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Properties and Applications of the Eccentric-gear Drive

Chinese Journal of Mechanical Engineering 2011年第2期24卷 323-331页

作者： ZHAO yun SUN Liang yu gaohong College of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversiO Hangzhou 310018 China

The eccentric-gear can be used for variable speed ***,due to the vibrations caused by variation of backlash in working process,the eccentric-gear is seldom applied in engineering *** is just a little study about the *** it is necessary to take a further research on eccentric-gear transmission for the applications in the transplanting mechanism of high-speed rice *** key of this paper is to extend understanding of three following characteristics of this drive：（1） The rotation-center-distance and the geometrical-center-distance of the two meshing eccentric gears are respectively the hypotenuse and the straight edge of a right triangle in a cycle.（2） The geometrical center line of two meshing gears divides the linking-line of the two rotational centers equally.（3） When two times the eccentricity of gear,the rotation-center-distance and the geometrical-center-distance form a right triangle,the optimal value of rotation-center-distance can be *** addition,the kinematic analysis,such as the relationship between contact point and midpoint of the linking-line of two gears＇ rotational centers,transmission ratio between the driving-gear and the driven-gear,contact angle and coordinate of contact point are be made,further the formula for calculation of contact force,flow chart for writing optimization program and curve for analysis of data are also be *** relationship between the rotation-center-distance and the geometrical-center-distance,which is determined by three characteristics mentioned above, is a key for the rational design and application of eccentric-gear ***,the presented right triangle property of eccentric gear drive is an important reference for effective analysis of dynamic characteristic of eccentric-gear mechanism and its reliable design.

关键词： eccentric gear transmission property variable speed transmission kinematic and dynamic analysis

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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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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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Design of clamping-pot-type planetary gear train transplanting mechanism for rice wide-narrow-row planting

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International Journal of Agricultural and Biological Engineering 2021年第2期14卷 62-71页

作者： Lei Wang Liang Sun Hengmin Huang Yaxin yu gaohong yu Faculty of Mechanical Engineering&Automation Zhejiang Sci-Tech UniversityHangzhou 310018China Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China

To design a clamping-pot-type wide-narrow-row pot seedling transplanting(WPST)mechanism with desired spatial beak-shaped trajectory and working posture,a new design method of planetary gear train transplanting mechanism(PGTM)with non-circular gears based on several key spatial poses(position and posture)was *** PGTM was simplified to a spatial open-loop chain with two-revolute(2R)*** geometric constraint equations containing only the structural parameters of the chain were then established on the basis of the three key spatial poses,and the homotopy algorithm was used to obtain all the required parameters of the *** accordance with the parameters obtained,the relative angular displacement relation between the planet carrier and the transplanting arm was optimized,the trajectory of the mechanism was replayed,and the total transmission ratio was *** degree of freedom of the spatial 2R mechanism was reduced by attaching to the unequal gear pair,and the transmission ratio was distributed in accordance with the gear type to realize the design of a non-circular gear pitch ***,a clamping-pot-type PGTM for rice WPST driven by the combination of planar non-circular and non-conical gears was designed,and virtual simulation and prototype test were *** showed that the simulation and prototype test trajectories were consistent with the desired *** the operating speeds of 50 r/min and 90 r/min,the success rates of seedling picking were 95.32%and 90.15%,respectively,which verified the feasibility of the theoretical *** method could provide a reference for the design of a spatial PGTM with nonuniform transmission.

关键词： rice pot seedling wide-narrow-row transplanting spatial trajectory planetary gear train non-circular gear

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QUADRATIC OPTIMIZATION METHOD AND ITS APPLICATION ON OPTIMIZING MECHANISM PARAMETER

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Chinese Journal of Mechanical Engineering 2006年第4期19卷 519-523页

作者： ZHAO yun CHEN Jianneng yu Yaxin yu gaohong ZHU Jianping College of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou 310018 China College of Biosystem Engineering and Food Science Zhejiang University Hangzhou 310029 China Modem Agricultural EquipmentHuzhou Combine Harvester Co. Ltd Huzhou 313000 China

In order that the mechanism designed meets the requirements of kinematics with optimal dynamics behaviors, a quadratic optimization method is proposed based on the different characteristics of kinematic and dynamic optimization. This method includes two steps of optimization, that is, kinematic and dynamic optimization. Meanwhile, it uses the results of the kinematic optimization as the constraint equations of dynamic optimization. This method is used in the parameters optimization of transplanting mechanism with elliptic planetary gears of high-speed rice seedling transplanter with remarkable significance. The parameters spectrum, which meets to the kinematic requirements, is obtained through visualized human-computer interactions in the kinematics optimization, and the optimal parameters are obtained based on improved genetic algorithm in dynamic optimization. In the dynamic optimization, the objective function is chosen as the optimal＇ dynamic behavior and the constraint equations are from the results of the kinematic optimization, This method is suitable for multi-objective optimization when both the kinematic and dynamic performances act as objective functions.

