蔬菜钵苗密植移栽机多行取苗机构设计与试验

为实现蔬菜钵苗密植自动移栽，提出一种能够降低因齿轮间的齿侧间隙引起的传动误差进而提高运动准确性的大重合度非圆齿轮传动机构，根据小青菜钵苗密植移栽农艺要求，设计了密植移栽取苗轨迹和一种基于该传动机构的非圆齿轮行星轮系八行同步取苗机构。开展了取苗机构的逆向设计，并对其进行了运动学分析，自主开发了密植移栽取苗机构反求设计软件。为降低传动误差，该行星轮系取苗机构一级齿轮传动采用大重合度非圆齿轮传动，二级齿轮传动采用斜齿轮传动，每级齿轮传动的重合度均接近2。基于虚拟样机技术和高速摄像技术对取苗机构进行轨迹测试试验，得到试验和仿真取苗轨迹，并对比理论计算轨迹，三者轨迹基本一致，验证了密植移栽取苗机构设计的可行性。对密植移栽取苗机构进行取苗试验，取苗机构的取苗成功率为95%左右，检验了机构样机性能。

Design and Experiment of Multi Row Seedling Taking Mechanism for Dense Planting and Transplanting of Vegetable Pot Peedlings

In order to realize the automatic transplanting of potted vegetable seedlings, a non-circular gear transmission mechanism with large coincidence degree was proposed, which can reduce the transmission error caused by the tooth side clearance between gears and improve the motion accuracy. Then, according to the agronomic requirements of potted vegetable seedlings, the seedling taking track of close planting transplanting and an eight row synchronous seedling taking mechanism of non-circular gear planetary gear train based on the transmission mechanism were designed. The reverse design of seedling picking mechanism was carried out, its kinematics was analyzed, and the reverse design software of dense planting transplanting seedling picking mechanism was independently developed. In order to reduce the transmission error, the primary gear transmission of the planetary gear train seedling taking mechanism adopted non-circular gear transmission with large coincidence degree, and the secondary gear transmission adopted helical gear transmission, and the coincidence degree of each gear transmission was close to 2. Based on the virtual prototype technology and high-speed camera technology, the trajectory test of the seedling taking mechanism was carried out, and the test and simulation seedling taking trajectory were obtained. Compared with the theoretical calculation trajectory, the three trajectories were basically consistent, which verified the correctness and feasibility of the design of seedling taking mechanism for close planting transplanting. The seedling taking test of the dense planting transplanting seedling taking mechanism was carried out. The success rate of the seedling taking mechanism was about 95%. The performance of the prototype mechanism was tested.