CAJ | 학술논문

为获取一般性的空间行星轮系传动比，以达到直取秧和小穴口的插秧要求，在斜齿交错椭圆锥行星轮系分插机构的基础上，引入非圆锥齿轮，得到一种斜齿交错-非圆锥行星轮系分插机构，并应用于高速宽窄行插秧机当中。建立了非圆锥齿轮副节曲线的数学表达式和机构的运动学模型；基于Matlab开发平台开发了机构参数优化软件，利用该软件分析了节曲线形状、行星架初始安装角、斜齿轮螺旋角和非圆锥齿轮锥距对理想轨迹姿态、直取秧特征和穴口大小的影响，并以理想轨迹姿态、直取秧、小穴口等要求为目标，通过人机交互方式优选机构参数；与斜齿交错-椭圆锥行星轮系分插机构形成的总传动比及其轨迹进行对比，并得出了斜齿交错-非圆锥行星轮系分插机构轨迹在改进直取秧姿态、降低伤苗率等方面作业性能更优的结论。利用仿真软件Adams进行了机构的运动学仿真，加工分插机构实物，利用通用分插机构试验台完成机构插秧轨迹测试，得出斜齿交错-非圆锥行星轮系分插机构可以更好的满足水稻宽窄行插秧的要求，从而验证了非圆锥齿轮在宽窄行分插机构中应用的优越性。
위획취일반성적공간행성륜계전동비，이체도직취앙화소혈구적삽앙요구，재사치교착타원추행성륜계분삽궤구적기출상，인입비원추치륜，득도일충사치교착-비원추행성륜계분삽궤구，병응용우고속관착행삽앙궤당중。건립료비원추치륜부절곡선적수학표체식화궤구적운동학모형；기우Matlab개발평태개발료궤구삼수우화연건，이용해연건분석료절곡선형상、행성가초시안장각、사치륜라선각화비원추치륜추거대이상궤적자태、직취앙특정화혈구대소적영향，병이이상궤적자태、직취앙、소혈구등요구위목표，통과인궤교호방식우선궤구삼수；여사치교착-타원추행성륜계분삽궤구형성적총전동비급기궤적진행대비，병득출료사치교착-비원추행성륜계분삽궤구궤적재개진직취앙자태、강저상묘솔등방면작업성능경우적결론。이용방진연건Adams진행료궤구적운동학방진，가공분삽궤구실물，이용통용분삽궤구시험태완성궤구삽앙궤적측시，득출사치교착-비원추행성륜계분삽궤구가이경호적만족수도관착행삽앙적요구，종이험증료비원추치륜재관착행분삽궤구중응용적우월성。
In order to obtain high-quality wide-narrow distance planting trajectory that can solve the problems such as large horizontal offset of picking seeding trajectory in inclined and shaping wider plant hole, a wide-narrow distance transplanting mechanism with spatial planetary gear train composed of non-circular bevel gears and crossed cylindrical gears was put forward based on spatial planetary gear train composed of elliptical bevel gears and crossed cylindrical gears. Non-circular bevel gears were better than traditional gears, such as circular gears and elliptical gears. In addition, the pitch curve of the non-circular bevel gear was general so that this mechanism could achieve more potential spatial planting trajectories. Transplanting mechanism with this kind of bevel gears was one kind of spatial non-uniform velocity transmission mechanism which could obtain the spatial planting trajectory that met diverse agronomic requirements. The theory of wide-narrow distance transplanting mechanism was introduced and the optimization goal of planting trajectory was designed. A smooth, continuous and closed spherical curve was designed by fitting the free form spline, which was used to represent the big end pitch curve of non-circular bevel gear. The equations of spherical big end pitch curve were given. Based on the D-H matrix transformation, the kinematics optimization model of mechanism was built up. The key points' displacements of transplanting mechanism were calculated. Several main parameters affecting the wide-narrow distance planting trajectory were analyzed. The shape of non-circular bevel gear's big end pitch curve played a major role in the shape of wide-narrow distance planting trajectory; the initial angle of planetary carrier was a key parameter affecting the posture of wide-narrow distance planting trajectory; the staggered angle of non-circular bevel gear pair and bevel gear pair's cone distance had decided the offset of picking and taking seeding trajectory. A optimization program about wide-narrow distance transplanting mechanism was written to study the kinematics, and a set of optimal parameters meeting the working requirements of wide-narrow distance rice transplanter was obtained by the method of human-computer conversation afterward. The lateral optimal trajectory and ratio formed by spatial planetary gear train composed of non-circular bevel gears and spatial planetary gear train composed of elliptical bevel gears were compared. The advantage was the smaller horizontal offset and lower speed of picking seeding trajectory; the time of pushing seedling period and returning period were much less; the probability that took back the rice seedling was decreased; and the overall height of wide-narrow distance planting trajectory was raised. A three-dimensional model of wide-narrow distance transplanting mechanism was obtained. Virtual prototype test was performed by the software namedAdams and a model machining of the transplanting mechanism as well as its testing was made, and the shape of tow trajectory was almost same. The result showed that the transplanting mechanism with spatial planetary gear train composed of non-circular bevel gears and crossed cylindrical gears could fulfill the requirement of wild-narrow distance rice transplanter and had better performance than transplanting mechanism with spatial planetary gear train composed of elliptical bevel gears and crossed cylindrical gears.