关键词： Quadratic optimization Parameter optimization Kinematics Dynamics

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Design and experimental study of a planetary gearing mechanism based on twice unequal amplitude transmission ratio

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International Journal of Agricultural and Biological Engineering 2022年第1期15卷 155-163页

作者： Jiangang Liu gaohong yu Zhipeng Tong Yao Hua School of Mechanical Engineering&Automation Zhejiang Sci-Tech UniversityHangzhou 310018China College of Mechanical and Electrical Engineering Wuyi UniversityWuyishan 354300FujianChina Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China

To obtain the optimal seedling taking trajectory,this study proposed the adjustment of the total transmission ratio curve by using human-computer *** the basis of this design method,a planetary non-circular gear mechanism was designed that can realize the twice unequal amplitude transmission ratio to meet the seedling harvesting *** cubic non-uniform B-spline curve was used to fit the twice unequal amplitude transmission ratio curve,and the transmission ratio was freely distributed in two *** seedling pick-up mechanism was designed by controlling the seedling taking track and the corresponding attitude directly through the local section of the total transmission ratio,and the gear pitch curve was directly controlled by the transmission *** kinematics model of the seedling pick-up mechanism was also ***,the influence of the total transmission ratio on the seedling picking track,the ratio of the wave crest to the amplitude,and the mechanism parameters were discussed.A human-computer interactive optimization software was developed using Matlab,and a set of optimal parameters for the seedling pick-up mechanism was obtained to meet the transplanting *** using the Adams software,the virtual prototype simulation of the seedling pick-up mechanism was completed,and the idle experiment for the track and attitude of the prototype was conducted through high-speed camera *** theoretical,simulated,and experimental trajectories were consistent with each *** revealed that the success rate of the seedling picking exceeded 90%when the rotation speeds were 40 r/min,50 r/min,and 60 r/min,and the qualified rate of the matrix decreased with the increase in rotating ***,the number of damaged plants increased with the increase in rotating *** experimental results showed that the seedling pick-up mechanism designed using the proposed method demonstrated a good effect and met the requir

关键词： seedling pick-up mechanism second unequal amplitude planetary gear train seedling picking experiment

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Design and experimental study of the end-effector for broccoli harvesting

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 137-144页

作者： Xiong Zhao Gangji Xu Pengfei Zhang gaohong yu Yadan Xu Faculty of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province Hangzhou 310018China Hangzhou vocational&Technical College Hangzhou 310018China

The end-effector is an important part of the broccoli harvesting *** at the physical characteristics of a large broccoli head and thick stem,a spherical cutting tool broccoli harvesting end-effector was designed in this ***,the physical characteristics of broccoli were tested,and physical parameters such as the broccoli head diameter and stem diameter of broccoli were *** maximum cutting force of broccoli stems under different cutting angles was ***,according to the physical characteristics and harvesting process of broccoli,the end-effector was designed,and the mathematical model of kinematics and dynamics was *** on the results of dynamic analysis,the end-effector rod was optimized,and the unilateral width of the slider was 40 mm,the length of the connecting rod was 120 mm,and the length of the crank was 42 *** mechanism needed an external driving force of 140.54 N to cut the broccoli ***,a 32 mm cylinder with a load rate of 50%was selected as the power ***,the feasibility of the broccoli harvesting end-effector was verified by the harvesting *** showed that the overall harvesting success rate of the end-effector is 93.3%,and the smoothness rate of the stem section is 83.3%.The harvesting performance of the broccoli end-effector was *** lays a foundation for agricultural robots to harvest broccoli.

关键词： harvesting robot broccoli end-effector dynamic analysis mechanism optimization

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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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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 experiment of double planet carrier planetary gear flower transplanting mechanism

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International Journal of Agricultural and Biological Engineering 2021年第2期14卷 55-61页

作者： Xiong Zhao Hongwei Liao Xingxiao Ma Li Dai gaohong yu Jianneng Chen Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China Key Laboratory of Zhejiang Transplanting Equipment Technology Hangzhou 310018China

At present,there is a lack of miniaturized and highly reliable plug seedling transplanting mechanism in flowerpots planting operation,in order to meet the needs of large displacement and high vertical uprightness for flower transplanting,the paper combined the transmission characteristics of the non-circular gear planetary gear train with the swing flexibility of the cam gear and proposed a double planet carrier planetary gear transplanting *** linkage of the mechanism performs variable speed rotation relative to the first planet carrier,the linkage serves as the second planet carrier,and the transplanting arm performs variable speed swing relative to the linkage.A mathematical model of a single planetary carrier mechanism was first established using the method of open linkage group solution domain synthesis,then established the kinematic equations of the second planet carrier and the transplanting *** two parts are combined to form the mathematical solution model of the proposed *** initial trajectory was planned according to the trajectory requirements of seedlings planting operation,the non-circular gear pitch curve in the first planet carrier was obtained and the length of the first planet carrier is 120 *** using the key points’angular deviation between the initial trajectory and the improved trajectory to obtain the cam parameters which driving the transplant arm,consequently determined the length of the second planet carrier is 69.25 mm and the length of the transplant arm is 112.4 ***,the prototype of the mechanism was manufactured,and the test verified the correctness of the design method of the double planet carrier planetary gear flower potting transplanting *** transplanting success rate of this mechanism reached 94.43%,and the plug seedlings planted in flowerpots had high *** research can provide a reference for the automatic development of research on flower transplanting machines.

关键词： flower transplanting double planet carrier planetary gear mechanism non-circular plug seedling

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