Design and experiment of double planet carrier planetary gear flower transplanting mechanism
Design and experiment of double planet carrier planetary gear flower transplanting mechanism
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双行星架行星齿轮插花机构设计与试验
DOI：
10.25165/ijabe.v14i2.5878
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发表时间：
2021-04
影响因子：
2.4
通讯作者：
Jianneng Chen
中科院分区：
文献类型：
--
作者：
Xiong Zhao;Hongwei Liao;Xingxiao Ma;Li Dai;Gaohong Yu;Jianneng Chen
针对目前花盆栽植作业中缺乏小型化、高可靠性的穴盘苗移栽机构，为满足花卉移栽大位移、高垂直度的需要，结合非圆齿轮行星轮系的传动特性和凸轮齿轮的摆动灵活性，提出了一种双行星架行星齿轮移栽机构。该机构的连杆相对于第一行星架进行变速旋转，连杆作为第二行星架，移栽臂相对于连杆进行变速摆动。首先采用开杆组解域综合法建立了单行星架机构的数学模型，然后建立了第二行星架和分插臂的运动方程，将两者结合起来，形成了该机构的数学求解模型。根据苗木栽植作业的轨迹要求规划出初始轨迹，得到第一行星架上非圆齿轮节曲线，第一行星架长度为120 mm，然后利用初始轨迹与改进轨迹之间关键点的角度偏差，得到驱动移栽臂的凸轮参数，最终确定了第二行星架的长度为69.25 mm，移栽臂的长度为112.4 mm。最后，制作了该机构的样机，并通过试验验证了双行星架行星齿轮式盆栽移栽机构设计方法的正确性。该机构移栽成功率达94.43%，且插在花盆中的穴盘苗直立度高。该研究可为花卉移栽机的自动化开发研究提供参考。
关键词：花卉移栽，双行星架行星齿轮机构，非圆，穴盘育苗
DOI：10.25165/www.example.com
引文：赵旭，廖宏伟，马晓霞，戴丽，于国华，陈建南。双行星架行星齿轮式花卉移栽机构的设计与试验。Int J Agric & Biol Eng，2021; 14（2）：55 - 61.
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 mechanism. The 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 arm. The two parts are combined to form the mathematical solution model of the proposed mechanism. The 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 mm. Then 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 mm. Finally, 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 mechanism. The transplanting success rate of this mechanism reached 94.43%, and the plug seedlings planted in flowerpots had high uprightness. This research can provide a reference for the automatic development of research on flower transplanting machines.
Keywords: flower transplanting, double planet carrier planetary gear mechanism, non-circular, plug seedling
DOI: 10.25165/j.ijabe.20211402.5878
Citation: Zhao X, Liao H W, Ma X X, Dai L, Yu G H, Chen J N. Design and experiment of double planet carrier planetary gear flower transplanting mechanism. Int J Agric & Biol Eng, 2021; 14(2): 55–61.
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