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Design and experimental research on the sweet potato seedling transplanting mechanism of the planetary gear train with deformed elliptical gear transmission

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International Journal of Agricultural and Biological Engineering 2024年第3期17卷 91-99页

作者： bingliang ye Yuxuan ye Haili Zhou Gaohong Yu Xiong Zhao Bin Deng Faculty of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China Key Laboratory of Agricultural Equipment for Hilly and Mountainous Areas in Southeastern China(Co-construction by Ministry and Province) Ministry of Agriculture and Rural AffairsHangzhou 310018China

Aiming at the lack of suitable machines for sweet potato seedling transplanting in China,and according to the agronomic requirements for the horizontal insertion method of sweet potato seedling,a new sweet potato seedling transplanting mechanism of planetary gear train was proposed based on the non-uniform transmission of deformed elliptical *** working principle of the transplanting mechanism was analyzed,and the kinematics modeling and analysis of the mechanism were carried *** study established the numerical objectives of the transplanting mechanism and applied the theory of membership function to establish a mathematical model for the parameter-guided optimization design of the transplanting *** parameter-guided optimization design software was developed to obtain a set of optimal mechanism parameters that satisfied the motion trajectory of sweet potato transplanting and the posture of the transplanting *** on the optimized parameters,the structure of the transplanting mechanism was designed,and a virtual prototype of the mechanism was created,whereby a virtual motion simulation of the transplanting mechanism was conducted to verify the correctness of the kinematics model and design of the *** high-speed photographic kinematics test of the mechanism prototype and sweet potato seedling transplanting tests were conducted to test the mechanism’s kinematic characteristics and transplanting *** test results show that the test trajectory of the mechanism and test posture of the transplanting arm are almost consistent with the theoretical and simulation trajectory,meeting the agronomic requirements of the horizontal insertion method of sweet potato seedling;And when the rotary speed of the mechanism are 20 r/min and 30 r/min,the average success ratios of sweet potato seedlings transplanting are 90%and 82%,respectively,which prove the application feasibility of the mechanism in the practical machines.

关键词： sweet potato seedling transplanter transplanting mechanism deformed elliptical gear transmission kinematics analysis membership function optimization design

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Design of Vegetable Pot Seedling Pick‑up Mechanism with Planetary Gear Train

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Chinese Journal of Mechanical Engineering 2020年第4期33卷 87-97页

作者： Zhipeng Tong Gaohong Yu Xiong Zhao Pengfei Liu bingliang ye Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Zhejiang Sci-Tech UniversityHangzhou 310018China Faculty of Mechanical Engineering&Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

It has been challenging to design seedling pick-up mechanism based on given key points and trajectories,because it involves dimensional synthesis and rod length *** this paper,the dimensional synthesis of seedling pickup mechanism with planetary gear train was studied based on the data of given key points and the trajectory of the endpoint of seedling pick-up *** the positions and orientations requirements of the five key points,the study first conducted a dimensional synthesis of the linkage size and center of *** next steps were to select a reasonable solution and optimize the data values based on the ideal seedling *** link motion was driven by the planetary gear train of the two-stage *** pitch curves of noncircular gears were obtained by calculating and distributing the transmission ratio according to the *** the pitch curve with two convex points,the tooth profile design method of incomplete noncircular gear was *** seedling pick-up mechanism was tested by a virtual prototype and a physical prototype designed with the obtained parameter *** results were consistent with the theoretical design requirements,confirming that the mechanism meets the expected requirements for picking seedlings *** paper presents a new design method of vegetable pot seedling pick-up mechanism for an automatic vegetable transplanter.

关键词： Combined incomplete noncircular gear Mechanism dimension synthesis Planetary gear train Seedling pick-up mechanism

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Reverse design and tests of vegetable plug seedling pick-up mechanism of planetary gear train with non-circular gears

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International Journal of Agricultural and Biological Engineering 2023年第2期16卷 96-102页

作者： Zhifang Zhu Guohuan Wu bingliang ye Yongchang Zhang Faculty of Mechanical Engineering Zhejiang Province Key Laboratory of Transplanting Equipment and TechnologyZhejiang Sci-Tech UniversityHangzhou 310018China School of Mechanical Engineering Nanchang Institute of TechnologyNanchang 330099China School of Intelligent Manufacturing Wenzhou PolytechnicWenzhou 325035ZhejiangChina

