CN105519289A

CN105519289A - Closed-chain five-link transplanting mechanism for flowers and plants and design method therefor

Info

Publication number: CN105519289A
Application number: CN201610023749.7A
Authority: CN
Inventors: 代丽; 赵雄; 陈建能
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Pingyi Ren'an Traditional Chinese Medicine Industry Development Co ltd
Priority date: 2016-01-14
Filing date: 2016-01-14
Publication date: 2016-04-27
Anticipated expiration: 2036-01-14
Also published as: CN105519289B

Abstract

The invention discloses a closed-chain five-bar flower transplanting mechanism and a design method thereof. The flexibility of the trajectory that the planetary gear train transplanting mechanism can realize is limited; the design of the rod mechanism and the adjustment parameters of the double-ring buckle trajectory are difficult. The first crank and the second crank bottom of the mechanism of the present invention are welded; the top of the first crank is hinged with one end of the second connecting rod, and the top of the second crank is hinged with the middle part of the third connecting rod; Hinged first swing link and second swing link; the bottom end of the fork swing link is hinged to the frame; the other end of the second link is hinged to the top of the first swing link; one end of the first link is connected to the second swing link The top end of the rod is hinged, and the other end is hinged with one end of the third connecting rod; the other end of the third connecting rod is freely set. The design method of the present invention: the mathematical model of the single-ring buckle trajectory formed by the free end of the third connecting rod, the coordinates of the hinge point between the fork-shaped swing rod and the frame, and the known rod length conditions reversely calculate the lengths of the remaining rods. The invention realizes a single-ring buckle track, has a simple mechanism and is easy to control.

Description

Closed-chain five-bar flower transplanting mechanism and its design method

技术领域technical field

本发明属于农业机械领域，涉及花卉移栽机构，具体涉及一种闭链五杆花卉移栽机构及其设计方法。The invention belongs to the field of agricultural machinery and relates to a flower transplanting mechanism, in particular to a closed-chain five-bar flower transplanting mechanism and a design method thereof.

背景技术Background technique

花卉移栽技术可以减少作物的生长周期，保持作物的品质统一，达到增产增收的目的，已成为现代温室盆栽花卉生产中主要的种植措施。发展自动化盆栽花卉移栽技术是顺应盆栽花卉生产高增长率的趋势，解决现有的低生产率和推进我过农业现代化的重要举措。随着我国花卉生产和设施农业技术发展，目前已具备了大力发展自动化盆栽花卉移栽技术的基础和条件。Flower transplanting technology can reduce the growth cycle of crops, maintain the uniform quality of crops, and achieve the purpose of increasing production and income. It has become the main planting measure in the production of modern greenhouse potted flowers. The development of automatic potted flower transplanting technology is an important measure to comply with the high growth rate of potted flower production, solve the existing low productivity and promote the modernization of agriculture in our country. With the development of flower production and facility agriculture technology in our country, the foundation and conditions for vigorously developing automatic potted flower transplanting technology have been possessed at present.

现有的单自由度间歇齿轮行星轮系和连续非圆齿轮行星轮系移栽机构受齿轮传动比的限制所能实现轨迹的灵活性受限，欲利用一套机构实现穴盘取苗和往花盘中植苗工作机构设计的难度大；混合驱动机构虽然由于存在两个自由度，轨迹设计的灵活性大，但机器的控制系统不易设计。杆机构的轨迹设计较灵活，若通过机构参数的优化，利用一套多杆机构实现从穴盘取苗和植入花盘功能则能大大简化机械结构。为了设计可以完成植苗、取苗动作的机构，从而需要在花卉移栽轨迹上进行改进，双环扣轨迹的杆机构设计和调节参数较困难，往往需要双自由度或复杂的传递机构，然而可以通过改变取苗轨迹的方向(取苗机构由顺时针运动改为逆时针运动)和形状设计新的机构，也能很好地完成花卉植苗、取苗动作。The existing single-degree-of-freedom intermittent gear planetary gear train and continuous non-circular gear planetary gear train transplanting mechanism are limited by the gear transmission ratio, which can realize the flexibility of the trajectory. The design of the seedling planting mechanism in the flower tray is very difficult; although the hybrid drive mechanism has two degrees of freedom and the trajectory design is flexible, the control system of the machine is not easy to design. The trajectory design of the rod mechanism is more flexible. If the mechanism parameters are optimized, the mechanical structure can be greatly simplified by using a multi-rod mechanism to realize the functions of taking seedlings from the plug and implanting the flower disc. In order to design a mechanism that can complete the actions of planting and picking seedlings, it is necessary to improve the trajectory of flower transplanting. It is difficult to design and adjust parameters for the rod mechanism of the double-ring buckle trajectory, and often requires dual degrees of freedom or complex transmission mechanisms. However, it can be achieved through Changing the direction of the seedling-taking track (the seedling-taking mechanism is changed from clockwise motion to counterclockwise motion) and the new mechanism of shape design can also complete flower seedling planting and seedling-picking actions well.

