滚筒式免耕播种机构交互式优化设计系统研究
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摘要
针对滚筒式免耕播种机构设计过程中,涉及参数多,交互关系复杂,计算量大,计算方法繁琐,设计周期长,不易完成机构优化设计等问题,设计一种交互式设计平台,通过人机交互,达到缩短设计周期、优化机构的目的。通过对鸭嘴滚轮排种装置及其鸭嘴驱动滚筒组成的核心机构的运动学分析,建立鸭嘴驱动角φ、鸭嘴助力角α、鸭嘴滚轮排种装置角速度ω0和滚筒角速度ω1之间的数学模型;以株距、还田量及播种深度为设计参数,构建目标函数与约束条件,确定优化算法,获得满足设计要求的结构参数,即基本结构参数:滚轮半径R0、滚筒半径R1、鸭嘴高度H、鸭嘴数x,辅助结构参数:助力角α、驱动角φ、开孔数n和开孔长度l;使用Matlab(Matrix&laboratory),根据优化算法编写程序,并通过Matlab图形用户界面,直接在界面中获得优化后的结构参数。通过CATIA环境下二次开发,利用关联设计方法建立参数化模型,通过优化后的结构参数驱动参数化模型改变参数。参照系统所得结构参数加工滚筒式免耕播种机构试验样机并进行样机功能试验。交互式优化设计系统可在不同需求下快速生成各结构参数,准确得出最优参数组合,并生成所需模型,最大限度缩短设计时间,提高设计效率与准确度,同时为解决该类问题提供了一种通用方法。
In the process of structure design of drum-type no-till planter mechanism,many parameters are involved,interaction is complicated,calculation is large,calculation method is tedious,design period is long,and the optimization design of mechanism is not easy to complete. An interactive design platform was studied. Through man-machine interaction,the design cycle was shortened and the mechanism was optimized. Based on the kinematics analysis of the core mechanism composed of duckbill drum seeding device and drum driven by its duckbill,the mathematical models of the driving angle,aiding angle,angular velocity and the angular velocity of roller were established. With plant spacing,return amount and sowing depth as design parameters,objective function and constraint conditions were constructed,optimization algorithm was determined,and structural parameters which met the design requirements were obtained,including the basic structural parameters of roller radius,drum radius,duckbill height and duckbill number,and auxiliary structural parameters of the booster angle,driving angle,number of holes and length of hole. According to the optimization algorithm,the program was written by using Matlab,and the optimized structure parameters were obtained directly through the Matlab graphical user interface.Through the secondary development under the environment of CATIA,the parameterized model was established by using the association design method,and the optimized structural parameters were used to drive the model. According to the structural parameters obtained from the system,the structure test prototype of the drum-type no-till planter mechanism was processed and the functional test of the prototype was carried out. The interactive optimal design system can quickly generate various structural parameters under different requirements,get the optimal parameter combination accurately,generate the required model,shorten the designer's design time to the maximum extent,and improve the design efficiency and accuracy. At the same time,it provided a general method for the study of this kind of problems.
In the process of structure design of drum-type no-till planter mechanism,many parameters are involved,interaction is complicated,calculation is large,calculation method is tedious,design period is long,and the optimization design of mechanism is not easy to complete. An interactive design platform was studied. Through man-machine interaction,the design cycle was shortened and the mechanism was optimized. Based on the kinematics analysis of the core mechanism composed of duckbill drum seeding device and drum driven by its duckbill,the mathematical models of the driving angle,aiding angle,angular velocity and the angular velocity of roller were established. With plant spacing,return amount and sowing depth as design parameters,objective function and constraint conditions were constructed,optimization algorithm was determined,and structural parameters which met the design requirements were obtained,including the basic structural parameters of roller radius,drum radius,duckbill height and duckbill number,and auxiliary structural parameters of the booster angle,driving angle,number of holes and length of hole. According to the optimization algorithm,the program was written by using Matlab,and the optimized structure parameters were obtained directly through the Matlab graphical user interface.Through the secondary development under the environment of CATIA,the parameterized model was established by using the association design method,and the optimized structural parameters were used to drive the model. According to the structural parameters obtained from the system,the structure test prototype of the drum-type no-till planter mechanism was processed and the functional test of the prototype was carried out. The interactive optimal design system can quickly generate various structural parameters under different requirements,get the optimal parameter combination accurately,generate the required model,shorten the designer's design time to the maximum extent,and improve the design efficiency and accuracy. At the same time,it provided a general method for the study of this kind of problems.
