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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 shortcomings.One 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 effect.Therefore,the reverse design of the seedling pick-up mechanism based on its motion trajectory was carried out.The local trajectory of seedling pick-up and seedling pushing sections was adjusted to obtain the theoretical motion trajectory of the seedling pick-up mechanism.The 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 arms.The reverse design model of the mechanism was established.The analysis and design software of the mechanism was developed to obtain the mechanism parameters meeting design requirements.The virtual prototype of the mechanism was established and its physical prototype was manufactured.Through 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 studied.The seedling pick-up tests of the mechanism were conducted in the laboratory.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,respectively.Besides,the seedling pushing effect was improved mush because of the greater seedling pushing angle.The seedling pick-up mechanism through revise design is of high value to be applied in the practical vegetable plug seedling transplanters.

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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Method for generating non-circular gear with addendum modification and its application in transplanting mechanism

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International Journal of Agricultural and Biological Engineering 2020年第6期13卷 68-75页

作者： Maile Zhou Yuchao Yang Mingxu Wei Daqing Yin School of Agricultural Engineering Jiangsu UniversityZhenjiang 212013China College of Engineering Northeast Agricultural UniversityHarbin 150030China Key Laboratory of Modern Agricultural Equipment Technology in Northern Cold Region Harbin 150030China

With a focus on the design of tooth profiles of non-circular gears with addendum modifications that conform to the given complex transmission ratio curves and based on a series of discrete point sets on the pitch curves,the criteria for tooth profile distortion and undercut in non-circular gears were proposed.With the constraint of no tooth profile distortion and undercut,the addendum modification coefficient was introduced into the calculation of the distorted and undercut segments of the tooth profile of a non-circular gear,and the addendum modification coefficient of each contact point of the non-circular gear was obtained.Based on the generating principle for gear shaping with gear cutters,a theoretical model for calculating the tooth profile of non-circular gears with addendum modification was derived.The cutting and radial feeding motions of the pinion cutter were ignored,and only the meshing motion was considered.The involute tooth profiles of the pinion cutter enveloped the tooth profile of the non-circular gear.3D automatic non-circular gear model generation software was developed,which was a secondary development product of the software UG.A non-circular gear in a rice potted seedling transplanting mechanism was designed,and the transplanter was developed and tested.The test results showed that the designed tooth profile of non-circular gear achieved the variable transmission ratios required by the transplanting mechanism.When the transplanting efficiencies were 140 plants/min,160 plants/min and 180 plants/min,the transplanter completed the rice potted seedling transplanting operation with high quality.

关键词： non-circular gear tooth profile generation addendum modification coefficient enveloping characteristics transplanting mechanism

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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 innovatively.The laboratory kinematics was examined.The 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 mechanism.The computer aided analysis and optimization software of the transplanting mechanism based on Visual Basic 6.0 was developed.Through 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 interaction.The 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,respectively.The 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 posture.The 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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Kinematic synthesis and simulation of a vegetable pot seedling transplanting mechanism with four exact task poses

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International Journal of Agricultural and Biological Engineering 2023年第2期16卷 85-95页

作者： Liang Sun Haocong Xu Yuzhu Zhou Jiahao Shen Gaohong Yu Huafeng Hu Yuejun Miao Faculty of Mechanical Engineering&Automation Zhejiang Sci-Tech UniversityHangzhou 310018China Zhejiang Province Key Laboratory of Transplanting Equipment and Technology Hangzhou 310018China Hunan Xiangyuan Jinsui Intelligent Equipment Co. LtdLoudi 417700HunanChina Hangzhou Anjie Brake Co. LtdHangzhou 310018China

To obtain a picking and planting integrated transplanting mechanism(PITM)with ideal trajectory shape,reasonable operating attitude,and compact structure for vegetable pot seedling transplanting,a symmetrical structural PITM composed of two planetary carriers and driven by a cam-noncircular gear combination mechanism was proposed in this paper.In accordance with the requirements of transplanting agronomy,the shape of the motion trajectory and the attitude of the end tip of the clamping claw at several specific positions(the starting and end points of picking seedling,the starting point of pushing seedling,and a special point on the return segment)were planned.To make the clamping claws of PITM pass through a set of prescribed positions,the mechanism was simplified to an open-chain 3R mechanism.An accurate four-position-based method for solving the open-chain mechanism model was adopted to obtain the curves of its fixed hinge point(central point)and dynamic hinge point(circle point).The ratio of adjacent bars’lengths was analyzed to determine the feasible interval of the central and circle point curves and the reasonable link length.A desired closed transplanting trajectory that goes through the given points and the corresponding transmission ratio model of the open-chain mechanism was established.After the transmission ratio of each stage of gear and cam pairs was calculated and distributed,the prototype of PITM was designed and manufactured.Lastly,the effectiveness and feasibility of the design were verified through a preliminary experiment of the prototype.

关键词： kinematic synthesis transmission ratio non-circular gear planetary carrier

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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 proposed.The PGTM was simplified to a spatial open-loop chain with two-revolute(2R)joints.The 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 mechanism.In 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 determined.The 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 curve.Lastly,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 conducted.Results showed that the simulation and prototype test trajectories were consistent with the desired trajectory.Under 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.This 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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Research on stepless transmission utilizing noncircular gears

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Journal of Pharmaceutical Analysis 2007年第2期19卷 164-171页

作者：张瑞张爱梅吴序堂 School of Mechanical Engineering Zhengzhou University School of Mechanical Engineering Xi'an Jiaotong University

In view of the lack of systemic analysis for stepless transmission using noncircular gears, two basic noncircular gear units, an addition unit adopting differential mechanism and a multiplication unit applying a fixed gear train, are proposed. Then, the design methods of the noncircular gear pair of each unit, transmission ratio relationship, rotation angle relationship and key parameters with specific physical meanings are studied. The adjusting properties, composing strategy and varying range of transmission ratio etc. are investigated in detail for each unit. Following this, several examples of using a noncircular gear pair in the units and their manipulation technique are introduced.

关键词： non-circular gear stepless transmission fixed gear train differential mechanism

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Calculating method of contact stress for non-circular gears

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Journal of Chongqing University 2015年第1期14卷 19-24页

作者：李纪强刘忠明颜世铛 Zhengzhou Research Institute of Mechanical Engineering

According to Hertz theory, the difference of contact stress for non-circular gears and equivalent gears is compared in the paper, a calculating method of contact stress for non-circular gears by using equivalent gears is researched, and computing formulas of power and rotation speed for equivalent gears are deduced. A numerical simulation of contact stress for non-circular gears has also been conducted based on the finite element method. By the comparison of fitting curves, the feasibility of using equivalent gears instead of non-circular gears to calculate the contact stress is testified.

关键词： non-circular gear contact stress equivalent gear calculating method

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