CN107969231A - Pick-up unit analogy method, device and electronic equipment based on MATLAB - Google Patents

Abstract

The invention provides a MATLAB-based picking-up device simulation method, device and electronic equipment, which relate to the field of computers to alleviate the problems of high complexity and low precision in the prior art. The method is simple and fast, has high precision, and can accurately Realize the simulation of the pick-up device and improve the user experience. The method includes: designing and constructing the cam mechanism of the spring-tooth roller-type pick-up device to obtain a cam mathematical model, and designing and constructing the movement law of the end of the spring tooth to obtain the mathematical model of the spring tooth motion; receiving parameter information input by the user and the law of the follower of the cam mechanism ; Use the cam mathematical model to analyze the cam mechanism follower law and parameter information, and calculate the cam motion result; use the spring tooth movement mathematical model to analyze the above cam mechanism follower law and parameter information, and calculate the spring tooth end Motion result; output the cam motion result and spring tooth end motion result.

Description

Picking device simulation method, device and electronic equipment based on MATLAB

technical field

The invention relates to the technical field of data processing, in particular to a MATLAB-based simulation method, device and electronic equipment for a pick-up device.

Background technique

With the improvement and comprehensive management of grasslands, the demand for pasture harvesting machinery will increase significantly. With the implementation of the western development strategy, the adjustment of agricultural structure and the rapid development of the environmental industry, forage harvesters will have broad development and application prospects. The pick-up and baler is a type of forage harvesting machinery, in which the spring-toothed roller-type pick-up device is its main working part, and its performance directly affects the performance of the pick-up and baler. The in-depth study of the picker has a certain meaning.

As shown in Figure 1, the spring-tooth drum type pick-up device mainly consists of a bracket 11, a suspension shaft 10, a side guard 9, a drum guard 8, an intermediate shaft 7, a drum disc 6, a roller 5, a cam disc 4, a crank 3, a tube Shaft 2 and elastic tooth 1 etc. are formed. The spring-tooth drum type pick-up device is essentially a reversed swing follower cam mechanism. The law of motion of the spring-tooth drum type pick-up device is that the cam disc does not move, the crank and the spring-tooth connection point are fixed on the drum, and the drum rotates around the center of rotation to drive the spring teeth to move.

The quality of the pick-up operation of the spring-toothed roller-type pick-up device mainly depends on the movement state of the spring teeth of the pick-up device and the working state of the pick-up. The pick-up rate is an important index to measure the working performance of the spring-tooth drum type pick-up device. In theory, it is determined by the movement trajectory of the spring teeth. Missing pick-up area, as shown in the shaded area in Figure 2), is the key to ensuring the pick-up rate.

At present, the conventional design method of the spring-tooth roller-type pick-up device in our country is to use the graphic method and the analytical method. Use reliability.

At present, no effective solution has been proposed for the above problems.

Contents of the invention

In view of this, the object of the present invention is to provide a MATLAB-based picking-up device simulation method, device and electronic equipment to alleviate the problems of high complexity and low precision existing in the prior art.

In the first aspect, an embodiment of the present invention provides a MATLAB-based method for simulating a pick-up device, which is applied to a spring-toothed roller-type pick-up device, including:

Design and build the cam mechanism of the spring-tooth roller-type pickup device to obtain the cam mathematical model, and design and construct the spring-tooth end motion law of the spring-tooth roller-type pickup device to obtain the spring tooth motion mathematical model;

Receive the cam mechanism follower rule of the spring tooth drum type pick-up device and the parameter information input by the user;

Using the mathematical model of the cam to calculate the cam motion result according to the laws of the cam mechanism follower and the parameter information;

Using the mathematical model of spring tooth movement, according to the law of the cam mechanism follower and the parameter information, calculate the movement result of the spring tooth end;

Outputting the result of the cam movement and the movement result of the spring tooth end.

In combination with the first aspect, the embodiment of the present invention provides the first possible implementation manner of the first aspect, wherein, the spring tooth end motion rule design and construction of the spring tooth spring tooth roller type pickup device is carried out to obtain the spring tooth motion mathematics models, including:

The displacement of the end of the spring tooth, the velocity of the end of the spring tooth, the acceleration of the end of the spring tooth and the shape of the cycloid of the spring tooth are calculated by the following motion equations:

In the formula, x, y—horizontal direction displacement and vertical direction displacement of the tip of spring teeth;

v _x , v _y — the component velocity in the horizontal direction and the component velocity in the vertical direction at the tip of the bullet tooth;

a _x , a _y —horizontal direction acceleration and vertical direction acceleration at the tip of spring teeth;

R—roller radius;

l - crank length;

l'—length of spring teeth;

ψ ₀ —the initial angle of the follower;

ψ—follower swing angle;

t—time;

γ—the angle between the spring tooth and the crank;

ψ'—the first derivative of follower swing angle with respect to time;

ψ”—the second derivative of the follower’s swing angle with respect to time;

R ₀ —radius of cam base circle;

λ—characteristic parameter of the cycloid;

R'—radius of gyration at the tip of the spring teeth;

h'—the maximum swing angle of the cam mechanism, which is used for the new cam design.