引文
[1]李宝筏.农业机械学[M].北京:中国农业出版社,2003.
[2]孙靖民,王新荣.现代机械设计方法选讲[M].哈尔滨:哈尔滨工业大学出版社,2002.
[3]赵匀.农业机械分析与综合[M].北京:机械工业出版社,2008.
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[6]赵匀,赵雄,张玮炜,等.水稻插秧机现代设计理论与方法[J].农业机械学报,2011,42(3):65-68.ZHAO Yun,ZHAO Xiong,ZHANG Weiwei,et al. Modern design theory and method of rice transplanter[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(3):65-68.(in Chinese)
[7]赵匀,武俊生,程革,等.水稻插秧机分插机构的动力学分析[J].农业机械学报,1991,22(3):20-24.ZHAO Yun,WU Junsheng,CHENG Ge,et al. The research on dynamics analyzes and testing of four linkage rice transplanting mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,1991,22(3):20-24.(in Chinese)
[8]霍军周,张旭,邓立营.交互式优化设计方法综述[J].机械工程与自动化,2014,43(3):215-217.HUO Junzhou,ZHANG Xu,DENG Liying. A survey of human-computer optimization methods[J]. Mechanical Engineering&Automation,2014,43(3):215-217.(in Chinese)
[9]王娜娜,王钰.交互式虚拟产品展示设计平台的研究[J].青岛大学学报(自然科学版),2006,19(2):69-73.WANG Nana,WANG Yu. Research on interactive virtual product exhibition design platform[J]. Journal of Qingdao University(Natural Science Edition),2006,19(2):69-73.(in Chinese)
[10] ZHAO Yun,YU Gaohong,CHEN Jianneng,et al. Mechanism dynamics sequence-solution method and its application[J].ASME Journal of Computational and Nonlinear Dynamics,2006,2(2):105-113.
[11] ZHAO Yun,CHEN Jianneng,YU Yaxin,et al. Quadratic optimization method and its application on optimizing mechanism parameter[J]. Chinese Journal of Mechanical Engineering,2006,19(4):519-523.
[12]张学军,吴成武,王伟,等.齿形刮板式残膜与残茬输送装置设计与试验[J].农业机械学报,2008,39(9):49-51.ZHANG Xuejun,WU Chengwu,WANG Wei,et al. Design and experiment on the zigzag scraper transportation device for remnant plastic film and stubble[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(9):49-51.(in Chinese)
[13]韩豹,吴文福,权龙哲.水平圆盘式苗间锄草装置的多目标优化设计及仿真[J].吉林大学学报(工学版),2011,41(3):692-696.HAN Bao,WU Wenfu,QUAN Longzhe. Multi-objective optimization design and simulation on horizontal disk type weeding unit between seedings[J]. Journal of Jilin University(Engineering and Technology Edition),2011,41(3):692-696.(in Chinese)
[14]王方艳,梁洁,尚书旗,等.花生收获机传动系统的运动机理分析与参数优化[J].农业机械学报,2006,37(6):49-53.WANG Fangyan,LIANG Jie,SHANG Shuqi,et al. Motion theory analysis and parameters optimization of transmission on 4H-2type peanut harvester[J]. Transactions of the Chinese Society for Agricultural Machinery,2006,37(6):49-53.(in Chinese)
[15] VEGAD G M,YAGVA R. Design analysis and optimization of rotary tiller blades using computer software[J]. Agricultural Mechanization in Asia,Africa and Latin America,2018,49(1):43-49.
[16]孙伟.打穴式免耕播种机的研究[D].兰州:甘肃农业大学,2006.
[17]李洪文,陈君达,邓建,等.旱地玉米机械化保护性耕作技术及机具研究[J].中国农业大学学报,2000,5(4):68-72.LI Hongwen,CHEN Junda,DENG Jian,et al. Study on technology and machines of mechanized conservation tillage for dryland maize[J]. Journal of China Agricultural University,2000,5(4):68-72.(in Chinese)
[18]林静,宋玉秋,李宝筏.东北垄作区机械免耕播种工艺[J].农业工程学报,2014,30(9):50-57.LIN Jing,SONG Yuqiu,LI Baofa. Mechanical no-tillage seeding technology in ridge area of northeast China[J]. Transactions of the CSAE,2014,30(9):50-57.(in Chinese)
[19] GRISSO R B,HOLSHOUSER D,PITMAN R. Planter/drill consideration for conservation tillage systems[R]. Virginia Cooperation Extension,2007:196-202.
