| Rape is the main oil crop in the world.Rape transplanting can solve the problems of tight stubble and heavy soil in the rice-tanker mode in China,reduce labor input,reduce planting cost and improve economic benefits,which is in line with the basic national conditions of rapeseed planting in China.Rapeseed blanket transplanting has the advantages of no root damage and no delayed seedling stage,which can effectively increase rapeseed yield per unit area.At present,there are few researches on rapeseed blanket seedling transplanting equipment in China,most of which are adapted from rice blanket seedling transplanting machine.Because the leaf morphology of rapeseed seedlings is quite different from that of rice seedlings,the original mechanism track suitable for rice blanket seedlings will cause leaf injury when applied to rapeseed blanket seedlings.The equipment mostly adopts the method of cutting narrow seam+planting on seam+closing seam for transplanting rapeseed blanket seedlings.Due to the poor soil fluidity of rice plate field,the overlaying soil repression effect is not good,and the poor contact between seedling root and soil is easy to appear dead seedlings.In view of the above problems,an integrated transplanting mechanism of digging holes and picking up seedings for rapeseed blanket seedlings was proposed,which could realize rapeseed blanket seedlings transplanting efficiently with the most simple mechanism.The main contents of this paper are as follows:1)An integrated transplantation mechanism of rape blanket seedling is put forward.Using the combination of non-circular gear planetary gear system mechanism and CAM pendulum mechanism,a set of mechanism to complete the seedling taking,conveying,digging and seedling throwing action.2)To the existing transplanting mechanism through analyzing the composition,movement by using three generation synthesis of planar four bar linkage,to establish three precise position kinematics model of planetary gear train,get the total transmission ratio of gear train design gear section curve and parameter solution domain,after planting mouth size swinging rod mechanism is established the mathematical model of related parameters of CAM and swinging rod.3)The GUI module of MATLAB2016 was used to develop the computer optimization design software of transplantation mechanism.Through the optimization of human-machine interaction,a set of better parameters satisfying the needs of transplanting were obtained:P1(80,60,145);P2(110,55,135);P3(100,-165,90);E23(140,30);E31(55,-130);(x0,y0)=(32,-24.04);(xc1,yc1)=(-9.48,42.01);l1=84;l2=91.15;Initial Angle of crank:(119.89);Initial Angle of connecting rod:(335.42);W1=2.89;W2=91.23;W3=11932;W4=53.06;W5=3.84;W6=8.34;W7=26.51;λ1+λ2=90°;L=79.93,the optimized parameters were used for the structural design of the transplanting mechanism.4)With the help of 3D design software SolidWorks,the 3D model design of rapeseed blanket seedling selection and planting integrated transplanting mechanism was completed,and the Adams software was used to simulate the virtual prototype of the selection and planting mechanism to verify the feasibility and correctness of the mechanism design.The test bed was built and the experiment was carried out.The track of the physical prototype was analyzed with high-speed photography technology and compared with the theoretical results to verify the rationality and correctness of the transplanting mechanism. |