In combination with the first possible implementation of the first aspect, the embodiment of the present invention provides a second possible implementation of the first aspect, wherein the design and construction of the cam mechanism for the spring-tooth and spring-tooth roller-type pickup device is obtained by Cam mathematical model, including:

The cam mechanism is designed based on the law of the cam follower; wherein, the law of the cam follower includes the law of constant velocity motion, the law of quadratic polynomial motion, the law of quintic polynomial motion, the law of cosine acceleration motion and the law of sinusoidal acceleration motion.

In combination with the first aspect, the embodiment of the present invention provides a third possible implementation of the first aspect, wherein the mathematical model of the cam and the mathematical model of the movement of the spring teeth are used to optimize the parameters of the spring tooth roller pick-up device .

In combination with the first aspect, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the outputting the result of the cam movement and the result of the movement of the spring tooth end specifically includes:

Outputting the cam movement result and the spring tooth end movement result in at least one of graph, table or text information.

With reference to the first aspect, the embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the method further includes:

According to the cam actual curve profile in the cam motion result, generate the cam actual profile point data file;

Cam track modeling is performed based on the cam actual contour point data file.

With reference to the first aspect, the embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the method further includes:

The actually used pick-up device is verified by using the cam mathematical model and the elastic tooth movement mathematical model.

With reference to the first aspect, the embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the method further includes:

judging whether the parameter information overflows;

When the parameter information overflows, an error message and a suggested solution are prompted.

In the second aspect, the embodiment of the present invention also provides a MATLAB-based pick-up device simulation device, including:

The learning module is used to design and build the cam mechanism of the spring-toothed roller-type pickup device to obtain the cam mathematical model, and to design and construct the spring-tooth end motion law of the spring-toothed roller-type pickup device to obtain the mathematical model of the spring-tooth motion;

The receiving module is used to receive the follower rule of the cam mechanism of the spring-tooth drum type pick-up device and the parameter information input by the user;

A calculation module, configured to use the mathematical model of the cam to analyze according to the law of the cam mechanism follower and the parameter information, and calculate and obtain the cam motion result; Analyze the law and the parameter information, and calculate the motion result of the tip of the spring tooth;

The output module is used for outputting the result of the cam movement and the result of the movement of the tip of the spring tooth.

In the third aspect, the embodiment of the present invention also provides an electronic device, including a memory and a processor, the memory stores a computer program that can run on the processor, and when the processor executes the computer program, the computer program is implemented. The steps of the method described in the first aspect above.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable medium having a non-volatile program code executable by a processor, and the program code causes the processor to execute the method described in the first aspect above.

Embodiments of the present invention bring the following beneficial effects:

In the MATLAB-based simulation method for the pick-up device provided in the embodiment of the present invention, firstly, the mathematical model of the cam is obtained by designing and constructing the cam mechanism of the spring-toothed roller-type pick-up device, and the motion law of the end of the spring-toothed roller is carried out on the spring-toothed roller-type pick-up device Design and construct the mathematical model of spring tooth motion; then receive the cam mechanism follower law of the spring tooth drum type pick-up device and the parameter information input by the user; next, use the above cam mathematical model according to the above cam mechanism follower law and the above parameters information, and calculate the result of the cam motion; use the mathematical model of the above-mentioned spring tooth motion to analyze according to the law of the follower of the cam mechanism and the above-mentioned parameter information, and calculate the motion result of the end of the spring tooth; finally, combine the above-mentioned cam motion result and the above-mentioned spring tooth Output the motion result of the tooth end. Therefore, in the technical solution provided by the embodiment of the present invention, a mathematical model is established on the basis of kinematic analysis to alleviate the problems of high complexity and low precision existing in the prior art. The method is simple, fast and has high precision, can accurately realize the simulation of the pick-up device, and improves the user experience. At the same time, the pick-up device simulation method based on MATLAB has a theoretical basis, strong applicability, and high reliability.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is the structural schematic diagram of spring teeth drum type pick-up device;

Fig. 2 is a structural schematic diagram of the area missed by the spring-tooth drum type pick-up device;