发明内容Contents of the invention

本发明的目的是针对现有技术的不足，提供一种闭链五杆花卉移栽机构及其设计方法，该闭链五杆花卉移栽机构采用闭链五杆的方式，通过改变机构参数来控制摇杆的运动规律，并且摆杆满足在花卉移栽周期内单次摆动，实现单环扣轨迹，从而实现取苗和植苗动作，使得机构轨迹更利于机构实现，且柔度高，并且可以实现瓜果、蔬菜、花卉等其他作物的全自动移栽。该设计方法首先构建闭链五杆花卉移栽机构，建立第三连杆的自由端端点形成单环扣轨迹的数学模型；通过所建立的单环扣轨迹数学模型反求出叉形摆杆的角位移，再通过叉形摆杆的角位移联立推导出第二连杆的杆长；然后校验闭链五杆花卉移栽机构是否满足杆长条件。The purpose of the present invention is to provide a closed-chain five-bar flower transplanting mechanism and a design method thereof for the deficiencies in the prior art. Control the movement law of the rocker, and the pendulum meets the single swing during the flower transplanting cycle to realize the single-ring buckle track, so as to realize the action of picking seedlings and planting seedlings, making the track of the mechanism more conducive to the realization of the mechanism, and the flexibility is high, and it can Realize the automatic transplanting of fruits, vegetables, flowers and other crops. This design method first constructs a closed-chain five-bar flower transplanting mechanism, and establishes a mathematical model in which the free end of the third connecting rod forms a single-ring buckle track; through the established single-ring buckle track mathematical model, the fork-shaped pendulum is reversely calculated. Angular displacement, and then the rod length of the second connecting rod is deduced through the angular displacement of the fork-shaped swing rod; and then it is checked whether the closed-chain five-bar flower transplanting mechanism meets the rod length condition.

为解决上述技术问题，本发明的技术方案是：In order to solve the problems of the technologies described above, the technical solution of the present invention is:

本发明的闭链五杆花卉移栽机构，包括叉形摆杆、第一连杆、第二连杆、叉形曲柄和第三连杆；所述的叉形曲柄包括底端焊接在一起的第一曲柄和第二曲柄；叉形曲柄的底端铰接于机架，并由电机驱动；所述第一曲柄的顶端与第二连杆的一端铰接，第二曲柄的顶端与第三连杆的中部铰接；所述的叉形摆杆包括底端铰接在一起的第一摆杆和第二摆杆；叉形摆杆的底端铰接于机架；所述第二连杆的另一端与第一摆杆的顶端铰接；所述第一连杆的一端与第二摆杆的顶端铰接，另一端与第三连杆的一端铰接；所述第三连杆的另一端自由设置并形成单环扣轨迹。The closed-chain five-bar flower transplanting mechanism of the present invention comprises a fork-shaped swing link, a first connecting rod, a second connecting rod, a fork-shaped crank and a third connecting rod; The first crank and the second crank; the bottom end of the fork crank is hinged to the frame and driven by a motor; the top end of the first crank is hinged to one end of the second connecting rod, and the top end of the second crank is connected to the third connecting rod The middle part is hinged; the fork-shaped swing link includes a first swing link and a second swing link whose bottom ends are hinged together; the bottom end of the fork-shaped swing link is hinged to the frame; the other end of the second connecting rod is connected to the The top end of the first swing rod is hinged; one end of the first connecting rod is hinged with the top end of the second swing rod, and the other end is hinged with one end of the third connecting rod; the other end of the third connecting rod is freely arranged and forms a single Ring track.

所述的单环扣轨迹为封闭且带有单环扣的平面圆滑曲线，包括依次顺序首尾连接的入钵段、取苗段、运苗段、植苗段和回复段；所述取苗段的起始点和结束点均为单环扣的开始点，其结束段为平行于穴盘盘口下侧壁且直线度为1mm/10mm的直线段；所述植苗段的起始点为植苗开始点，其起始段为竖直设置且直线度为1mm/10mm的直线段；所述的入钵段为取苗段的过渡段。The track of the single-ring buckle is a closed plane smooth curve with a single-ring buckle, including the pot-entry section, the seedling-taking section, the seedling-transporting section, the seedling-planting section, and the recovery section connected end to end in sequence; the seedling-taking section Both the starting point and the ending point are the starting point of the single ring buckle, and the ending segment is a straight line segment parallel to the lower side wall of the tray opening and the straightness is 1mm/10mm; the starting point of the seedling section is the seedling starting point, Its starting section is a straight line section vertically arranged with a straightness of 1mm/10mm; the section entering the pot is a transition section of the section for taking seedlings.

本发明的闭链五杆花卉移栽机构设计方法，具体如下：Closed-chain five-bar flower transplanting mechanism design method of the present invention is specifically as follows:

步骤一、构建闭链五杆花卉移栽机构。Step 1, constructing a closed-chain five-bar flower transplanting mechanism.

叉形曲柄的底端铰接于机架，并由电机驱动；叉形曲柄包括底端焊接在一起的第一曲柄和第二曲柄；第一曲柄的顶端与第二连杆的一端铰接，第二曲柄的顶端与第三连杆的中部铰接；叉形摆杆的底端铰接于机架；叉形摆杆包括底端铰接在一起的第一摆杆和第二摆杆；第二连杆的另一端与第一摆杆的顶端铰接；第一连杆的一端与第二摆杆的顶端铰接，另一端与第三连杆的一端铰接；第三连杆的另一端自由设置。The bottom end of the fork crank is hinged to the frame and is driven by a motor; the fork crank includes a first crank and a second crank whose bottom ends are welded together; the top of the first crank is hinged to one end of the second connecting rod, and the second The top of the crank is hinged with the middle part of the third link; the bottom end of the fork-shaped swing link is hinged with the frame; the fork-shaped swing link includes a first swing link and a second swing link whose bottom ends are hinged together; The other end is hinged with the top of the first swing link; one end of the first link is hinged with the top of the second swing link, and the other end is hinged with one end of the third link; the other end of the third link is freely set.

步骤二、基于三次非均匀B样条曲线建立第三连杆的自由端端点所形成的单环扣轨迹数学模型。Step 2, based on the cubic non-uniform B-spline curve, the mathematical model of the single-ring buckle trajectory formed by the free end points of the third connecting rod is established.