In the previous research,the seedling pick-up mechanism of the planetary gear train with incomplete eccentric circular gear and non-circular gears for vegetable plug seedlings still has two *** is that not enough seedling pick-up depth leads to a low success ratio of seedling pick-up at high rotation speeds,the other is that the smaller seedling pushing angle results in poor seedling pushing ***,the reverse design of the seedling pick-up mechanism based on its motion trajectory was carried *** local trajectory of seedling pick-up and seedling pushing sections was adjusted to obtain the theoretical motion trajectory of the seedling pick-up *** cubic non-uniform B-spline curve was used to fit the adjusted trajectory.A novel seedling pick-up mechanism of the planetary gear train with non-circular gears was proposed,including three combined non-circular gears,four non-circular gears,one planetary carrier,and two seedling pick-up *** reverse design model of the mechanism was *** analysis and design software of the mechanism was developed to obtain the mechanism parameters meeting design *** virtual prototype of the mechanism was established and its physical prototype was *** the virtual motion simulation and high-speed photographic kinematics bench tests of the mechanism,the kinematic model and results of reverse design of the mechanism were verified,with the kinematic performances of the mechanism prototype *** seedling pick-up tests of the mechanism were conducted in the *** success ratios of seedling pick-up were 94.2%,95.6% and 90.2% while the seedling pick-up efficiencies of the mechanism were 60,80 and 100 plants per minute per row,***,the seedling pushing effect was improved mush because of the greater seedling pushing *** seedling pick-up mechanism through revise design is of high value to be applied in the practical vegetable plug seed

关键词： vegetable plug seedling seedling pick-up mechanism non-circular gear reverse design virtual simulation seedling pick-up tests

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Optimization design and test of rice plug seedling transplanting mechanism of planetary gear train with incomplete eccentric circular gear and non-circular gears

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International Journal of Agricultural and Biological Engineering 2017年第6期10卷 43-55页

作者： ye bingliang Yi Weiming Yu Gaohong Gao Yang Zhao Xiong Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China

In order to solve the problem of the high-speed mechanized transplanting of rice plug seedlings,the design requirements of transplanting mechanism for rice plug seedlings were analyzed and a kind of rice plug seedling transplanting mechanism of planetary gear train based on the drive with incomplete eccentric circular gear and non-circular gears was designed *** laboratory kinematics was *** working principle of the transplanting mechanism for rice plug seedlings was studied,kinematics analysis of the transplanting mechanism was carried out and its kinematic model was set up.A human-computer interaction optimization method was used to optimize the parameters of the transplanting *** computer aided analysis and optimization software of the transplanting mechanism based on Visual Basic 6.0 was *** analyzing the influence of design variables on the optimization objectives of the transplanting mechanism,a set of parameters of the transplanting mechanism which meet the requirements of transplanting trajectory and posture for transplanting rice seedlings were obtained by means of human-computer *** structure of the transplanting mechanism was designed according to this set of parameters,and its virtual prototype and physical prototype were set up and manufactured,*** kinematic simulation test and high-speed photography kinematic test of the transplanting mechanism were conducted to obtain its kinematic performances,such as transplanting trajectory and *** results of bench test,simulation analysis and theoretical analysis were almost in agreement,which verified the correctness of the theoretical model and design results of the transplanting mechanism,indicating that the optimized transplanting mechanism can satisfy the requirements of transplanting rice seedlings and be applied in the rice plug seedling transplanter.

关键词： plug seedling transplanting mechanism incomplete eccentric circular gear non-circular gear planetary gear train optimization design

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Design and Experimental Research on Seedling Pick-Up Mechanism of Planetary Gear Train with Combined Non-circular Gear Transmission

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Chinese Journal of Mechanical Engineering 2019年第3期32卷 42-54页

作者： Yaxin Yu Jikun Liu bingliang ye Gaohong Yu Xuejun Jin Liang Sun Junhua Tong College of Machinery and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China

Currently, transplanting mechanisms for dryland plug seedlings in China are mainly semiautomatic and have low efficiency. The rotary seedling pick-up mechanism with a planetary gear train for non-uniform intermittent transmission, and a concave and convex locking arc device, has a large rigid impact. To solve these problems, according to the design requirements for a dryland plug seedling transplanting mechanism, a rotary seedling pick-up mechanism of a planetary gear train with combined non-circular gear transmission of incomplete eccentric circular and noncircular gears was proposed. This has the characteristics of two-times greater fluctuation of the transmission ratio in a cycle, and can achieve a non-uniform continuous drive. Through analysis of the working principle of the seedling pick-up mechanism, its kinematics model was established. The human–computer interaction optimization method and self-developed computer-aided analysis and optimization software were used to obtain a set of parameters that satisfy the operation requirements of the seedling pick-up mechanism. According to the optimized parameters, the structure of the seedling pick-up mechanism was designed, a virtual prototype of the mechanism was created, and a physical prototype was manufactured. A virtual motion simulation of the mechanism was performed, high-speed photographic kinematics tests were conducted, and the kinematic properties of the physical prototype were investigated, whereby the correctness of the theoretical model and the optimized design of the mechanism were verified. Further, laboratory seedling pick-up tests were conducted. The success ratio of seedling pick-up was 93.8% when the seedling pick-up efficiency of the mechanism was 60 plants per minute per row, indicating that the mechanism has a high efficiency and success ratio for seedling pick-up and can be applied to a dryland plug seedling transplanter.

