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目錄 Abstract 6 第 1 章 緒論 9 1 1 前言 9 1 2 國(guó)內(nèi)外蔬菜缽苗取苗機(jī)構(gòu)的發(fā)展概述 11 1 2 1我國(guó)蔬菜缽苗移栽機(jī)械化發(fā)展概況 11 1 2 2我國(guó)蔬菜缽苗移栽機(jī)存在的問(wèn)題 12 1 2 3我國(guó)蔬菜缽苗移栽機(jī)存在問(wèn)題解決途徑分析 12 1 2 4國(guó)外蔬菜缽苗自動(dòng)移栽機(jī)的發(fā)展和研究成果 13 1 2 5蔬菜缽苗移栽機(jī)發(fā)展方向 14 1 3 國(guó)內(nèi)取苗機(jī)構(gòu)存在的主要問(wèn)題和發(fā)展方向 15 1 3 1國(guó)內(nèi)取苗機(jī)構(gòu)發(fā)展存在的主要問(wèn)題 15 1 3 2國(guó)內(nèi)蔬菜取苗機(jī)構(gòu)的發(fā)展方向 15 1 4 本文的研究目標(biāo) 16 1 5 本文的主要工作及內(nèi)容安排 17 1 6 本章小結(jié) 17 第 2 章 蔬菜缽苗取苗機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析 18 2 1 取苗爪工作要求 的實(shí)現(xiàn) 18 2 2 蔬菜缽苗取苗機(jī)械手的機(jī)構(gòu)組成與工作原理 19 2 3 橢圓齒輪傳動(dòng)的運(yùn)動(dòng)分析 21 2 3 1 橢圓齒輪的嚙合特性及優(yōu)點(diǎn) 21 2 3 2 橢圓齒輪的角位移 角速度和傳動(dòng)比分析 22 2 4 蔬菜缽苗取苗機(jī)械手運(yùn)動(dòng)學(xué)模型的建立 24 2 4 1運(yùn)動(dòng)學(xué)分析符合的說(shuō)明 24 2 4 2蔬菜缽苗取苗機(jī)械手位移分析 25 2 4 3機(jī)械手上各點(diǎn)位移方程和各構(gòu)件角位移方程 26 2 4 4 機(jī)構(gòu)上各點(diǎn)的速度方程和各構(gòu)件角速度方程 28 2 4 5 機(jī)械手上各點(diǎn)的加度方程和各構(gòu)件角加速度方程 29 2 5 本章小結(jié) 31 第 3 章 蔬菜缽體苗自動(dòng)移栽機(jī)取苗機(jī)構(gòu)的參數(shù)優(yōu)化 32 3 1 優(yōu)化目標(biāo)與變量 32 3 2 輔助分析優(yōu)化軟件 32 3 2 1人機(jī)交互簡(jiǎn)介 33 3 2 2本課題人機(jī)交互軟件介紹 34 3 2 3橢圓齒輪參數(shù)計(jì)算 35 3 2 4取苗機(jī)構(gòu)參數(shù)優(yōu)化步驟 35 3 2 5取苗爪尖點(diǎn)的速度分析 36 3 3 本章小結(jié) 38 第 4 章 蔬菜缽苗自動(dòng)移栽機(jī) 取苗機(jī)構(gòu)的結(jié)構(gòu)設(shè)計(jì) 38 4 1 蔬菜缽體自動(dòng)移栽機(jī)取苗機(jī)構(gòu)的整體結(jié)構(gòu)設(shè)計(jì) 38 4 2 取苗臂機(jī)構(gòu)設(shè)計(jì) 40 4 3 CAD 軟件介紹 41 4 3 1 CAD二維取苗機(jī)構(gòu)零件圖 41 1 4 4 Proe 軟件介紹 43 4 4 1 三維 Proe取苗機(jī)構(gòu)零件圖 44 4 5 總裝配圖 45 4 6 本章小結(jié) 46 第 5 章 總結(jié)與展望 47 5 1 總結(jié) 47 5 2 進(jìn)一步的展望 48 致 謝 49 參考文獻(xiàn) 50 附錄 52 蔬菜缽體苗自動(dòng)移栽機(jī) 取苗裝置設(shè)計(jì) 2 摘 要 移栽是蔬菜生產(chǎn)過(guò)程中的重要環(huán)節(jié)之一 移栽具有對(duì)氣候的補(bǔ)償作用和使 作物生育提早的綜合效益 可以充分利用光熱資源 其經(jīng)濟(jì)效益和社會(huì)效益均 非?？捎^ 目前 國(guó)內(nèi)正在應(yīng)用的移栽機(jī)械多為半自動(dòng)移植機(jī) 半自動(dòng)移栽機(jī) 靠手工送苗 效率低 勞動(dòng)強(qiáng)度大 而國(guó)內(nèi)自動(dòng)移栽機(jī)的研究剛剛起步 自動(dòng) 移栽機(jī)從取苗到植苗都由機(jī)械自動(dòng)完成 效率高 國(guó)外雖有一些自動(dòng)移栽機(jī)應(yīng) 用于生產(chǎn) 但還處于不斷研究與推廣階段 而取苗機(jī)構(gòu)是制約自動(dòng)移栽機(jī)發(fā)展 的 瓶頸 也是制約蔬菜大規(guī)模種植的關(guān)鍵問(wèn)題之一 因此設(shè)計(jì)一種新型的取 苗機(jī)構(gòu)替代手工取苗 已成為我國(guó)蔬菜種植業(yè)發(fā)展的迫切需要 本文總結(jié)吸收了國(guó)內(nèi)外各種取苗機(jī)構(gòu)的優(yōu)缺點(diǎn) 在實(shí)驗(yàn)室已有研究成果的 基礎(chǔ)上 設(shè)計(jì)了一種新型蔬菜缽苗取苗機(jī)構(gòu) 該機(jī)構(gòu)可以單獨(dú)作為取苗機(jī)構(gòu) 實(shí)現(xiàn)自動(dòng)取苗 或通過(guò)改進(jìn)部分結(jié)構(gòu)參數(shù) 可以集栽取功能于一體 即取苗和 栽植苗動(dòng)作都由該套機(jī)構(gòu)完成 該蔬菜缽苗取苗機(jī)構(gòu)結(jié)構(gòu)簡(jiǎn)單 工作可靠 取 苗效率高 本文主要的研究?jī)?nèi)容如下 1 