【作者】 陈建能；

【导师】 赵匀；

【作者基本信息】 浙江大学 ， 农业机械化工程， 2004， 博士

【摘要】 水稻插秧机械化是提高插秧效率、减轻农民劳动强度的主要措施之一。如果我国插秧机械化水平提高1％，每年就能增产粮食3.75亿kg，但目前我国的机插率只有2.8％，其主要原因是国产插秧机的可靠性低，而进口的高速插秧机价格太高且对我国南方双季稻的晚稻大苗栽插适应性差，因而研究适合我国国情的高速水稻插秧机势在必行。分插机构是水稻插秧机的核心工作部分，其工作性能直接影响插秧质量和效率，因此研究分插机构对最终研制出符合我国国情的高速水稻插秧机具有理论价值和重大现实意义。 旋转式高速水稻插秧机的分插机构具有其自身优点，插次可达400～600次／分钟，代表未来的发展趋势。浙江大学赵匀教授先后研究并发明了5种水稻插秧机的分插机构，它们都能满足各种水稻栽插的轨迹和姿态(取秧角和插秧角)的要求，但对这些机构的动力学特性未做进一步深入基础研究。本文的研究目的是以椭圆齿轮行星轮系分插机构为主要研究对象，分析其动力学特性，建立动力学模型并验证，最后建立动力学优化模型并找出最佳参数。本文主要的研究内容和结果如下： 1) 研究国内外各种类型的旋转式高速水稻插秧机分插机构的工作原理，指出尚待研究的问题——研究其动力学特性，以改善动力学特性，进一步提高插次；为此提出了动力学两级优化的创新性思路——以运动学优化(1级优化)得到的机构参数范围作为动力学优化(2级优化)的约束条件，最终得到的最佳参数不仅能满足运动学的要求，又具有最佳的动力学特性。 2) 提出了对椭圆齿轮行星系分插机构这种复杂机构进行运动学和动力学分析必须遵循的一些规则和方法，使复杂问题得以简化，避免出现各种错误。着重论述了反三角函数唯一值的求解方法，推导了解折形式的刚体复合运动微分方程，提出动力学方程组逐次求解的方法和与之配套的驱动力分析方法，为后续的运动学和动力学分析奠定基础。 3) 对椭圆齿轮行星系分插机构进行运动学分析，建立数学模型，开发了辅助分析软件，并通过高速摄像验证所建立的数学模型的正确性。 4) 根据所建立的运动学数学模型，构建人机一体优化系统，基于Visual Basic 6.0编写良好人机对话的优化软件。基于该系统得到满足插秧要求的椭圆齿轮行星系分插机构较佳参数范围(1级优化)。 5) 对椭圆齿轮行星系分插机构进行动力学分析，建立数学模型。在动力学分析时，考虑推秧装置的作用和取秧力的大小，并按照实际驱动工况分析驱动力。 6) 研制出国内第一台通用旋转式分插机构动力学试验台，可以适合研究不同类型旋转式分插机 摘要 构的动力学特性。并基于该试验台和高速摄像验证了所建立的动力学数学模型是可靠的。 7)研究基本遗传算法，指出它存在“封闭竞争”的缺陷，提出了基于“种间竞争”的改进算法， 并通过典型算例验证了该算法的可靠性。 8)根据验证过的动力学数学模型，构建分插机构动力学特性多目标优化的目标函数，以1级运 动学优化得到的能满足插秧要求的机构参数范围为约束方程，从而得到优化的数学模型。然 后采用改进的遗传算法，基于VISual Basic 6.0编写动力学优化软件，进行动力学二级优化， 得到最佳机构参数:Z二17，无== 0.987，a。一600，仇一450，S一150，该机构参数既能满足 运动学的要求，又具有最佳的动力学特性。 9)根主;优化的最佳参数，对该类型的分插机构进行结构设计。 10)总结全文并提出进一步研究的设想及方法。更多还原

【Abstract】 Mechanization of rice-transplanting was a main measure to improve rice-transplanting efficiency and lessen the farmers’ labor intensity. If the mechanization level could be improved by 1% in our country, the rice yield would be increased 375 million kilogram per year. However, the rate of rice-transplanting by machine was at a low level, only 2.8 percent in our country at present. It was mainly due to the low reliability of the rice transplanter produced in our country. Moreover, the price of foreign high-speed rice transplanter was high and they could not fit the high rice seedlings of the autumn season in the south of China. Consequently, it was imperative under the situation to develop high-speed transplanter suitable for our country. Transplanting mechanism was the primary part of a transplanter. Its performance would directly affect the efficiency and the quality of rice seedlings transplanting. Therefore, the research in transplanting mechanism is worthy and significant for the development of high-speed transplanter in our country.Rotary-type transplanting mechanism of high-speed transplanter, with a transplant rate of 400-600 times per minute, represented the developing trend in the future. Funded by the National Natural Sciences Foundation of China, Prof. Zhao Yun of Zhejiang University had invented 5 rotary-type transplanting mechanisms. All of them could meet the demands of locus and pose (angle of seedling-separating and angle of seedling-pushing) of rice-transplanting. But the dynamics characteristics of these mechanisms had not been further studied yet. The aim of this research was to study the dynamics characteristics of the mechanism with planetary elliptic gears, establish the optimized models and obtain the optimal parameters of this type mechanism. The contents and results of the research were listed as follows.1) The principles of various rotary-type transplanting mechanisms of high-speed rice transplanter had been studied, and the subjects for further research-- studying their dynamics characteristics to improve their dynamics performance and further to enhance the efficiency were put forward. An innovative idea of two-stage-optimization for dynamics analysis was presented in the paper. The creativity of the idea was that the kinematics optimization (first stage optimization) results were the constraint for dynamics optimization (the second stage optimization). By two-stage-optimization, the mechanism made according to the optimal parameters could not only meet the requirements of kinematics, but also possesses optimal dynamics performance.2) Some rules and approaches for kinematics and dynamics analysis of transplanting mechanism withplanetary elliptic gears were brought forward. Following these rules and approaches, the mechanism analysis working would be simplified and some errors would be avoided. The methods for finding unique solution of inverse trigonometric functions were discussed. The differential equations of rigid body compound motion in analytical form were derived. The approach to solve dynamics equations one by one and corresponding means to analyze drive force were submitted, which was the basis for further study on kinematics and dynamics of the mechanism.3) Kinematics characteristics of transplanting mechanism with planetary elliptic gears were analyzed, and its mathematical models were established, which were verified by high-speed Video Tape Recorder.4) Based on the kinematics mathematical models, a system of human-computer interactions in collaboration was set up. And interactive optimization software was programmed with Visual Basic 6.0. Optimal parameters of transplanting mechanism with planetary elliptic gears which could meet the demands of rice-transplanting were obtained by this system, namely the first stage optimization.5) Dynamics characteristics of transplanting mechanism with planetary elliptic gears were analyzed, and its mathematical models were established. During dynamics analyzing, the effect of see更多还原