[20] GRATTON J,CHEN Y,TESSIER S. Pinciples of farm machineery. Design of a spring-loaded downforce system for a no-till seed opener[J]. Canadian Biosystem Engineering,2003,45:229-235.
[21]刘宏新,闻浩楠,改广伟,等.被动滚筒式免耕播种成穴机构设计与实验[J/OL].农业机械学报,2017,48(9):53-61.LIU Hongxin,WEN Haonan,GAI Guangwei,et al. Design and experiment on passive drum-type no-till planter cavitation mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(9):53-61. http:∥www. jcsam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170907&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2017. 09. 007.(in Chinese)
[22]刘泉汝,郎坤,赵丹丹,等.秸秆覆盖和种植密度对夏玉米水分利用的影响[J].灌溉机械工程学报,2013,31(12):1089-1091.LIU Quanru,LANG Kun,ZHAO Dandan,et al. Effects of straw mulching and plant density on water utilization of summer maize[J]. Journal of Drainage and Irrigation Machinery Engineering,2013,31(12):1089-1091.(in Chinese)
[23]中国农业机械化科学研究院.农业机械设计手册(上册)[M].北京:中国农业科学技术出版社,2007:321.
[24]张军昌,闫小丽,薛少平,等.秸秆粉碎覆盖玉米免耕施肥播种机设计[J/OL].农业机械学报,2012,43(12):51-55.ZHANG Junchang,YAN Xiaoli,XUE Shaoping,et al. Design of no-tillage maize planter with straw smashing and fertilizing[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):51-55. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20121210&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298.2012. 12. 010.(in Chinese)
[25]李丽,王振领. MATLAB工程计算机应用[M].北京:人民邮电出版社,2001.
[26] GAO X S,ZHU C. Geometric constraint solving with linkages[J]. Journal of Software,2000,61(9):1151-1158.
[27]蔡丽君,张敬涛,刘婧琦,等.玉米-大豆免耕轮作体系玉米秸秆还田量对土壤养分和大豆产量的影响[J].作物杂志,2015,31(5):107-110.CAI Lijun,ZHANG Jingtao,LIU Jingqi,et al. Effects of corn stalk amount returning to field on the soil nutrient and soybean yields under alternate-year no-till corn-soybean rotation[J]. Crops,2015,31(5):107-110.(in Chinese)
[28]刘宏新.大豆密植平播机关键部件研究及整机设计[M].北京:中国农业出版社,2007:29-32.
[29]刘龙.种还分离模式秸秆还田对土壤生物学特征的影响[D].长春:吉林农业大学,2017.
[30] SONG H,KIM Y,SONG J. Automated guidance of peg-in-hole assembly tasks for complex-shaped parts[C]∥2014 IEEE/RSJ International Conference on Intelligent Robots and Systems,2014:4517-4522.
[31] YIN Zhouping,DING Han,LI Hanxiong,et al. A connector-based hierarchical approach to assembly sequence planning for mechanical assemblies[J]. Computer-Aided Design,2003,35(1):37-56.
[32]付宏,王常瑞,靳聪,等.农机部件数字化设计软件平台Agri DEM开发[J].农业工程学报,2017,33(7):1-9.FU Hong,WANG Changrui,JIN Cong,et al. Development of digital design software platform Agri DEM for agricultural machinery parts[J]. Transactions of the CSAE,2017,33(7):1-9.(in Chinese)
[33]庄叔平,谷波,方继华,等.空调箱数字化设计与选型软件平台技术开发[J].流体机械,2015,43(3):83-87.ZHUANG Shuping,GU Bo,FANG Jihua,et al. Digital analysis and model selection software developing for air handling units[J]. Fluid Machinery,2015,43(3):83-87.(in Chinese)
[2]孙靖民,王新荣.现代机械设计方法选讲[M].哈尔滨:哈尔滨工业大学出版社,2002.
[3]赵匀.农业机械分析与综合[M].北京:机械工业出版社,2008.