关键词： Dryland plug seedling transplanter Rotary seedling pick-up mechanism Transmission ratio Non-uniform continuous transmission Combined non-circular gear transmission Optimization design

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Lightweight detection method for lotus seedpod in natural environment

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International Journal of Agricultural and Biological Engineering 2023年第6期16卷 197-206,F0004页

作者： Tao Tang Xu Wang Zenghong Ma Weiwei Hong Gaohong Yu bingliang ye Faculty of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou 310018China Special Equipment Institute Hangzhou Vocational&Technical CollegeHangzhou 310018China

In order to solve the problems of the current target detection algorithms,such as poor discrimination of occluded targets,multiple parameters,complex networks,large amounts of computation,and not conducive to the deployment of mobile terminals,a lightweight lotus seedpod detection method based on YOLOv5s model was proposed in this ***,the dataset was augmented by using a combination of offline and online augmentation,which improved the adaptability and robustness of the model in complex ***,a lightweight Ghost convolution module was introduced to replace the original convolution,and a lightweight bidirectional feature pyramid network was designed,which could enhance the feature extraction and fusion capability of the network and reduce the amount of calculation and model size;On this basis,the combination of WIoU loss function and Mish activation function was adopted to improve the accuracy of feature ***,the knowledge distillation training strategy was used to ensure the proposed lightweight model has the learning ability of a complex network model,improving the recall and precision of model *** results of the ablation study show that the proposed method effectively improves the detection performance of the YOLOv5s model for lotus *** mean average precision of the improved model was 89.7%,compared with the original YOLOv5s model increased by 2.8%,and the parameters and FLOPs were reduced by 2.36M and 7.3G,*** with other detection algorithm models,the proposed algorithm model has the advantages of less computation,smaller model size,and higher detection ***,the proposed improved optimization method based on the YOLOv5s model can effectively detect lotus seedpods,which provides theoretical research and technical support for intelligent picking of lotus seedpods in the actual operating environment.

关键词： lotus seedpod detection deep Learning data augmentation lightweight knowledge distillation natural environment

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Design and tests of a rotary plug seedling pick-up mechanism for vegetable automatic transplanter

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International Journal of Agricultural and Biological Engineering 2020年第3期13卷 70-78页

作者： bingliang ye Gongjun Zeng Bin Deng Chiulan Yang Jikun Liu Gaohong Yu Faculty of Mechanical Engineering&Automation Zhejiang Sci-Tech UniversityHangzhou 310018China Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China Faculty of Mechanical Engineering Zhejiang Industry Polytechnic CollegeShaoxing 312000China Faculty of Mechanical Engineering Chung Yuan Christian UniversityTaiwan 32023China

The rotary plug seedling pick-up mechanism for vegetable automatic transplanter is the technical bottleneck to improve the mechanization level of vegetable planting in *** order to solve the problems of rotary seedling pick-up mechanism proposed in previous study,such as low success ratio of seedling pick-up at high speed,and interference between the seedling bowl and the end of the other seedling pick-up arm,a novel kind of rotary seedling pick-up mechanism of planetary gear train with combined type gears of incomplete denatured-eccentric-circular and non-circular gears was *** kinematic analysis of the seedling pick-up mechanism,the kinematics model was *** computer-aided analysis and optimization software with human-computer interaction method was developed to realize parameters optimization of the seedling pick-up ***-dimensional parametric design system of seedling pick-up mechanisms with combined non-circular gear transmission was developed for mechanism virtual simulation to verify the correctness of theoretical model and design results of the *** physical prototype of the mechanism was manufactured,and high-speed camera kinematics tests of the mechanism were conducted in the laboratory to study its kinematic *** seedling pick-up tests were carried *** mechanism has the success ratio of seedling pick-up 96.3%without interference during seedling transporting when the rotation speed of the mechanism is 50 r/min and the seedling transplanting efficiency is 100 plants/min per row,showing that the novel mechanism has better working performance than the original one and could be applied in vegetable plug seedling transplanter.