选取n个数据点作为三次非均匀B样条曲线的型值点，可唯一求解到n+2个控制顶点，其中，n≥11；再选取步长为0.005～0.02中的一个值插值生成拟合点坐标，进而拟合出单环扣轨迹；建立第三连杆的自由端端点在坐标系XOY中所形成的位移方程φf(t)，其中，叉形曲柄与机架铰接点为坐标系原点O；φf(t)在X和Y轴方向的位移分别为φfx(t)和φfy(t)，t为沿取苗轨迹运动方向依次编号的拟合点序号，t＝1时，第三连杆的自由端端点处于初始位置。Selecting n data points as the value points of the cubic non-uniform B-spline curve can uniquely solve n+2 control vertices, among them, n≥11; then select a value with a step size of 0.005~0.02 to interpolate to generate a pseudo The joint point coordinates, and then fit the single ring buckle trajectory; establish the displacement equation φf(t) formed by the free end of the third connecting rod in the coordinate system XOY, where the hinge point of the fork crank and the frame is the coordinate system Origin O; the displacement of φf (t) in the X and Y axis directions is φfx (t) and φfy (t) respectively, and t is the fitting point serial number numbered sequentially along the moving direction of the seedling trajectory. When t=1, the third The free end of the link is at the initial position.

步骤三、通过所建立的单环扣轨迹数学模型反求出第二摆杆的角位移j1，具体为：由步骤二中拟合出的φ_fx(t)、φ_fy(t)，并设定L₃、x_a、y_a的值，通过下式求得L₁、L₂、L₄、L₅、j₁、j₂、j₃、j₄。构造函数如下：Step 3. Reversely calculate the angular displacement j1 of the second pendulum through the established mathematical model of the single-ring buckle trajectory, specifically: φ _fx (t) and φ _fy (t) fitted in step 2, and set Determine the values of L ₃ , x _a , and y _a , and obtain L ₁ , L ₂ , L ₄ , L ₅ , j ₁ , j ₂ , j ₃ , and j ₄ by the following formula. The constructor is as follows:

$\{\begin{matrix} {L L}_{44} + + {L L}_{55} = = max max ((\sqrt{{φ φ}^{22}_{f f x x} ((t t)) + + {φ φ}^{22}_{f f y the y} ((t t))})) \\ {L L}_{55} - - {L L}_{44} = = min min ((\sqrt{{φ φ}^{22}_{f f x x} ((t t)) + + {φ φ}^{22}_{f f y the y} ((t t))})) \\ {L L}_{44} \cdot &Center Dot; cos cos {j j}_{33} + + {L L}_{55} \cdot &Center Dot; cos cos {j j}_{44} = = {φ φ}_{f f x x} ((t t)) \\ {L L}_{44} \cdot &Center Dot; sin sin {j j}_{33} + + {L L}_{55} \cdot &Center Dot; sin sin {j j}_{44} = = {φ φ}_{f f y the y} ((t t)) \\ {L L}_{11} + + {L L}_{22} = = max max ((\sqrt{{(({L L}_{44} \cdot &Center Dot; cos cos {j j}_{33} + + {L L}_{33} \cdot &Center Dot; cos cos {j j}_{44} - - {x x}_{a a}))}^{22} + + {(({L L}_{44} \cdot &Center Dot; sin sin {j j}_{33} + + {L L}_{33} \cdot &Center Dot; sin sin {j j}_{44} - - {y the y}_{a a}))}^{22}})) \\ {L L}_{22} - - {L L}_{11} = = min min ((\sqrt{{(({L L}_{44} \cdot &Center Dot; cos cos {j j}_{33} + + {L L}_{33} \cdot &Center Dot; cos cos {j j}_{44} - - {x x}_{a a}))}^{22} + + {(({L L}_{44} \cdot &Center Dot; sin sin {j j}_{33} + + {L L}_{33} \cdot &Center Dot; sin sin {j j}_{44} - - {y the y}_{a a}))}^{22}})) \\ {x x}_{a a} + + {L L}_{11} \cdot &Center Dot; cos cos {j j}_{11} + + {L L}_{22} \cdot &Center Dot; cos cos {j j}_{22} = = {L L}_{44} \cdot \cdot cos cos {j j}_{33} + + {L L}_{33} \cdot &Center Dot; cos cos {j j}_{44} \\ {y the y}_{a a} + + {L L}_{11} \cdot &Center Dot; sin sin {j j}_{11} + + {L L}_{22} \cdot &Center Dot; sin sin {j j}_{22} = = {L L}_{44} \cdot \cdot sin sin {j j}_{33} + + {L L}_{33} \cdot \cdot sin sin {j j}_{44} \end{matrix} - - - - - - ((11))$

式(1)中，L₁为第二摆杆的杆长，L₂为第一连杆的杆长，L₃为第一连杆与第三连杆的铰接点至第三连杆与第二曲柄铰接点的距离，L₄为第二曲柄的杆长，L₅为第三连杆与第二曲柄的铰接点至第三连杆自由端端点的距离，x_a、y_a分别为叉形摆杆与机架铰接点的横坐标和纵坐标，j₁为第二摆杆的角位移，j2为第一连杆的角位移，j₃为第二曲柄的角位移，j₄为第三连杆的角位移。In formula (1), L ₁ is the rod length of the second swing link, L ₂ is the rod length of the first link, L ₃ is the hinge point between the first link and the third link to the third link and the second link The distance between the hinge point of the two cranks, L ₄ is the rod length of the second crank, L ₅ is the distance from the hinge point of the third connecting rod and the second crank to the free end of the third connecting rod, x _a and y _a are respectively fork The abscissa and ordinate of the hinge point of the swing link and the frame, j ₁ is the angular displacement of the second swing link, j2 is the angular displacement of the first connecting rod, j ₃ is the angular displacement of the second crank, j ₄ is the angular displacement of the second crank Angular displacement of the three linkages.