Fig. 3 is a schematic flow chart of a MATLAB-based simulation method for a pick-up device provided by an embodiment of the present invention;

Fig. 4 shows the reference diagram of the coordinate system established when constructing the mathematical model provided by the embodiment of the present invention;

FIG. 5 is a schematic flow chart of another MATLAB-based simulation method for a pick-up device provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a MATLAB-based pick-up device simulation device provided by an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

Icons: 1-spring tooth; 2-tube shaft; 3-crank; 4-cam disc; 5-roller; 6-roller disc; 7-intermediate shaft; 8-roller guard; 9-side guard; 10-suspension shaft; 11-bracket.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

At present, the conventional design method of the spring-tooth roller-type pick-up device in our country is to use the graphic method and the analytical method. Use reliability. Based on this, the embodiment of the present invention provides a MATLAB-based picking device simulation method, device and electronic equipment, which alleviates the problems of high complexity and low precision existing in the prior art.

In order to facilitate the understanding of this embodiment, a MATLAB-based simulation method for a picking device disclosed in the embodiment of the present invention is first introduced in detail.

Embodiment one:

Fig. 3 shows a schematic flowchart of a MATLAB-based simulation method for a picking device provided by an embodiment of the present invention. Referring to Fig. 3, the MATLAB-based simulation method for the pick-up device can be applied to the spring tooth drum type pick-up device, and the method includes the following steps:

Step S101: Design and construct the cam mechanism of the spring-toothed roller-type pickup device to obtain a cam mathematical model, and design and construct the motion law of the spring-tooth end of the spring-toothed and spring-toothed roller-type pickup device to obtain a mathematical model of spring tooth motion.

When building a mathematical model, first establish a coordinate system, the established coordinate system is shown in Figure 4, and the process of establishing the coordinate system in Figure 4 is as follows: the center of the cam base circle is used as the origin of the coordinates, and the direction of travel (Vt) is used as the X-axis The positive direction of the X-axis is the Y-axis, and the direction away from the ground and pointing up is the positive direction of the Y-axis.

The above-mentioned design and construction of the cam mechanism for the spring-toothed spring-toothed drum-type pickup device obtains the cam mathematical model, which specifically includes:

A Cam mechanism design is based on the law of the cam follower; among them, the law of the cam follower includes the law of constant velocity motion, the law of quadratic polynomial motion, the law of quintic polynomial motion, the law of cosine acceleration motion and the law of sine acceleration motion.

The cam follower law is introduced as follows:

(1) Isokinetic motion law push motion equation:

v=hω/Φ

a=0

Return motion equation:

v=-hω/Φ'

a=0

2) The quadratic polynomial motion law. The motion equation of the thrust acceleration section is

a=4hω ² /Φ ²

The thrust motion equation of the thrust deceleration section is

a=-4hω ² /Φ ²

The motion equation of the acceleration section of the return trip is

a＝-4hω ² /Φ' ²

The motion equation of deceleration section such as return trip is

a＝4hω ² /Φ' ²

3) The quintic polynomial motion law pushes the motion equation

return equation of motion

4) Cosine acceleration motion law and push motion equation

return equation of motion

5) Motion law of sinusoidal acceleration, push motion equation

return equation of motion

In the formula, ψ—the swing angle of the follower; v—the angular velocity of the cam mechanism; a—the angular acceleration of the cam mechanism; —The rotation angle of the cam mechanism, which corresponds to ωt in the design formula of the movement law of the tip of the spring tooth; Φ—the lift angle of the cam mechanism; Φ'—the return angle of the cam mechanism; ω—the rotational angular velocity of the cam mechanism; h—the maximum swing angle of the cam mechanism;

Under the coordinate system shown in Figure 4, any point on the cam theoretical profile curve (here set as point B), its coordinates are

In the formula, R represents the radius of the drum. When η=1, the cam turns clockwise; when η=-1, the cam turns counterclockwise; The thrust swing direction of the moving part is counterclockwise; ψ is the swing angle of the follower, which corresponds to the law equation of the follower; ψ ₀ is the initial angle of the follower, —Cam mechanism rotation angle.

The parametric equation of the actual cam profile curve of the roller follower disc cam mechanism is as follows:

Among them, r _T is the roller radius.

Pressure angle formula:

In the formula, R represents the radius of the drum, l—the length of the crank, Indicates the rotation angle of the cam mechanism, ψ is the swing angle of the follower, which corresponds to the law equation of the follower; ψ ₀ is the initial angle of the follower.

The formula for the radius of curvature of any point (point B) on the theoretical contour line is as follows:

In the formula, Indicates the angle of rotation of the cam mechanism.