[4] CHEN Jianneng,ZHAO Yun,YU Gaohong,et al. Establishment and verification of dynamics model of seedling-pushing device in transplanting mechanism with planetary elliptic gears[J]. Transactions of the CSAE,2003,19(5):71-76.
[5]李建平,赵匀,应义斌.振动输送板上物料移动速度和位移的计算机模拟与试验验证[J].农业工程学报,1998,14(2):213-216.LI Jianping,ZHAO Yun,YING Yibin. Experiment and computer simulation of displacement and traveling speed of agricultural materials on vibrating board[J]. Transactions of the CSAE,1998,14(2):213-216.(in Chinese)
[6]赵匀,赵雄,张玮炜,等.水稻插秧机现代设计理论与方法[J].农业机械学报,2011,42(3):65-68.ZHAO Yun,ZHAO Xiong,ZHANG Weiwei,et al. Modern design theory and method of rice transplanter[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(3):65-68.(in Chinese)
[7]赵匀,武俊生,程革,等.水稻插秧机分插机构的动力学分析[J].农业机械学报,1991,22(3):20-24.ZHAO Yun,WU Junsheng,CHENG Ge,et al. The research on dynamics analyzes and testing of four linkage rice transplanting mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,1991,22(3):20-24.(in Chinese)
[8]霍军周,张旭,邓立营.交互式优化设计方法综述[J].机械工程与自动化,2014,43(3):215-217.HUO Junzhou,ZHANG Xu,DENG Liying. A survey of human-computer optimization methods[J]. Mechanical Engineering&Automation,2014,43(3):215-217.(in Chinese)
[9]王娜娜,王钰.交互式虚拟产品展示设计平台的研究[J].青岛大学学报(自然科学版),2006,19(2):69-73.WANG Nana,WANG Yu. Research on interactive virtual product exhibition design platform[J]. Journal of Qingdao University(Natural Science Edition),2006,19(2):69-73.(in Chinese)
[10] ZHAO Yun,YU Gaohong,CHEN Jianneng,et al. Mechanism dynamics sequence-solution method and its application[J].ASME Journal of Computational and Nonlinear Dynamics,2006,2(2):105-113.
[11] ZHAO Yun,CHEN Jianneng,YU Yaxin,et al. Quadratic optimization method and its application on optimizing mechanism parameter[J]. Chinese Journal of Mechanical Engineering,2006,19(4):519-523.
[12]张学军,吴成武,王伟,等.齿形刮板式残膜与残茬输送装置设计与试验[J].农业机械学报,2008,39(9):49-51.ZHANG Xuejun,WU Chengwu,WANG Wei,et al. Design and experiment on the zigzag scraper transportation device for remnant plastic film and stubble[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(9):49-51.(in Chinese)
[13]韩豹,吴文福,权龙哲.水平圆盘式苗间锄草装置的多目标优化设计及仿真[J].吉林大学学报(工学版),2011,41(3):692-696.HAN Bao,WU Wenfu,QUAN Longzhe. Multi-objective optimization design and simulation on horizontal disk type weeding unit between seedings[J]. Journal of Jilin University(Engineering and Technology Edition),2011,41(3):692-696.(in Chinese)
[14]王方艳,梁洁,尚书旗,等.花生收获机传动系统的运动机理分析与参数优化[J].农业机械学报,2006,37(6):49-53.WANG Fangyan,LIANG Jie,SHANG Shuqi,et al. Motion theory analysis and parameters optimization of transmission on 4H-2type peanut harvester[J]. Transactions of the Chinese Society for Agricultural Machinery,2006,37(6):49-53.(in Chinese)
[15] VEGAD G M,YAGVA R. Design analysis and optimization of rotary tiller blades using computer software[J]. Agricultural Mechanization in Asia,Africa and Latin America,2018,49(1):43-49.
[16]孙伟.打穴式免耕播种机的研究[D].兰州:甘肃农业大学,2006.