步骤四、通过第二摆杆的角位移j₁联立推导出第二连杆的杆长L₈，具体为：设定L₇、L₉的值，通过下式求得L₈和j₅。Step 4. Deduce the rod length L ₈ of the second connecting rod through the angular displacement j ₁ of the second swing rod, specifically: set the values of L ₇ and L ₉ , and obtain L ₈ and j ₅ through the following formula .

$\{\begin{matrix} {x x}_{a a} + + {L L}_{77} \cdot \cdot cos cos {j j}_{11} + + {L L}_{88} \cdot \cdot cos cos {j j}_{55} + + {L L}_{99} \cdot \cdot cos cos {j j}_{44} = = 00 \\ {y the y}_{a a} + + {L L}_{77} \cdot \cdot sin sin {j j}_{11} + + {L L}_{88} \cdot \cdot sin sin {j j}_{55} + + {L L}_{99} \cdot \cdot sin sin {j j}_{44} = = 00 \end{matrix} - - - - - - ((22))$

式(2)中，L₇为第一曲柄的杆长，L₈为第二连杆的杆长，L9为第一摆杆的杆长，j5为第二连杆的角位移。In formula (2), L ₇ is the rod length of the first crank, L ₈ is the rod length of the second connecting rod, L9 is the rod length of the first swing rod, and j5 is the angular displacement of the second connecting rod.

步骤五、校验闭链五杆花卉移栽机构是否满足杆长条件：Step 5. Check whether the closed-chain five-bar flower transplanting mechanism meets the bar length condition:

$\{\begin{matrix} {L L}_{11} + + {L L}_{44} + + {L L}_{66} \leq \leq {L L}_{22} + + {L L}_{33} \\ {L L}_{11} + + {L L}_{22} + + {L L}_{44} \leq \leq {L L}_{33} + + {L L}_{66} \\ {L L}_{11} + + {L L}_{33} + + {L L}_{44} \leq \leq {L L}_{22} + + {L L}_{66} \\ min min (({L L}_{66},, {L L}_{77},, {L L}_{88},, {L L}_{99})) = = {L L}_{99} \\ max max (({L L}_{66},, {L L}_{77},, {L L}_{88},, {L L}_{99})) = = {L L}_{66} \\ {L L}_{66} + + {L L}_{99} \leq \leq {L L}_{77} + + {L L}_{88} \end{matrix} - - - - - - ((33))$

式(3)中，L₆为机架的杆长。In formula (3), L ₆ is the rod length of the rack.

本发明的有益效果：Beneficial effects of the present invention:

1、本发明的闭链五杆花卉移栽机构实现单环扣状轨迹，不仅可以保证取苗阶段以合适的姿态插入，还可以保证在垂直段轨迹将花卉苗直接垂直插入花盘中，植苗直立度有了很大的提升，保证花卉植苗合适的角度、速度、植苗的直立度和更好地满足花卉移栽的农艺要求。1. The closed-chain five-bar flower transplanting mechanism of the present invention realizes a single-ring buckle-shaped trajectory, which can not only ensure that the seedlings are inserted in a suitable posture during the seedling picking stage, but also can ensure that the flower seedlings are directly inserted into the flower tray vertically on the vertical track, and the seedlings are planted upright The speed has been greatly improved, ensuring the appropriate angle, speed, and uprightness of flower planting and better meeting the agronomic requirements of flower transplanting.

2、通过闭链五杆花卉移栽机构，该轨迹满足钵苗移栽机平入钵、直拔苗、稳植苗的移栽农艺要求；采用闭链五杆的方式，机构简单，更加易于控制,使得取苗和植苗的动作更加灵活，柔度高，提高了植苗的成功率，为实现其他农作物的移栽机械通用化取得了突破，从而实现花卉、瓜果、蔬菜等作物的全自动移栽。2. Through the closed-chain five-rod flower transplanting mechanism, the trajectory meets the agronomic requirements of the pot seedling transplanter for horizontally entering the pot, straightening the seedlings, and stably planting the seedlings; the closed-chain five-rod method is adopted, the mechanism is simple, and it is easier to control , making the actions of seedling taking and planting more flexible and flexible, improving the success rate of planting seedlings, and making a breakthrough for the generalization of transplanting machinery for other crops, so as to realize the automatic transplanting of flowers, fruits, vegetables and other crops plant.

附图说明Description of drawings

图1为本发明在初始位置的机构原理图。Fig. 1 is the schematic diagram of the mechanism of the present invention in the initial position.

图2为本发明的移栽轨迹路线图。Fig. 2 is a road map of the transplanting track of the present invention.

具体实施方式detailed description

下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.

