【作者】 李革；

【导师】 赵匀；

【作者基本信息】 浙江大学 ， 农业机械化工程， 2006， 博士

【摘要】 水稻是我国种植面积最大、单产最高、总产量最多的粮食作物，占我国粮食产量的40％，在我国粮食生产中有着举足轻重的地位。但是，我国的水稻种植机械化水平确一直不高，严重地影响了我国水稻种植的发展。近年来，随着我国农业机械化总体水平的提高，水稻生产机械化得到了长足发展。到2003年底，水稻机械化种植面积近135万hm，机械化种植水平达到了6％，但与发达国家相比，我国水稻生产机械化水平依然很低，尤其是水稻种植机械化水平更低。所以，开展高速水稻插秧机的理论和技术的研究对提高我国水稻种植机械化水平具有重要的理论意义和实际意义。现代高速水稻插秧机械作业与传统的插秧机作业相比插秧的频次提高一倍多，工作幅宽加大和插秧机的工作负荷提高了许多。因此，出现了一系列的理论和技术问题。本文围绕高速插秧机关键技术这一主题，在大量相关文献阅读和理论研究的基础上，对高速水稻插秧机的核心工作部件——旋转式分插机构和移箱机构的关键理论和技术进行了深入研究，取得了一些创新性成果和具有工程使用价值的分析方法，对高速水稻插秧机的设计和生产具有指导意义。主要研究内容和结论如下：1)研究了国内外水稻插秧机械的发展状况，分析了我国水稻插秧机械存在的问题；论述了水稻栽植作业对插秧机的要求；提出了影响现代高速水稻插秧机械发展的关键技术问题。2)根据农业插秧的基本要求，分析了机械插秧时秧针的运动轨迹，提出了机械插秧工作时秧针在取秧、送秧、插秧、回转、避让和回程过程中机器前进速度与秧针速度之间应有的关系。在研究秧针运动轨迹和齿轮传动节曲线理论的基础上，以差速分插机构齿轮的节曲线为研究对象，分析研究了旋转式分插机构周转系齿轮的节曲线形状。从理论上证明，要完成农艺要求的插秧轨迹轨，旋转式分插机构必须采用非圆齿轮系，普通的圆齿轮系无法完成农艺上提出的秧针运动轨迹。并对高速插秧机的旋转式分插机构非圆齿轮系的传动比进行了研究，为旋转式分插机构的设计和参数优化提供了理论基础。3)在分析研究旋转式分插机构运动学模型的基础上，建立了栽植臂机构运动干涉点的位移模型，借助VB系统的特点和可视化功能，提出了基于VB的快速机构运动干涉判别法，借助VB平台，完全由计算机自动实时判别机构的干涉情况，为旋转式分插机构的优化设计和参数化设计提供了一个重要的理论平台。运用正交试验设计的方法对影响旋转式分插机构运动干涉因素进行了分析，提出了影响旋转式分插机构运动干涉的五个因素的主次顺序，为该机构的优化设计及运动干涉检查提供了依据。4)针对目前高速水稻插秧机工作转速提高后，旋转式分插机构插秧性能急剧下降的问题，研究了旋转式分插机构栽植臂的动力学特性。从秧针运动轨迹和推秧杆运动轨迹的理论分析中，找出了分插机构工作性能急剧下降的原因，提出了满足栽植臂顺利插秧的高速水稻插秧机最高工作转速的设计理论。5)以差速旋转式分插机构为研究对象，开展了高速插秧机关键部件虚拟样机的仿真运动研究。针对旋转式分插机构的非圆齿轮系的特点，建立了差速旋转式分插机构的模型。利用ADAMS机构运动仿真功能，对建立的机构模型进行了运动学和动力学特性的虚拟样机试验。6)在高速水稻插秧机试验台上进行了差速旋转式分插机构的运动学特性试验，利用试验的结果与差速旋转式分插机构的ADAMS机构运动的虚拟样机试验的结果进行了对比。并证明，借助ADAMS机构虚拟仿真分析复杂的非圆齿轮系分插机构的运动学分析，分析数据精确。7)对高速水稻插秧机关键部件——移箱机构的螺旋轴滑块机构进行了研究。在对螺旋轴机构进行受力分析的基础上，从滑块顺利通过齿槽交叉点的要求方面，对螺旋轴中间段齿槽和滑块的尺寸进行了参数优化分析；针对螺旋轴两端曲线齿槽反向段在高速工作时冲击大、磨损快的问题；从减少滑块在齿槽反向段运动的冲击方面，比较分析了圆弧、抛物线、三角函数等曲线作为螺旋轴齿槽反向段曲线的加速度，提出了较优的反向段曲线。更多还原