关键词： vegetable automatic transplanter rotary seedling pick-up mechanism incomplete denatured-eccentric-circular gear kinematic analysis parametric design

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拖拉机NGW型行星式最终传动多目标可靠性优化

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农业工程学报 2008年第11期24卷 89-94页

作者：叶秉良赵匀俞高红李革浙江理工大学机械与自动控制学院杭州310018

应用建立在可靠性理论和最优化技术基础之上的可靠性优化设计方法,将应力和强度等均视为随机变量,综合考虑拖拉机NGW型行星式最终传动的承载能力、结构紧凑、重量轻和传动效率等问题,以机构的体积最小和效率最高为目标函数,以行星传动... 详细信息

应用建立在可靠性理论和最优化技术基础之上的可靠性优化设计方法,将应力和强度等均视为随机变量,综合考虑拖拉机NGW型行星式最终传动的承载能力、结构紧凑、重量轻和传动效率等问题,以机构的体积最小和效率最高为目标函数,以行星传动的可靠性条件、齿轮疲劳强度的可靠性条件、行星传动的配齿和结构条件等为约束,建立有别于现有模型的多目标可靠性优化设计数学模型,并应用Matlab优化工具箱中的序列二次规划法求解。可靠性优化设计方案比原设计方案和常规优化设计方案的体积分别减小41.65%和8%而效率未降低,表明该优化方法符合工程实际且可靠有效。

关键词：拖拉机行星式最终传动可靠性优化多目标优化序列二次规划法

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旋转式水稻钵苗移栽机构移栽臂设计与试验

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农业机械学报 2015年第7期46卷 45-52页

作者：叶秉良吴国环俞高红李丽浙江理工大学机械与自动控制学院杭州310018 浙江省种植装备技术重点实验室杭州310018

旋转式水稻钵苗移栽机构移栽臂是移栽作业的执行部件,控制取秧和推秧动作,直接影响移栽机构取秧和推秧的成功率。针对原水稻钵苗移栽机构存在取秧时间长、成功率偏低,无推秧装置、推秧效果差等主要问题,对其移栽臂结构进行改进设计,优... 详细信息

旋转式水稻钵苗移栽机构移栽臂是移栽作业的执行部件,控制取秧和推秧动作,直接影响移栽机构取秧和推秧的成功率。针对原水稻钵苗移栽机构存在取秧时间长、成功率偏低,无推秧装置、推秧效果差等主要问题,对其移栽臂结构进行改进设计,优化凸轮机构,减小凸轮推程运动角,增加推秧装置。建立机构虚拟样机,研制机构物理样机,开展机构虚拟运动仿真和高速摄像运动试验。比较虚拟仿真和高速摄像试验移栽机构夹取秧苗时间的缩短情况,结果基本一致,表明移栽臂的改进设计是正确和合理的。开展安装不同凸轮机构和有无推秧装置的移栽机构的取秧试验,改进后的机构取秧成功率和推秧成功率分别为94.3%和98.6%,远高于改进前的82.9%和88.6%,表明改进后的机构能够更好地满足水稻钵苗移栽工作要求,且具有很好的工作性能。

关键词：水稻钵苗移栽机移栽臂推秧装置设计试验

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大田机械化移栽技术与装备研究进展

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农业机械学报 2022年第9期53卷 1-20页

作者：俞高红王磊孙良赵雄叶秉良浙江理工大学机械与自动控制学院杭州310018 浙江省种植装备技术重点实验室杭州310018

中国地域面积广阔,作物种类繁多,育苗移栽对作物抗御干旱、寒冷、病虫害,缩短田间生长期,提高单位面积产量,发展高产、高效农业具有重要意义。机械化移栽是作物机械化生产中的关键技术环节,其技术反映了农业生产机械化和现代化的发展水... 详细信息

中国地域面积广阔,作物种类繁多,育苗移栽对作物抗御干旱、寒冷、病虫害,缩短田间生长期,提高单位面积产量,发展高产、高效农业具有重要意义。机械化移栽是作物机械化生产中的关键技术环节,其技术反映了农业生产机械化和现代化的发展水平。为此,本文综述了国内外大田机械化移栽技术与装备的研究现状及发展动态,分析总结了国内外具有代表性的移栽机自动取植苗装置的结构和类型,阐述了各类移栽技术与机构的工作原理和结构特征。移栽机构的创新是移栽装备创新的源泉,而机械式移栽机构创新的核心是机构综合,并介绍了移栽机构构型与尺度综合方法的研究现状。最后,分析了中国机械化移栽技术与装备发展中存在的问题,提出了未来发展建议,指出高效、精准、低损取植苗技术与机构是水旱田自动移栽作业的重要保障,高效化、信息化、智能化全自动移栽技术与装备是今后机械化移栽技术发展的重要方向。

关键词：育苗移栽移栽装备移栽机构构型综合尺度综合

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