如图1所示，闭链五杆花卉移栽机构，包括叉形摆杆1、第一连杆2、第二连杆4、叉形曲柄5和第三连杆6；叉形曲柄5包括底端焊接在一起的第一曲柄和第二曲柄；叉形曲柄5的底端铰接于机架3，并由电机M1驱动；第一曲柄的顶端与第二连杆4的一端铰接，第二曲柄的顶端与第三连杆6的中部铰接；叉形摆杆1包括底端铰接在一起的第一摆杆和第二摆杆；叉形摆杆1的底端铰接于机架3；第二连杆4的另一端与第一摆杆的顶端铰接；第一连杆2的一端与第二摆杆的顶端铰接，另一端与第三连杆6的一端铰接；第三连杆6的另一端自由设置。As shown in Figure 1, the closed-chain five-bar flower transplanting mechanism comprises a fork-shaped swing link 1, a first connecting rod 2, a second connecting rod 4, a fork-shaped crank 5 and a third connecting rod 6; the fork-shaped crank 5 includes The first crank and the second crank whose bottom ends are welded together; the bottom end of the fork crank 5 is hinged to the frame 3 and driven by the motor M1; the top of the first crank is hinged to one end of the second connecting rod 4, and the second The top of the crank is hinged with the middle part of the third connecting rod 6; the fork-shaped swing link 1 includes a first swing link and a second swing link whose bottom ends are hinged together; the bottom end of the fork-shaped swing link 1 is hinged to the frame 3; The other end of the two connecting rods 4 is hinged with the top of the first fork; one end of the first connecting rod 2 is hinged with the top of the second fork, and the other end is hinged with an end of the third connecting rod 6; The other end is free to set.

叉形曲柄5经第二连杆4的作用推动叉形摆杆1摆动，叉形摆杆1的运动经过第一连杆2和第三连杆6传递给第三连杆6的自由端端点F，第三连杆6的自由端端点F运动规律由各杆杆长控制。The fork-shaped crank 5 pushes the fork-shaped swing rod 1 to swing through the action of the second connecting rod 4, and the movement of the fork-shaped swing rod 1 is transmitted to the free end of the third connecting rod 6 through the first connecting rod 2 and the third connecting rod 6 F, the movement law of the free end point F of the third connecting rod 6 is controlled by the length of each rod.

该闭链五杆花卉移栽机构的设计方法，具体如下：The design method of this closed-chain five-bar flower transplanting mechanism is as follows:

如图1所示，叉形曲柄5的底端铰接于机架3，并由电机M1驱动；叉形曲柄5包括底端焊接在一起的第一曲柄和第二曲柄；第一曲柄的顶端与第二连杆4的一端铰接，第二曲柄的顶端与第三连杆6的中部铰接；叉形摆杆1的底端铰接于机架3；叉形摆杆1包括底端铰接在一起的第一摆杆和第二摆杆；第二连杆4的另一端与第一摆杆的顶端铰接；第一连杆2的一端与第二摆杆的顶端铰接，另一端与第三连杆6的一端铰接；第三连杆6的另一端自由设置。As shown in Figure 1, the bottom end of fork crank 5 is hinged on frame 3, and is driven by motor M1; Fork crank 5 comprises the first crank and the second crank that bottom end is welded together; The top of first crank and One end of the second connecting rod 4 is hinged, and the top of the second crank is hinged with the middle part of the third connecting rod 6; the bottom end of the fork swing link 1 is hinged at the frame 3; The first swing link and the second swing link; the other end of the second link 4 is hinged to the top of the first swing link; one end of the first link 2 is hinged to the top of the second swing link, and the other end is connected to the third link One end of 6 is hinged; the other end of the third connecting rod 6 is set freely.

步骤二、基于三次非均匀B样条曲线建立第三连杆6的自由端端点F所形成的单环扣轨迹数学模型。Step 2. Based on the cubic non-uniform B-spline curve, the mathematical model of the single-ring buckle trajectory formed by the free end point F of the third connecting rod 6 is established.

如图2所示，选取十一个数据点q0、q1、q2、q3、q4、q5、q6、q7、q8、q9和q10作为三次非均匀B样条曲线的型值点，其中，q0和q10重合，可唯一求解到十三个控制顶点，再选取步长为0.005～0.02中的一个值插值生成拟合点坐标，进而拟合出单环扣轨迹。As shown in Figure 2, select eleven data points q0, q1, q2, q3, q4, q5, q6, q7, q8, q9 and q10 as the value points of the cubic non-uniform B-spline curve, where q0 and The coincidence of q10 can uniquely solve thirteen control vertices, and then select a value with a step size of 0.005-0.02 to interpolate to generate the fitting point coordinates, and then fit the single-link buckle trajectory.

由花卉移栽农艺要求选取十一个数据点如下：q0和q10确定单环扣轨迹的最高点，q1确定单环扣轨迹的取苗开始点，q2是影响取苗前轨迹姿态的关键点，q3确定单环扣轨迹的取苗时刻点，q4确定单环扣轨迹的最低点，q5确定单环扣轨迹的植苗结束点，q6确定单环扣轨迹的植苗开始点，q7、q8和q9是单环扣轨迹的辅助拟合点；拟合出第三连杆6的自由端端点F在坐标系XOY中所形成的位移方程为φ_f(t)，其中，叉形曲柄5与机架铰接点为坐标系原点O；φ_f(t)在X和Y轴方向的位移分别为φ_fx(t)和φ_fy(t)，t为沿取苗轨迹运动方向依次编号的拟合点序号，t＝1时，第三连杆6的自由端端点F处于如图1所示的初始位置。Eleven data points are selected according to the agronomic requirements of flower transplanting as follows: q0 and q10 determine the highest point of the single-ring buckle track, q1 determines the starting point of picking seedlings of the single-ring buckle track, and q2 is a key point that affects the attitude of the track before picking seedlings, q3 determines the seedling picking time point of the single-ring buckle track, q4 determines the lowest point of the single-ring buckle track, q5 determines the seedling planting end point of the single-ring buckle track, q6 determines the seedling planting starting point of the single-ring buckle track, q7, q8 and q9 are Auxiliary fitting point of the track of the single ring buckle; the displacement equation formed by fitting the free end point F of the third connecting rod 6 in the coordinate system XOY is φ _f (t), wherein, the fork crank 5 is hinged with the frame The point is the origin O of the coordinate system; the displacements of φ _f (t) in the X and Y axis directions are φ _fx (t) and φ _fy (t) respectively, and t is the fitting point serial number numbered sequentially along the moving direction of the seedling trajectory, When t=1, the free end point F of the third connecting rod 6 is at the initial position shown in FIG. 1 .

