order to avoid the non-circular gear tooth distortion and root cutting,this paper proposed to determine the non-circular gear tooth distortion and root cutting conditions,and in the formation of non-circular gear tooth profile when the introduction of displacement coefficient.And the rooting of the meshing point by means of displacement to reduce or avoid its occurrence.(4)According to the established kinematic theory model,the optimal design software of the rotary pot seeding transplanting mechanism on film was developed.The software can be based on the input mechanism parameters,quickly and accurately solve the trajectory and gesture of the transplanting mechanism.In this paper,the "parameter-guided" heuristic optimization algorithm is incorporated into the software,and the geometric target is digitized by establishing the function relation between the targets and the parameters group.The automatic optimization of the parameters of the transplanting mechanism is realized.Users only need to enter the corresponding target range according to the design requirements.The software can automatically complete the parameters optimization of the transplanting machine,and optimization goals in a way to visually show the software interface.The software has obtained software copyright(registration number: 2015SR116782).(5)In this paper,the automatic forming software of non-circular displacement gears is developed.The software can automatically read the point data of pitch curve,and automatically model the non-circular displacement gear's three-dimensional model according to the input non-circular gear parameters(such as teeth number,pressure angle).The software has obtained software copyright(registration number: 2015SR116782).In this paper,the non-circular displacement gear produced by the software is tested by 3D printing technology,and the three-dimensional scanning technology is used to detect the non-circular displacement gear.(6)The optimal design software is used to solve the complex optimization problem of multi-target,multi-parameter and strong coupling of the rotary pot seeding transplanting mechanism on film.The parameters of the rotary pot seeding transplanting mechanism on film were obtained by using the optimal design software,and a set of parameters were obtained to meet the transplanting requirements of pot seeding transplanting mechanism on film.Based on a set of superior parameters,the influence of each parameter on the targets were obtained,which provides a theoretical basis for the development and improvement of the rotary pot seeding transplanting mechanism.(7)The virtual prototype model of the rotary pot seedling transplanting mechanism on film is established.The virtual simulation experiment is completed with ADAMS.The trajectory and gesture of relative movement and absolute motion of the transplanting mechanism are obtained.The consistency of the virtual simulation results and the optimization software results verify the correctness of the virtual simulation and optimization software.(8)With the help of 3D printing technology,the physical prototype of the transplanting machine was developed,and the trajectory and gesture verification experiment of the transplanting mechanism was completed with the high speed photography technique.The trajectory and gesture of high-speed image analysis,optimization software,and virtual simulation results are basically the same,which verify the correctness of theoretical analysis,optimization software,virtual simulation and physical prototype.(9)The bench test system of the rotary pot seeding transplanting mechanism was developed.The bench test system is composed of a seedling box,a seedling feeding mechanism,a transplanting mechanism and a strip soil trough.In this paper,the punching test without film and the film breaking test were completed on the developed bench test system.Tested,film breaking and punching results are basically the same to design values.The pepper seedlings were cultivated in the bowl developed by our research group.The seedling pickup experiment and transplanting experiment in soil trough was carried out on the test bench.The experiments show that the transplanting mechanism can be completed the action of seedlings pickup,transport,punch,film break and plant.The feasibility of the rotary pot seeding transplanting mechanism on film was verified.The equipment of pot seedling transplanting complete a series process,such as film,water injection,pot seedling transplanting,cover soil.This paper only developed a rotary pot seeding transplanting on film for the pot seedling transplanting process.The rotary pot seeding transplanting on film to complete the seedlings picking,transporting,film breaking,punching,planting and other actions,the other operations of the equipment are not in-depth study.The next work needs to be systematically studied on the transplanting equipment on film.Also need to develop the whole machine and the test in the field.In addition,this paper only carried on the kinematics analysis of the rotary pot seeding transplanting mechanism on film.The optimal design is also done on the kinematic level.Analysis and optimization have not yet been performed at the dynamic level.The following work needs to analyze and optimize the dynamics of the rotary pot seeding transplanting mechanism on film. |
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