The mathematical model of spring tooth motion is obtained by designing and constructing the motion law of the spring tooth end of the spring tooth roller type pickup device, which specifically includes:

B. Based on the equation of motion of the tip of the spring tooth, the law of motion of the tip of the spring tooth is designed; the equation of motion of the end of the spring tooth includes the displacement motion equation (1) of the spring tooth end, the velocity motion equation (2) of the spring tooth end, End acceleration motion equation (3), cycloid shape equation (5) and maximum swing angle calculation equation (6).

During implementation, the displacement of the tip of the spring tooth, the velocity of the end of the spring tooth, the acceleration of the end of the spring tooth, the shape of the cycloid of the spring tooth and the maximum swing angle of the cam mechanism are calculated by the following motion equations:

In the formula, x and y represent the horizontal displacement and vertical displacement of the tip of the elastic teeth respectively;

v _x , v _y represent the component velocity in the horizontal direction and the component velocity in the vertical direction at the tip of the spring teeth respectively;

a _x , a _y represent the acceleration in the horizontal direction and the acceleration in the vertical direction at the tip of the spring tooth respectively;

R—the radius of the drum; l—the length of the crank; l'—the length of the spring tooth; ψ ₀ —the initial angle of the follower;

ψ—swing angle of the follower; t—time; γ—angle between the spring tooth and the crank; R'—the radius of rotation at the end of the spring tooth;

ψ'—the first-order derivative of the follower’s swing angle to time; ψ”—the second-order derivative of the follower’s swing angle to time;

R ₀ —radius of cam base circle; λ—characteristic parameter of cycloid; h'—maximum swing angle of cam mechanism, which is used for new cam design.

Finally, according to the design of the above-mentioned cam mechanism and the design of the motion law of the end of the spring tooth, the mathematical model of the cam and the mathematical model of the spring tooth motion are respectively constructed.

Step S102: Receive the cam mechanism follower rule of the spring-toothed drum type pick-up device and the parameter information input by the user.

In this embodiment, the above parameter information includes institutional parameter information and working parameter information.

Among them, the above mechanism parameter information includes but not limited to the maximum rotation angle of the pendulum, the lift motion angle, the remote repose angle, the return motion angle, the number of spring teeth, the height of the center of rotation from the ground, the radius of the drum, the length of the crank, the length of the spring teeth, the crank and Spring tooth angle, cam base circle radius, roller radius, fixed working length, etc. It should be noted that the swing rod and the spring teeth form a triangle, and the change of the swing rod drives the change of the spring teeth.

The cam mechanism follower law of the above-mentioned spring-toothed drum type pickup device can be selected by the user. When the user does not input, the cam mechanism follower law defaults to the constant velocity motion law. The above-mentioned working parameter information includes the machine forward speed and the drum rotation speed. What needs to be explained here is that the forward speed of the machine or the rotating speed of the drum can be any input value, it can also be an upper limit value and a lower limit value, or it can be a preset working range.

The above-mentioned cam mechanism follower motion law information includes constant velocity motion law, quadratic polynomial (equal acceleration and deceleration) law of motion, quintic polynomial law of motion, cosine acceleration (simple harmonic) law of motion, sine acceleration (cycloid) motion law.

Step S103: Using the mathematical model of the cam, calculate the cam motion result according to the law of the follower of the cam mechanism and the parameter information.

Wherein, the above-mentioned cam motion results include at least one of cam displacement, cam speed, cam acceleration, cam theoretical curve profile, cam actual curve profile, pressure angle and curvature radius.

Specifically, use the above-mentioned cam mathematical model to analyze according to the above-mentioned laws of the cam mechanism follower and the above-mentioned parameter information, for example, extract the corresponding kinematics formula and the parameter information required in the formula according to the parameter information input by the user, and calculate the cam motion result.

Step S104: Using the mathematical model of spring tooth motion to analyze according to the law of the follower of the cam mechanism and the above parameter information, and calculate the motion result of the spring tooth end.

Wherein, the above-mentioned movement result of the tip of the spring tooth includes: at least one of displacement of the end of the spring tooth, velocity of the end of the spring tooth, acceleration of the end of the spring tooth, cycloid shape of the spring tooth, and missing area.

Specifically, based on the parameter information input by the user and the selected law of the follower of the cam mechanism, the above-mentioned spring tooth motion mathematical model is used to extract the corresponding kinematic formula and the parameter information required for calculation, so as to calculate the motion result of the spring tooth end.

Step S105: Outputting the above-mentioned cam motion result and the above-mentioned spring tooth end motion result.

