Parameter optimization method of hybrid drive five-bar flower tray planting mechanism

Abstract

The invention discloses a parameter optimization method for a mixed driving five-rod flower disc planting mechanism. In dry hole disc seedling transplanting, the transplanting work is generally completed by cooperation of seedling-fetching and seedling-planting mechanisms, the design difficulty for realizing seedling-fetching and seedling-planting actions by one set of mechanisms is large. The method comprises the steps of making an initial trajectory of the mechanism according to flower transplanting work requirements, reversely solving an angular displacement rule of the mixed driving five-rod flower disc planting mechanism, and determining control parameters of a constant speed motor and a speed adjustable motor; and optimizing parameters of the mixed driving five-rod flower disc planting mechanism based on a genetic algorithm with a minimum angular acceleration fluctuation of a variable speed motor as a target to obtain a design variable operation result. According to the method, the size of the five-rod mechanism, a position of a rack, an angular displacement needed by a seedling-fetching cam and an angular displacement rotational rule of two driving links are optimized based on the genetic algorithm, the mixed driving five-rod flower disc planting mechanism suitable for full-automatic flower transplanting seedling-fetching and stock-planting trajectory posture requirements is comprehensively designed and provides another design concept for full-automatic flower transplanting.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a parameter optimization method of a five-rod flower tray planting mechanism driven by a hybrid. Background technique [0002] At present, the development of semi-automatic transplanting machinery has basically matured. The automatic seedling planting part of the transplanting machinery can meet the agronomic requirements, but the seedling picking part of the transplanting machinery has high efficiency, simple structure, can be accepted by farmers and can be popularized on a large scale. success. However, the existing fully automatic transplanting machines rely on electromechanical and hydraulic systems to achieve high cost and complex machinery. The completion of the action requires the coordination and cooperation of multiple sets of mechanisms, and there is no mature model that can be widely promoted. [0003] The seedling picking mechanism researched by the ...

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Problems solved by technology

[0002] At present, the development of semi-automatic transplanting machinery has basically matured. The automatic seedling planting part of the transplanting machinery can meet the agronomic requirements, but the seedling picking part of the transplanting machinery has high efficiency, simple structure, can be accepted by farmers and can be popularized on a large scale. success

However, the existing fully automatic transplanting machines rely on electromechanical and hydraulic systems, which are costly and complicated. The completion of the action requires the coordination and cooperation of multiple sets of mechanisms, and there is no mature model that can be widely promoted.

[0003] The seedling picking mechanism researched by the United States and Australia is composed of machine, electricity and gas, has independent mechanical parts and control parts, and is driven by a four-needle cylinder; Because the mechanism is a pure rod mechanism, the power performance is very poor at high speed; the single-degree-of-freedom double-crank five-bar mechanism driven by non-circular gears lacks flexibility and can only transplant paddy field crops, which is not suitable for Transplanting crops in dry land; the non-circular gear planetary gear train high-speed pot seedling transplanting mechanism is arranged with double arms, and the seedling picking efficiency is high. It needs to meet the monotonicity of the sun gear rotation angle in the gear train, which makes it difficult for the design method to fine-tune the trajectory

At the same time, the shape of the fully automatic transplanting track is often larger than that of the semi-automatic transplanting track. The size of the non-circular gear train calculated by reverse design is relatively large, and the dynamic performance of the mechanism is also poor.

[0004] It can be seen that most of the current flower tray planting machines are complex systems composed of cylinders, hydraulic rods and solenoid valves. The high price of the whole machine is not conducive to popularization. The transplanting of seedlings in dry land is usually completed by the cooperation of seedling picking and planting mechanisms. It is more difficult to design the mechanism to realize the actions of taking seedlings and planting seedlings with one set of mechanism

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