Optimization Design And Test On Rice Pot-seedling Transplanting Mechanism With Non-circular Planetary Gears

The technology of rice pot-seedling transplanting can realize high yield, which has advantages of less damage on the seedlings, fast recovery and high efficiency. Foreign rice pot-seedling planting technology is not suitable in China for complicated structure and high cost problem. And there are defects for domestic transplanter with tossing transplantation with uncontrollable seedling perpendicularity, low efficiency and heavy vibration. Therefore, the rice pot-seedling transplanting mechanism with non-circular planetary gears containing one incomplete non-circular gear, six non-circular gears and two transplanting arms was put forward. This paper is mainly conducted for the research of the kinematic analysis, parameter optimization and related test of the transplanting mechanism. The main research content and results are as followed:(1) The research situation and development trend of domestic and foreign transplanting mechanism for potted-seedling transplanting mechanism was discussed, advantages and weaknesses of different transplanting mechanism and its design methods were analyzed, then a new design method of rice pot-seedling transplanting mechanism was presented in this paper.(2) The pot-seedling transplanting mechanism with planetary gear train with non-circular gear was proposed,and its kinematics model was established.The analysis and optimization software of mechanism was developed in VB,a group of mechanism parameters of which guarantee better posture and trajectory were conducted by this software forward design.(3) The influence of adjustment of partial static trajectory to transplanting movement trajectory was analyzed, the reverse design method aided to adjustment of partial static trajectory was presented. The analysis and optimization software of mechanism was developed in Matlab, the parameters of pot-seedling transplanting mechanism with planetary gear train was determined and the method of expression of pitch curve of non- regular gear was studied.The patent of reverse design method was accepted and the software copyright named method of reverse design of local trajectory adjustment was authorized.(4) The parameter optimization method combines forward design of human-computer interaction optimization and reverse design of local trajectory adjustment was developed and a group of mechanism parameters which ensure both better posture and trajectory and do not back taking along seedling were conducted.The 3D model was established with Pro/E to conduct mechanism kinematics simulation with ADAMS,and then the comparation of static trajectory of the simulation and theoretical computing was made to verify the correctness of the design of this transplanting mechanism.(5) The physical prototype of the transplanting mechanism was developed to kinematics test in the test–bed which was developed by Research Group to prove the work performance. Compared the test results and theoretical analysis results,it turned out that the test results including static trajectory,relative speed curve of the elastic tip of this transplanting arm were basically consistent with theoretical analysis, which prove the feasibility of this transplanting mechanism. The earth- channel test of transplanting mechanism was conducted to examine its performance.