Specifically, the cam motion result obtained by the above calculation is output as at least one of graphics, tables, or text information, and displayed to the user to improve user experience. The output results can also include the maximum swing angle (°, degree), the maximum pressure angle (°, degree), the maximum roller radius (m, meter), the radius of rotation of the spring tooth end (m, meter) obtained from the chart ), the size of the trochoid, the distance between the lowest point of the spring tooth movement and the center of rotation (m, meters), the area of the single-cycle missed detection area (m ² , square meters), the height of the missed detection area (m, meters), and the missed detection area. Specific numerical information such as the ratio of the height to the bottom of the picking area, and the missed detection area (m ² , square meter) under a fixed working length. Concise and intuitive, improve user experience.

In the MATLAB-based simulation method for the pick-up device provided by the embodiment of the present invention, firstly, the mathematical model of the cam is obtained by designing and constructing the cam mechanism of the spring-tooth roller-type pick-up device, and then designing and constructing the motion law of the spring-tooth end of the spring-tooth roller-type pick-up device Obtain the mathematical model of the spring tooth movement; then receive the cam mechanism follower law of the spring tooth drum type pickup device and the parameter information input by the user; next, use the above cam mathematical model to carry out the operation according to the above cam mechanism follower law and the above parameter information analysis and calculation to obtain the cam motion result; use the above spring tooth motion mathematical model to analyze according to the above cam mechanism follower law and the above parameter information, and calculate the spring tooth end motion result; finally, the above cam motion result and the above spring tooth end The results of the internal exercise are output. Therefore, in the technical solution provided by the embodiment of the present invention, a mathematical model is established on the basis of kinematic analysis, and Matlab software is used for programming, and a GUI interface is displayed to the user; Result area: receive the parameters input by the user and the motion law of the selected follower, use the constructed mathematical model to analyze and solve, generate the result and output the generated result, and alleviate the problems of high complexity and low precision in the existing technology . The method is simple and fast, can accurately realize the simulation of the pick-up device, and improves the user experience. At the same time, the pick-up device simulation method based on MATLAB has a theoretical basis, strong applicability, and high reliability.

In order to make the mathematical model closer to actual needs, improve system reliability, and improve user satisfaction, it is considered that users may have misoperations (such as errors when inputting data) when performing simulations.

Further, the method also includes: incorporating the boundary conditions of the harvested material into the mathematical model of the cam and the mathematical model of spring tooth movement. Among them, the above boundary conditions include mechanism boundary conditions and harvesting boundary conditions, mechanism boundary conditions include cam mechanism design boundary conditions, harvesting boundary conditions include boundary conditions of machine performance and boundary conditions of harvested materials, according to the boundary conditions of machine performance and harvested materials Boundary conditions determine the design boundary conditions of spring teeth.

The above-mentioned cam mechanism design boundary conditions include but not limited to:

(1) If the roller is on the cam disc, it can be judged by the fact that any side is greater than the difference between the other two and less than the sum of the other two.

(2) In order to ensure that the movement is not distorted, the maximum design radius of the roller should be smaller than the minimum curvature radius.

The above spring tooth design boundary conditions include but not limited to spring tooth velocity design boundary conditions. Taking the design boundary condition of spring tooth speed as an example for the picking device whose harvested material is pasture, the absolute speed of the spring tooth is less than 3m/s, and the instantaneous horizontal velocity of the spring tooth throwing pasture is as zero as possible. Taking the forage picker as an example, when the spring teeth move to the lowest point, the height of the spring teeth should be controlled at 5cm to 15cm. (Note: JB/T5160-2010 stipulates that the stubble height is 5cm~15cm).

Further, the method also includes a modeling step.

Specifically, the modeling step is realized through the following steps: firstly, according to the actual cam curve profile in the cam motion result, a cam actual profile point data file is generated; and then cam track modeling is performed based on the above cam actual profile point data file.

Further, the method further includes: judging whether the above parameter information overflows.

Wherein, the overflow includes that the parameter information input by the user is not within the preset parameter range or some parameters in the parameter information do not meet the boundary conditions.

When the above parameter information overflows, an error message and a suggested solution will be prompted.

Among them, common error messages and suggested solutions are as follows:

1.1. Error message: The crank rod is too short and the roller is not in contact with the cam

Suggested solution: Please increase the length of the crank rod or increase the base circle.

1.2. Improper selection of roller radius and motion distortion

Please reduce the roller radius.

1.3. Although it can move without distortion, it does not meet the design requirements

Please reduce the roller radius.

1.4. Abnormal work

Please increase drum speed or decrease machine forward speed.

