| Transplanting flower plug seedlings can not only increase the yield of flowers,but also ensure the quality of the flowers.However,the transplanting technology of foreign flower plug seedlings is not suitable for my country’s national conditions.The transplanting mechanism developed is not only complex in structure,but also expensive;domestic related research started late,and the research and development mechanism not only has the low transplanting efficiency,but also has the low transplanting effect.Poor,resulting pot flowers transplanting is still mainly manual transplanting in domestic.Therefore,this paper proposes a new type of automatic transplanting mechanism for flower plug seedlings based on the non-circular incomplete non-circular gear planetary gear system.The transplanting mechanism is studied in four aspects: kinematics modeling,parameter optimization,inverse kinematics analysis,virtual simulation and bench test.The main contents and results of this paper are as follows:(1)The research status of automatic transplanting mechanism for flower plug seedlings at home and abroad is reviewed and analyzed,and the problem of low success rates of planting seedlings of an integrated automatic transplanting mechanism for flowers and plants developed by this research group in the early stage is studied and analyzed.Through analysis,a new configuration is proposed to realize a new trajectory,and the combination of parameter optimization design of the parameter-guided mechanism and inverse kinematics analysis of local trajectory fine-tuning is used as a solution for the optimization of transplanting mechanism.(2)An automatic transplanting mechanism for non-circular gear planetary flower plug seedlings is proposed,and its kinematics modeling and analysis are carried out.According to the requirements of mechanical transplanting of flower plug seedlings,and optimization goals of the transplanting mechanism are established.The constraint conditions are parameterized and written into the VB platform,combined with the kinematics analysis of the transplanting mechanism,the parameter guiding optimization design software of the transplanting mechanism is compiled,thereby obtaining a set of more ideal mechanism parameters.(3)Analyzed the influence of the forward inclination of the trajectory in the return section on the planting effect.Under the condition of ensuring the other trajectory attitudes remain unchanged,the reverse design of the transplanting mechanism was carried out,and the reverse analysis software of the mechanism was written using MATLAB software.Through the reverse analysis of the mechanism,it is ensured that the transplanting process of the mechanism will not cause the seedling problem caused by the forward trajectory of the return section.(4)Perform three-dimensional solid modeling of the transplanting mechanism in SOLIDWORKS and complete the virtual assembly of the mechanism,and then import the virtual prototype into ADAMS for motioning simulation.Compare and analyze the trajectory and parameters obtained from the simulation with the theoretical design to verify the correctness of the theoretical design of the mechanism.(5)Each part of the transplanting mechanism is drawn in the AUTOCAD software for its two-dimensional drawing,and then the physical prototype is processed,assembled and debugged.At the same time,the test bench is assembled and built,and the idling test is carried out on the prototype.The comparative analysis of the experimental transplanting trajectory and the theoretical transplanting trajectory proves the rationality and correctness of the design of the automatic transplanting mechanism for the flower plug seedlings.The transplanting performance is better than the original mechanism,which provides a basis for the application of the actual machine. |
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