根據(jù)蔬菜缽苗取苗的技術(shù)特點(diǎn)和農(nóng)藝要求 模擬人工取苗的軌跡 動(dòng)作 和姿態(tài)要求 發(fā)明蔬菜缽苗取苗機(jī)構(gòu) 滿足機(jī)械取苗特殊的工作軌跡要求 比 現(xiàn)有的蔬菜取苗機(jī)構(gòu)工作效率高 并且工作平穩(wěn) 2 論述了該取苗機(jī)構(gòu)的工作原理和結(jié)構(gòu)特點(diǎn) 建立取苗機(jī)構(gòu)的運(yùn)動(dòng)學(xué)模型 3 以建立的運(yùn)動(dòng)學(xué)模型為基礎(chǔ) 基于可視化開(kāi)發(fā)平臺(tái) VB6 0 通過(guò)其軟件 分析蔬菜缽苗取苗機(jī)構(gòu)輔助分析與優(yōu)化軟件 軟件登記號(hào) 2011SR030044 介 紹了該軟件的人機(jī)交互界面及功能 基于該軟件 解決了該機(jī)構(gòu)運(yùn)動(dòng)學(xué)多目標(biāo) 優(yōu)化的難點(diǎn) 4 根據(jù)蔬菜取苗農(nóng)藝要求 提出蔬菜缽苗取苗機(jī)構(gòu)參數(shù)優(yōu)化的目標(biāo)和優(yōu)化 方法 分析各參數(shù)變化對(duì)取苗機(jī)構(gòu)運(yùn)動(dòng)特性的影響 利用自主開(kāi)發(fā)軟件 采用 人機(jī)交互的優(yōu)化方法 優(yōu)化出取苗機(jī)構(gòu)的結(jié)構(gòu)參數(shù) 滿足蔬菜缽苗取苗的工作 要求 5 按照優(yōu)化得到的結(jié)構(gòu)參數(shù) 進(jìn)行蔬菜缽苗取苗機(jī)構(gòu)的總體設(shè)計(jì) 討論了 設(shè)計(jì)中應(yīng)該注意的問(wèn)題 最后在 ProE CAD 下完成裝配圖和各零件的設(shè)計(jì) 6 建立取苗機(jī)構(gòu)的三維實(shí)體模型 對(duì)其進(jìn)行虛擬裝配 關(guān)鍵詞 蔬菜缽苗 取苗機(jī)構(gòu) 工作機(jī)理 參數(shù)優(yōu)化 試驗(yàn)研究 3 Optimal and Design of Vegetable Plug Seedling Pick up Mechanism of Planetary Gear Train with Ellipse Gears and Incomplete Non circular Gear Abstract Transplanting is an important process of vegetable procreating which has the function of compensating varying climate and shifting the procreating of plants to an earlier time It helps the plants to use the source of light and temperature sufficiently which will make considerable economical and social benefits At present most transplanting machines are semi automatic transplanting machines they need pick up plug seedling by man which have high work intensity and low work efficiency and domestic research on automatic transplanting machine is just beginning Automatic transplanting machine can pick up plug seedling and transplanting plug seedling by themselves which have low work intensity and high work efficiency The overseas have automatic transplanting machine be applied in production but the application and research on automatic transplanting machine is developing Thus the pick up plug seedling machine is the key issues which restricted the development of automatic transplanting machine and at same time which is also restricted the development of the plants of vegetable So it s a pressing requirement to design a new kind of pick up plug seedling machine This paper concludes the merits and demerits of several kinds of transplanting machines from both domestic and abroad Based on the achieved research result a new vegetable plug seedling pick up mechanism of planetary gear train with ellipse gears and incomplete non circular gear has been designed This vegetable plug seedling pick up can be