1.5. If the absolute speed is greater than 3m/s, there will be a high probability of knocking down alfalfa flowers and leaves

Please reduce the drum speed or reduce the machine forward speed.

1.6. The spring teeth will touch the ground

Please increase the absolute height of the center of gyration from the ground, because the center of gyration moves to the ground in the negative direction of the y-axis, that is to say, it is enough to reduce the height of the center of gyration from the ground, for example, change the height of the center of gyration from the ground to -0.3 into -0.35.

Embodiment two:

As shown in Figure 5, on the basis of Embodiment 1, the embodiment of the present invention provides another MATLAB-based simulation method for a pickup device, which is applied to a spring tooth drum type pickup device. The MATLAB-based simulation method for a pickup device includes:

Step S201: Using the mathematical model of the cam and the mathematical model of the movement of the spring teeth to optimize the parameters of the spring tooth drum type pick-up device.

The mathematical model of the cam and the mathematical model of spring tooth motion here contain boundary conditions.

The step S201 is specifically implemented through the following steps:

(1) Receive the size of the cycloid shape input by the user (i.e. the characteristic parameter λ of the cycloid), the length of the spring teeth to be designed, the radius of the drum, the design working parameters and the first mechanism parameters, and receive the cam mechanism driven by the user According to the law of the parts, the displacement of the tip of the spring tooth, the speed of the end of the spring tooth, the acceleration motion of the end of the spring tooth, the theoretical missing area and the actual curve profile of the cam are obtained, and the actual cam profile point data file is generated according to the actual curve profile of the cam.

The design working parameters here refer to the maximum working parameters (which can be obtained through user experience or according to the performance of the baler); the above-mentioned first mechanism parameters include the lift movement angle, the remote rest angle, the return movement angle, and the number of spring teeth , the height of the center of gyration from the ground, the radius of the drum, the length of the crank, the length of the spring tooth, the angle between the crank and the spring tooth (or swing rod), the radius of the cam base circle, the radius of the roller, the fixed working length and the wall thickness of the cam track, but not including The maximum swing angle (i.e. the size of the cycloid shape).

Concrete, at first determine the optimal cycloid shape of the harvested material (the size of the cycloid shape can be known) and the spring tooth length to be designed (can be based on the national standard of the harvested material picker, such as pasture picker JB/T5160-1991 ), the radius of the drum and the design working parameters, one way to determine is: the user consults the literature to determine, that is, the user can determine the size of the optimal cycloid shape of the harvested material according to the field conditions (harvested materials, geological environment, etc.) ( For example, the pasture requirement is 1.2 to 1.5) and the spring teeth length to be designed, the radius of the drum and the design work parameters; another way of determining is: crawling to obtain the above parameters by accessing an external database or a web page; not in this embodiment Do limited.

Then input the size of the cycloid shape and the ideal working parameters or the maximum working parameters into the GUI interface provided by the system based on MATLAB programming, and can edit (modify) the radius of the drum, the length of the spring teeth, the length of the crank and the length of the crank and the spring in the GUI interface. Mechanism parameters other than the angle between the teeth, such as modifying the cam lift angle, remote rest angle, return angle, base circle radius, roller radius, groove width, etc.; running can obtain the motion state of each stage of the pickup device and the theoretical missed pickup area (i.e. using the mathematical model of the cam and the mathematical model of the elastic tooth motion to analyze, and calculate the actual cam curve profile, the displacement of the end of the elastic tooth, the velocity of the end of the elastic tooth, and the acceleration of the end of the elastic tooth in the results of the cam motion (that is, The motion state of each stage of the tooth) and the theoretical missed detection area, the actual cam contour point data file. At the same time, the cam actual contour point data file is generated according to the cam actual curve contour, and the cam actual contour point data file is saved.

(2) Receive the second mechanism parameters input by the user and the range of working parameters to be designed and the working distance (that is, the fixed working length), and use the cam mathematical model and the above spring tooth motion mathematical model to analyze to obtain the highest line at the end of the spring tooth Velocity, the highest acceleration at the end of the spring tooth, the characteristic parameters of the cycloid shape, the area of a single missing area and the area of missing area under a fixed working length.

The missing area under fixed working length here refers to the missing area under the fixed working length considering the height of the center of the drum; the above-mentioned second mechanism parameters include the maximum rotation angle of the swing rod, the lift motion angle, the remote rest angle, and the return motion angle , the number of spring teeth, the height of the center of rotation from the ground, the radius of the drum, the length of the crank, the length of the spring teeth, the angle between the crank and the spring teeth (or swing rod), the radius of the cam base circle, the radius of the roller and the fixed working length.