单环扣轨迹为封闭且带有单环扣的平面圆滑曲线，包括依次顺序首尾连接的入钵段2-1、取苗段2-2、运苗段2-3、植苗段2-4和回复段2-5；取苗段2-2的起始点和结束点均为单环扣的开始点，其结束段为平行于穴盘盘口下侧壁且直线度为1mm/10mm的直线段，保证沿垂直土钵方向取出幼苗；植苗段2-4的起始点为植苗开始点，其起始段为竖直设置且直线度为1mm/10mm的直线段，保证幼苗与栽植机构只存在沿竖直方向的相对速度，利于垂直将苗直接植入花盘；入钵段2-1为取苗段2-2的过渡段；可见，该花卉移栽轨迹可以满足花卉钵苗移栽中取苗的平入钵、直取苗及稳植苗的要求。The track of the single-ring buckle is a closed plane smooth curve with a single-ring buckle, including the pot-entry section 2-1, seedling-taking section 2-2, seedling-transporting section 2-3, seedling-planting section 2-4 and The recovery section 2-5; the starting point and the ending point of the seedling taking section 2-2 are both the starting point of the single ring buckle, and the ending section is a straight section parallel to the lower side wall of the tray opening with a straightness of 1mm/10mm , to ensure that the seedlings are taken out along the direction of the vertical soil pot; the starting point of the seedling planting section 2-4 is the starting point of planting seedlings, and the initial section is a straight line section that is vertically set and the straightness is 1mm/10mm, ensuring that the seedlings and the planting mechanism only exist along the The relative speed in the vertical direction is conducive to directly implanting the seedlings into the flower tray vertically; the pot entry section 2-1 is the transition section of the seedling section 2-2; it can be seen that the flower transplanting trajectory can meet the requirements of taking seedlings in the flower pot seedling transplanting. The requirements for flat entry into the bowl, direct seedling extraction and stable planting of seedlings.

该闭链五杆花卉移栽机构中，第三连杆6的自由端安装栽植机构即可进行栽植作业，且移栽轨迹满足花卉钵苗移栽中取苗的平入钵、直取苗及稳植苗的要求。In this closed-chain five-bar flower transplanting mechanism, the free end of the third connecting rod 6 can be installed with the planting mechanism to carry out the planting operation, and the transplanting track meets the requirements of the flat-entry bowl, direct seedling extraction and The requirements for stabilizing seedlings.

步骤三、通过所建立的单环扣轨迹数学模型反求出第二摆杆的角位移j₁，具体为：由步骤二中拟合出的φ_fx(t)、φ_fy(t)，并设定L₃、x_a、y_a的值，通过下式求得L₁、L₂、L₄、L₅、j₁、j₂、j₃、j₄。构造函数如下：Step 3. Reversely calculate the angular displacement j ₁ of the second pendulum through the established mathematical model of the single-ring buckle trajectory, specifically: φ _fx (t) and φ _fy (t) fitted in step 2, and The values of L ₃ , x _a , and y _a are set, and L ₁ , L ₂ , L ₄ , L ₅ , j ₁ , j ₂ , j ₃ , and j ₄ are obtained from the following equations. The constructor is as follows:

$\{\begin{matrix} {L L}_{44} + + {L L}_{55} = = max max ((\sqrt{{φ φ}^{22}_{f f x x} ((t t)) + + {φ φ}^{22}_{f f y the y} ((t t))})) \\ {L L}_{55} - - {L L}_{44} = = min min ((\sqrt{{φ φ}^{22}_{f f x x} ((t t)) + + {φ φ}^{22}_{f f y the y} ((t t))})) \\ {L L}_{44} \cdot \cdot cos cos {j j}_{33} + + {L L}_{55} \cdot &Center Dot; cos cos {j j}_{44} = = {φ φ}_{f f x x} ((t t)) \\ {L L}_{44} \cdot &Center Dot; sin sin {j j}_{33} + + {L L}_{55} \cdot &Center Dot; sin sin {j j}_{44} = = {φ φ}_{f f y the y} ((t t)) \\ {L L}_{11} + + {L L}_{22} = = max max ((\sqrt{{(({L L}_{44} \cdot \cdot cos cos {j j}_{33} + + {L L}_{33} \cdot \cdot cos cos {j j}_{44} - - {x x}_{a a}))}^{22} + + {(({L L}_{44} \cdot \cdot sin sin {j j}_{33} + + {L L}_{33} \cdot \cdot sin sin {j j}_{44} - - {y the y}_{a a}))}^{22}})) \\ {L L}_{22} - - {L L}_{11} = = min min ((\sqrt{{(({L L}_{44} \cdot \cdot cos cos {j j}_{33} + + {L L}_{33} \cdot \cdot cos cos {j j}_{44} - - {x x}_{a a}))}^{22} + + {(({L L}_{44} \cdot \cdot sin sin {j j}_{33} + + {L L}_{33} \cdot \cdot sin sin {j j}_{44} - - {y the y}_{a a}))}^{22}})) \\ {x x}_{a a} + + {L L}_{11} \cdot \cdot cos cos {j j}_{11} + + {L L}_{22} \cdot &Center Dot; cos cos {j j}_{22} = = {L L}_{44} \cdot \cdot cos cos {j j}_{33} + + {L L}_{33} \cdot \cdot cos cos {j j}_{44} \\ {y the y}_{a a} + + {L L}_{11} \cdot \cdot sin sin {j j}_{11} + + {L L}_{22} \cdot \cdot sin sin {j j}_{22} = = {L L}_{44} \cdot \cdot sin sin {j j}_{33} + + {L L}_{33} \cdot \cdot sin sin {j j}_{44} \end{matrix} - - - - - - ((11))$