used as seedling fetching mechanism lonely to realize fetching seedlings automatically Besides if the mechanism parameters of this 蔬菜缽體苗自動(dòng)移栽機(jī) 取苗裝置設(shè)計(jì) 4 mechanism have been optimized properly the motion of fetching seedlings and transplanting seedlings can both be realized by this mechanism This vegetable plug seedling pick up mechanism has simple structure and reliable performance The main content of this paper is listed as bellow 1 According to the technological characteristics and agricultural requirements imitate the requirements of trajectory motion and attitude of manual pick up plug seedling invent the vegetable plug seedling pick up mechanism which can satisfy the special working trajectory requirements of fetching and pick up plug seedlings automatically This new vegetable plug seedling pick up mechanism has higher working efficiency steadier transmission and less vibration than existing mechanism 2 The working principle and structural features of this automatic vegetable plug seedling pick up mechanism has been discussed and the kinematic mathematical model of this mechanism has been established 3 Based on the established kinematic mathematical model and Visual Basic 6 0 develop the kinematic aided analytical and optimal software of this vegetable plug seedling pick up mechanism Register Number 2011SR030044 Introduce the human computer interactive interface and functions of this software By this software the difficulty of optimization with multiple kinematic objects of this mechanism can be solved 4 According to the agricultural requirements in our country put forward the parametric optimal objects and methods of the vegetable plug seedling pick up mechanism Analyze the influence of parameter vitiation on kinematic characteristics of this vegetable plug seedling pick up mechanism Take advantage of the developed software use the optimization method of human computer interactive and obtain the structural parameters which can satisfy the working requirements of automatic vegetable pot seedling transplanting 5 In accordance with the obtained structural parameters design the ensemble of the vegetable plug seedling pick up mechanism discuss the problems which should be noticed in the process of designing Finally finish the design of parts and the assembly drawing basing on ProE and CAD 5 6 Establish the solid model of all parts of this vegetable plug seedling pick up mechanism in UG6 0 and then carry out the virtual assemble Keywords Vegetable plug seedling Pick up mechanism Work principle Parameters optimization Test study