In the specific implementation, the user determines the range and working distance of the working parameters (forward speed and drum rotation speed) according to the field conditions and the performance parameters of the designed machine (or the machine actually used), and then obtains the mechanism parameters of the picker by reverse engineering ( The second mechanism parameter), of course, can also be determined by the user, and then the obtained above-mentioned mechanism parameters, working parameters (forward speed and drum speed) range and working distance are input, and analyzed by using the cam mathematical model and the above-mentioned spring tooth motion mathematical model , run to obtain the highest linear velocity at the end of the spring teeth of the pickup device, the highest acceleration at the end of the spring teeth, the characteristic parameter λ of the cycloid shape, the area of a single missing area and the area of missing area under a fixed working length considering the height of the center of the drum , and generate corresponding 5 excel files.

(3) analyze the highest linear velocity file (named here as the highest linear velocity of the elastic tooth end.xls) and the "cycloidal shape characteristic parameter file (named as cycloid size.xls) at the end of the elastic tooth, to During the picking process, the absolute speed boundary value of the harvested material is small, and the boundary value of the working parameter is determined; the boundary value of the working parameter is reduced by using the cycloid range (which can be obtained by consulting the literature), and the application working parameter of the spring-toothed drum type picking device is obtained. .

(4) Analyze the missing area file under fixed working length (named as missing area under fixed working length. The best matching relationship can prepare for intelligent control;

Through steps (3) and (4), the optimal matching relationship between the applied working parameters of the spring-toothed drum type pick-up device and the working parameters of the pick-up with the goal of minimizing the omission rate can be obtained.

(5) Repeat steps (1)-(4) to obtain ideal mechanism parameters.

The ideal mechanism parameters refer to the mechanism parameters corresponding to the goals of high performance (fast forward speed) and low miss rate (small missed area).

(6) Using the ideal mechanism parameters, repeat step (1) to obtain the actual cam contour point data file under the ideal mechanism parameters.

Further, this step S201 may also include:

(7) Import the actual contour point data file of the cam into the 3D software to model the cam track, and copy other cam discs to complete the modeling of the new cam disc.

Considering that the height of the center of the drum in the spring-toothed drum-type pickup device in some harvesting machines is adjustable, the replacement of the cam disc is also convenient. The replacement of the cam disc is the replacement of the cam track, so this method can also pass the verification. Step S202 realizes one machine with multiple functions.

Step S202: Verify the actually used pick-up device by using the cam mathematical model and the spring tooth movement mathematical model.

The mathematical model of the cam and the mathematical model of spring tooth motion here contain boundary conditions.

During specific implementation, the step S202 is performed through the following steps:

(1) Receive any value in the cam mechanism follower law input by the user, the mechanism parameters of the actual pick-up device, and the working parameter range of the actual pick-up device, and obtain the motion state of each stage of the spring teeth and the theoretical missing area .

Firstly, determine the law of the cam mechanism follower and the mechanism parameters of the pick-up device of the machine used (i.e. the actual pick-up device). The mechanism parameters of the actually used pick-up device can be obtained by measurement or reverse engineering, and the working parameter range of the machine used can be Obtained by query; for example, the mechanism parameters are obtained by reverse engineering through the optimal cycloid shape and the maximum operating parameters.

Then input the mechanism parameters and working parameters (choose one value each within the working range of the forward speed and the working range of the drum speed) to obtain the motion state of each stage of the spring teeth and the theoretical missing area.

It should be noted that, in this embodiment, the forward speed and the rotating speed of the drum are rounded off, and the step value within the working parameter range from the lowest value (lower limit value) to the highest value (upper limit value) is 1.

(2) Receive the upper and lower limits of the working parameters (machine forward speed and drum rotation speed) input by the user, and obtain the highest linear velocity at the end of the spring tooth, the highest acceleration at the end of the spring tooth, and the characteristic parameter λ of the cycloid shape (cycloid The size of the shape), the area of a single missing area and the area of missing area under a fixed working length considering the height of the center of the drum, and generate 5 corresponding excel files.

(3) Analyze the "maximum linear velocity at the end of the spring tooth.xls" and "cycloid size.xls" to determine the boundary value of the working parameters with the absolute speed boundary value of the small fragmentation of the harvested species during the picking process; Cycloidal range (refer to the literature), reduce the boundary value of the working parameters, and obtain the applied working parameters of the spring-toothed drum type pick-up device.

(4) Analyze the "missing pick-up area under fixed working length. Prepare.

(5) When the actual pick-up device cannot meet the work requirements (for example, when the actual machine forward speed is greater than the maximum applied forward speed), a new cam track design is carried out.