【Abstract】 Rice plant has a very important status in our country’s grain production. Comparedwith other grain plants, rice has the biggest planting area and the highest per unityield. The yields of rice are the most than other grain plants, which is about 40 percentof all grain yields in our country. However, our country’s mechanization level of riceplanting is lower than other countries for a long time. This has seriously affected thedevelopment of rice planting in our country.Recently, with the improving of the whole agricultural mechanical level, themechanization of rice planting has a great progress. By the end of 2003, the area ofrice-planting mechanization is nearly 13,500,000 square meters and the level ofmechanical planting reaches 6%. But compared with the advanced countries, themechanization level of rice planting is still lower. Therefore it is very important andsignificant to research the theory and technology of high speed rice transplant.The transplanting frequency of modern high speed transplanter is about twice asmuch as the traditional transplanter. Its working breadth and burthen has raised much.So there appears a series of problems about theory and technology. Based on a lot ofcorrelative lectures reading and theory research, this dissertation researches the keytechnology of high speed transplanter, namely the key theory and technology ofrotary-type transplanting mechanism and moving-box mechanism, and obtains someinnovative results and analysis methods which have use value. These contents have certainguiding significance for the design and producing of high speed transplanter. The mainresearch contents and the conclusions of this dissertation are arranged as follow.1) It studies the situation of mechanization of transplanting rice seedlings indomestics and abroad, analyses the problems of mechanization of transplanting riceseedlings, discusses the rice transplanting’s request to the rice-transplanter,and proposes the key technologic problems which affect the development ofmechanization of modern high-speed transplanting rice seedlings.2) According to the basic request of agricultural transplanting rice seedlings, thearticle analyses seedling needle’s kinetic path in the course of mechanicaltransplanting rice seedlings and brings forward the relationship between machine’sonward velocity and seedling needle’s velocity during taking seedlings, delivering seedlings, transplanting seedlings, rotation, escaping, and backhaul when seedlingneedle does the mechanical transplanting work. Taking gear curve of differentvelocity transplanting mechanism as the object of study, in the research of seedlingneedle’s kinetic path and the theory of gear driving curve, it analyses andresearches the turnover wheels’ gear curve shape of rotary-type transplantingmechanism. Proved theoretically, if it completes the agronomy request to path oftransplanting seedlings, rotary-type transplanting mechanism must adoptnoncircular gears, because the ordinary circular gear can’t fulfill the taskforwarded by agronomy. Also, it studies the driving ratio of noncircular gears inrotary-type transplanting mechanism of high-speed transplanter, proving thetheoretic base for the design and parameter-optimized of rotary-type transplantingmechanism.3) In the research of kinematic model of rotary-type transplanting mechanism, itbuilds the displacement model of the point of mechanical motive interference inthe mechanism of transplanting arms. Through the visual function in the VB system,the paper puts forward identifying motive interference of rotary-typetransplanting mechanism rapidly based on VB. On the VB platform, computers canautomatically identifying mechanical motive interference in time, providing animportant theory platforms for optimized design and parameter-optimized design ofthe rotary transplanting mechanism. Besides, by using the method of orthogonalexperiment, it analyses the factors of mechanical motive interference in therotary-type transplanting mechanism and fixes how important the factors are. Whatit have mentioned above provides the basis for optimizing the design of rotarytransplanting mechanism and checking the motive interference.4) At present, when the working rotating speed of high-speed transplanter advances,it appears the phenomenon that the function of transplanting rice seedlings ofrotary-type transplanting mechanism drops suddenly. So, it is very essential toresearch the dynamics characteristic of transplanting arms. After analyzingseedling needle’s kinetic path and theory of kinetic path of the pole of pushingseedlings, it finds why the phenomenon happens and puts forward the design theory,maximum working rotating speed of high-speed transplanter, at the premise offilling transplanting rice seedlings well, which is finished by transplanting arms.5) Taking different velocity rotary-type transplanting mechanism as the studyingobject, the research that the article discusses the dynamics simulating of virtual prototype about the primary part of high-speed transplanter has been made. Andconsidering the characteristic of noncircular gears in rotary-type transplantingmechanism, it sets up the model of different velocity rotary-type transplantingmechanism. Besides, to the model that has been built, it analyses the experimentof virtual prototype about its kinematics and dynamics characteristic.6) On the platform of high-speed transplanter, it does kinematic characteristic trailof different velocity rotary-type transplanting mechanism, and makes the contrastbetween the result done by the experiment and the virtual prototyping trail’s resultof its mechanical motion based on ADAMS. And it is proved that the analytical datais premise by kinematic analysis to complicated noncircular gears of transplantingmechanism, in virtue of mechanical virtual simulation of ADAMS.7) It studies the primary part of high-speed transplanter—sliding part of spired axisin moving-box mechanism. Based on the stress analysis to spired axis mechanism,in the aspect of sliding part which smoothes through alveolus intersection, theresearch of parameters optimization, about the middle alveolus of spired axis andthe dimension of sliding part, has been studied. To the problem that the reverseportion at the both sides of spired axis lashed fiercely and fraies quickly, thearticle finely analyses the best curve of alveolus when adding cushiony spring atthe both sides. To decrease lashing when sliding part moves in the reverse portionof alveolus, the article makes the conclusion, the sliding part’s acceleration andits changing value when arc, parabola, trigonometric function as the curve of spiredaxis alveolus reverse portion and proposes the better reverse portion curve.更多还原