式(1)中，L₁为第二摆杆的杆长，L₂为第一连杆2的杆长，L₃为第一连杆2与第三连杆6的铰接点至第三连杆6与第二曲柄铰接点的距离，L₄为第二曲柄的杆长，L₅为第三连杆6与第二曲柄的铰接点至第三连杆6自由端端点F的距离，x_a、y_a分别为叉形摆杆1与机架铰接点A的横坐标和纵坐标，j₁为第二摆杆的角位移，j₂为第一连杆2的角位移，j₃为第二曲柄的角位移，j₄为第三连杆6的角位移。In formula (1), L ₁ is the rod length of the second swing link, L ₂ is the rod length of the first connecting rod 2, L ₃ is the hinge point of the first connecting rod 2 and the third connecting rod 6 to the third connecting rod The distance between the rod 6 and the hinge point of the second crank, L ₄ is the rod length of the second crank, L ₅ is the distance from the hinge point of the third connecting rod 6 and the second crank to the free end point F of the third connecting rod 6, x _a and y _a are respectively the abscissa and ordinate of the fork swing link 1 and the frame hinge point A, j ₁ is the angular displacement of the second swing link, j ₂ is the angular displacement of the first connecting rod 2, and j ₃ is The angular displacement of the second crank, j ₄ is the angular displacement of the third connecting rod 6 .

步骤四、通过第二摆杆的角位移j₁联立推导出第二连杆4的杆长L₈，具体为：设定L₇、L₉的值，通过下式求得L₈和j₅。Step 4. Deduce the rod length L ₈ of the second connecting rod 4 through the angular displacement j ₁ of the second swing rod, specifically: set the values of L ₇ and L ₉ , and obtain L ₈ and j through the following formula ₅ .

式(2)中，L₇为第一曲柄的杆长，L₈为第二连杆4的杆长，L₉为第一摆杆的杆长，j₅为第二连杆4的角位移。In formula (2), L ₇ is the rod length of the first crank, L ₈ is the rod length of the second connecting rod 4, L ₉ is the rod length of the first swing rod, j ₅ is the angular displacement of the second connecting rod 4 .

式(3)中，L₆为机架3的杆长。In formula (3), L ₆ is the rod length of rack 3.

Claims

1. The closed-chain five-bar flower transplanting mechanism is characterized in that: it includes a fork-shaped swing link, a first connecting rod, a second connecting rod, a fork-shaped crank and a third connecting rod; the fork-shaped crank includes a bottom welding The first crank and the second crank together; the bottom end of the fork crank is hinged to the frame and driven by the motor; the top of the first crank is hinged to one end of the second connecting rod, and the top of the second crank is connected to the first The middle part of the three connecting rods is hinged; the fork-shaped swing link includes a first swing link and a second swing link whose bottom ends are hinged together; the bottom end of the fork-shaped swing link is hinged to the frame; The other end is hinged to the top of the first swing link; one end of the first link is hinged to the top of the second swing link, and the other end is hinged to one end of the third link; the other end of the third link is freely set And form a single-loop track;

The track of the single-ring buckle is a closed plane smooth curve with a single-ring buckle, including the pot-entry section, the seedling-taking section, the seedling-transporting section, the seedling-planting section and the recovery section connected end to end in sequence; the seedling-taking section Both the starting point and the ending point are the starting points of the single ring buckle, and the ending segment is a straight line segment parallel to the lower side wall of the tray opening and having a straightness of 1mm/10mm; the starting point of the seedling-planting section is the seedling-planting starting point, The initial section is a straight line section with a straightness of 1mm/10mm arranged vertically; the section entering the bowl is a transition section of the section for taking seedlings.

2. The design method of closed-chain five-bar flower transplanting mechanism is characterized in that: the concrete steps of the method are as follows:

Step 1. Build a closed-chain five-bar flower transplanting mechanism;

The bottom end of the fork crank is hinged to the frame and is driven by a motor; the fork crank includes a first crank and a second crank whose bottom ends are welded together; the top of the first crank is hinged to one end of the second connecting rod, and the second The top of the crank is hinged with the middle part of the third link; the bottom end of the fork-shaped swing link is hinged with the frame; the fork-shaped swing link includes a first swing link and a second swing link whose bottom ends are hinged together; The other end is hinged to the top of the first swing link; one end of the first link is hinged to the top of the second swing link, and the other end is hinged to one end of the third link; the other end of the third link is freely set;

Step 2, based on the cubic non-uniform B-spline curve, the single-ring buckle trajectory mathematical model formed by the free end of the third connecting rod is established;

Selecting n data points as the value points of the cubic non-uniform B-spline curve can uniquely solve n+2 control vertices, among them, n≥11; then select a value with a step size of 0.005~0.02 to interpolate to generate a pseudo The joint point coordinates, and then fit the single ring buckle trajectory; establish the displacement equation φ _f (t) formed by the free end point of the third connecting rod in the coordinate system XOY, where the hinge point of the fork crank and the frame is the coordinate is the origin O; the displacements of φ _f (t) in the X and Y axis directions are φ _fx (t) and φ _fy (t) respectively, and t is the sequence number of the fitting points numbered sequentially along the movement direction of the seedling picking track, t=1 , the free end of the third link is at the initial position;