[17]李洪文,陈君达,邓建,等.旱地玉米机械化保护性耕作技术及机具研究[J].中国农业大学学报,2000,5(4):68-72.LI Hongwen,CHEN Junda,DENG Jian,et al. Study on technology and machines of mechanized conservation tillage for dryland maize[J]. Journal of China Agricultural University,2000,5(4):68-72.(in Chinese)
[18]林静,宋玉秋,李宝筏.东北垄作区机械免耕播种工艺[J].农业工程学报,2014,30(9):50-57.LIN Jing,SONG Yuqiu,LI Baofa. Mechanical no-tillage seeding technology in ridge area of northeast China[J]. Transactions of the CSAE,2014,30(9):50-57.(in Chinese)
[19] GRISSO R B,HOLSHOUSER D,PITMAN R. Planter/drill consideration for conservation tillage systems[R]. Virginia Cooperation Extension,2007:196-202.
[20] GRATTON J,CHEN Y,TESSIER S. Pinciples of farm machineery. Design of a spring-loaded downforce system for a no-till seed opener[J]. Canadian Biosystem Engineering,2003,45:229-235.
[21]刘宏新,闻浩楠,改广伟,等.被动滚筒式免耕播种成穴机构设计与实验[J/OL].农业机械学报,2017,48(9):53-61.LIU Hongxin,WEN Haonan,GAI Guangwei,et al. Design and experiment on passive drum-type no-till planter cavitation mechanism[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(9):53-61. http:∥www. jcsam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20170907&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2017. 09. 007.(in Chinese)
[22]刘泉汝,郎坤,赵丹丹,等.秸秆覆盖和种植密度对夏玉米水分利用的影响[J].灌溉机械工程学报,2013,31(12):1089-1091.LIU Quanru,LANG Kun,ZHAO Dandan,et al. Effects of straw mulching and plant density on water utilization of summer maize[J]. Journal of Drainage and Irrigation Machinery Engineering,2013,31(12):1089-1091.(in Chinese)
[23]中国农业机械化科学研究院.农业机械设计手册(上册)[M].北京:中国农业科学技术出版社,2007:321.
[24]张军昌,闫小丽,薛少平,等.秸秆粉碎覆盖玉米免耕施肥播种机设计[J/OL].农业机械学报,2012,43(12):51-55.ZHANG Junchang,YAN Xiaoli,XUE Shaoping,et al. Design of no-tillage maize planter with straw smashing and fertilizing[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):51-55. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20121210&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298.2012. 12. 010.(in Chinese)
[25]李丽,王振领. MATLAB工程计算机应用[M].北京:人民邮电出版社,2001.
[26] GAO X S,ZHU C. Geometric constraint solving with linkages[J]. Journal of Software,2000,61(9):1151-1158.
[27]蔡丽君,张敬涛,刘婧琦,等.玉米-大豆免耕轮作体系玉米秸秆还田量对土壤养分和大豆产量的影响[J].作物杂志,2015,31(5):107-110.CAI Lijun,ZHANG Jingtao,LIU Jingqi,et al. Effects of corn stalk amount returning to field on the soil nutrient and soybean yields under alternate-year no-till corn-soybean rotation[J]. Crops,2015,31(5):107-110.(in Chinese)
[28]刘宏新.大豆密植平播机关键部件研究及整机设计[M].北京:中国农业出版社,2007:29-32.
[29]刘龙.种还分离模式秸秆还田对土壤生物学特征的影响[D].长春:吉林农业大学,2017.
[30] SONG H,KIM Y,SONG J. Automated guidance of peg-in-hole assembly tasks for complex-shaped parts[C]∥2014 IEEE/RSJ International Conference on Intelligent Robots and Systems,2014:4517-4522.
[31] YIN Zhouping,DING Han,LI Hanxiong,et al. A connector-based hierarchical approach to assembly sequence planning for mechanical assemblies[J]. Computer-Aided Design,2003,35(1):37-56.
[32]付宏,王常瑞,靳聪,等.农机部件数字化设计软件平台Agri DEM开发[J].农业工程学报,2017,33(7):1-9.FU Hong,WANG Changrui,JIN Cong,et al. Development of digital design software platform Agri DEM for agricultural machinery parts[J]. Transactions of the CSAE,2017,33(7):1-9.(in Chinese)
[33]庄叔平,谷波,方继华,等.空调箱数字化设计与选型软件平台技术开发[J].流体机械,2015,43(3):83-87.ZHUANG Shuping,GU Bo,FANG Jihua,et al. Digital analysis and model selection software developing for air handling units[J]. Fluid Machinery,2015,43(3):83-87.(in Chinese)