Step 3. Reversely calculate the angular displacement j ₁ of the second pendulum through the established mathematical model of the single-ring buckle trajectory, specifically: φ _fx (t) and φ _fy (t) fitted in step 2, and Set the values of L ₃ , x _a , y _a , and obtain L ₁ , L ₂ , L ₄ , L ₅ , j ₁ , j ₂ , j ₃ , j ₄ through the following formula; the constructor is as follows:

\{\begin{matrix} {L L}_{44} + + {L L}_{55} = = max max ((\sqrt{{φ φ}^{22}_{f f x x} ((t t)) + + {φ φ}^{22}_{f f y the y} ((t t))})) \\ {L L}_{55} - - {L L}_{44} = = min min ((\sqrt{{φ φ}^{22}_{f f x x} ((t t)) + + {φ φ}^{22}_{f f y the y} ((t t))})) \\ {L L}_{44} \cdot \cdot {cosj cosj}_{33} + + {L L}_{55} \cdot &Center Dot; {cosj cosj}_{44} = = {φ φ}_{f f x x} ((t t)) \\ {L L}_{44} \cdot &Center Dot; {sinj sinj}_{33} + + {L L}_{55} \cdot &Center Dot; {sinj sinj}_{44} = = {φ φ}_{f f y the y} ((t t)) \\ {L L}_{11} + + {L L}_{22} = = max max ((\sqrt{{(({L L}_{44} \cdot \cdot {cosj cosj}_{33} + + {L L}_{33} \cdot &Center Dot; {cosj cosj}_{44} - - {x x}_{a a}))}^{22} + + {(({L L}_{44} \cdot \cdot {sinj sinj}_{33} + + {L L}_{33} \cdot &Center Dot; {sinj sinj}_{44} - - {y the y}_{a a}))}^{22}})) \\ {L L}_{22} - - {L L}_{11} = = min min ((\sqrt{{(({L L}_{44} \cdot \cdot {cosj cosj}_{33} + + {L L}_{33} \cdot &Center Dot; {cosj cosj}_{44} - - {x x}_{a a}))}^{22} + + {(({L L}_{44} \cdot &Center Dot; {sinj sinj}_{33} + + {L L}_{33} \cdot &Center Dot; {sinj sinj}_{44} - - {y the y}_{a a}))}^{22}})) \\ {x x}_{a a} + + {L L}_{11} \cdot &Center Dot; {cosj cosj}_{11} + + {L L}_{22} \cdot &Center Dot; {cosj cosj}_{22} = = {L L}_{44} \cdot \cdot {cosj cosj}_{33} + + {L L}_{33} \cdot \cdot {cosj cosj}_{44} \\ {y the y}_{a a} + + {L L}_{11} \cdot &Center Dot; {sinj sinj}_{11} + + {L L}_{22} \cdot &Center Dot; {sinj sinj}_{22} = = {L L}_{44} \cdot \cdot {sinj sinj}_{33} + + {L L}_{33} \cdot \cdot {sinj sinj}_{44} \end{matrix} - - - - - - ((11))

In formula (1), L ₁ is the rod length of the second swing link, L ₂ is the rod length of the first link, L ₃ is the hinge point between the first link and the third link to the third link and the second link The distance between the hinge point of the two cranks, L ₄ is the rod length of the second crank, L ₅ is the distance from the hinge point of the third connecting rod and the second crank to the free end of the third connecting rod, x _a and y _a are respectively fork The abscissa and ordinate of the hinge point of the swing link and the frame, j ₁ is the angular displacement of the second swing link, j ₂ is the angular displacement of the first connecting rod, j ₃ is the angular displacement of the second crank, and j ₄ is Angular displacement of the third link;

Step 4. Deduce the rod length L ₈ of the second connecting rod through the angular displacement j ₁ of the second swing rod, specifically: set the values of L ₇ and L ₉ , and obtain L ₈ and j ₅ through the following formula ;

\{\begin{matrix} {x x}_{a a} + + {L L}_{77} \cdot \cdot {cosj cosj}_{11} + + {L L}_{88} \cdot \cdot {cosj cosj}_{55} + + {L L}_{99} \cdot \cdot {cosj cosj}_{44} = = 00 \\ {y the y}_{a a} + + {L L}_{77} \cdot &Center Dot; {sinj sinj}_{11} + + {L L}_{88} \cdot &Center Dot; {sinj sinj}_{55} + + {L L}_{99} \cdot \cdot {sinj sinj}_{44} = = 00 \end{matrix} - - - - - - ((22))

In formula (2), L ₇ is the rod length of the first crank, L ₈ is the rod length of the second connecting rod, L ₉ is the rod length of the first swing rod, j ₅ is the angular displacement of the second connecting rod;

Step 5. Check whether the closed-chain five-bar flower transplanting mechanism meets the bar length condition:

\{\begin{matrix} {L L}_{11} + + {L L}_{44} + + {L L}_{66} \leq \leq {L L}_{22} + + {L L}_{33} \\ {L L}_{11} + + {L L}_{22} + + {L L}_{44} \leq \leq {L L}_{33} + + {L L}_{66} \\ {L L}_{11} + + {L L}_{33} + + {L L}_{44} \leq \leq {L L}_{22} + + {L L}_{66} \\ min min (({L L}_{66},, {L L}_{77},, {L L}_{88},, {L L}_{99})) = = {L L}_{99} \\ max max (({L L}_{66},, {L L}_{77},, {L L}_{88},, {L L}_{99})) = = {L L}_{66} \\ {L L}_{66} + + {L L}_{99} \leq \leq {L L}_{77} + + {L L}_{88} \end{matrix} - - - - - - ((33))

In formula (3), L ₆ is the rod length of the rack.