First determine the optimal cycloid shape of the harvested material, then input the size of the cycloid and the ideal working parameters or the maximum working parameters to obtain the maximum swing angle, and then input other parameters (measurement and reverse engineering), and run to obtain the movement of each stage of the spring teeth State and theoretical missing area, and save the cam actual contour point data file.

(6) Carry out cam track modeling by importing the cam actual contour point data file of the 3D software, and carry out profiling to the original cam disc to complete the modeling of the new cam disc;

(7) Process a new cam plate, and replace the original cam plate in the spring-toothed drum-type pickup device. After the replacement, adjust the height of the center of the drum (so that the height from the lowest point of the spring teeth to the ground is within a reasonable range);

(8) Steps (2)-(4) are repeated to obtain new applied working parameters and new optimal working parameters.

For brevity of description, for details not described in step S202, refer to step S201 for details.

Further, the mechanism parameters in this embodiment can be preset as fixed values according to the experimental results. For example, the number of spring teeth (ie, the number z of the spring tooth rods) is 5, the angle between the crank and the swing rod is 63°, and the swing rod is the largest The rotation angle is 90°, the lift motion angle is 110°, the remote rest angle is 130°, and the return motion angle is 120°, etc. Please refer to Table 1 for details.

Table 1 Structural parameters of cam mechanism

Embodiment three:

Fig. 6 shows the structural representation of the MATLAB-based pick-up device simulation device provided by the embodiment of the present invention. Referring to Fig. 6, the MATLAB-based pick-up device simulation device includes:

The learning module 200 is used to design and construct the cam mechanism of the spring-toothed roller-type pickup device to obtain a cam mathematical model, and to design and construct the motion law of the spring-tooth end of the spring-toothed roller-type pickup device to obtain a spring-tooth motion mathematical model.

The receiving module 300 is used to receive the cam mechanism follower rule of the spring-toothed roller type pick-up device and the parameter information input by the user;

Calculation module 400, used to use the above-mentioned cam mathematical model to analyze according to the above-mentioned law of the cam mechanism follower and the above-mentioned parameter information, and calculate and obtain the cam motion result; The information is analyzed, and the motion result of the tip of the spring tooth is calculated;

The output module 500 is configured to output the above-mentioned cam motion result and the above-mentioned spring tooth end motion result.

Further, the device also includes:

The modeling module 600 is configured to generate a cam actual contour point data file according to the cam actual curve contour in the cam motion result; perform cam track modeling based on the above cam actual contour point data file.

Further, the device also includes:

The design module 700 is used to optimize the parameters of the spring-tooth drum type pick-up device by using the above-mentioned cam mathematical model and the above-mentioned spring-tooth motion mathematical model.

The verification module 800 is used to verify the actually used pick-up device by using the above-mentioned cam mathematical model and the above-mentioned elastic tooth motion mathematical model.

Embodiment three:

7, the embodiment of the present invention also provides an electronic device 100, including: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; The processor 40 is used to execute executable modules stored in the memory 41, such as computer programs.

Wherein, the memory 41 may include a high-speed random access memory (RAM, RandomAccessMemory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.

The bus 42 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one double-headed arrow is used in FIG. 7 , but it does not mean that there is only one bus or one type of bus.

Wherein, the memory 41 is used to store the program, and the processor 40 executes the program after receiving the execution instruction, and the method performed by the flow process definition device disclosed in any of the embodiments of the present invention described above can be applied to processing In the device 40, or implemented by the processor 40.

The processor 40 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 40 or instructions in the form of software. The above-mentioned processor 40 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital Signal Processing, referred to as DSP) , Application Specific Integrated Circuit (ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the methods disclosed in the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory 41, and the processor 40 reads the information in the memory 41, and completes the steps of the above method in combination with its hardware.

The MATLAB-based pick-up device simulation device and electronic equipment provided by the embodiments of the present invention have the same technical characteristics as the MATLAB-based pick-up device simulation method provided by the above-mentioned embodiments, so the same technical problems can be solved and the same technical effects can be achieved. .

The computer program product for carrying out the MATLAB-based picking-up device simulation method provided by the embodiment of the present invention includes a computer-readable storage medium storing non-volatile program code executable by a processor, and the instructions included in the program code can be used for Execute the methods described in the foregoing method embodiments. For specific implementation, refer to the method embodiments, and details are not repeated here.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described device and electronic equipment can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

Finally, it should be noted that: the above-described embodiments are only specific implementations of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them, and the scope of protection of the present invention is not limited thereto, although referring to the foregoing The embodiment has described the present invention in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention Changes can be easily thought of, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of the present invention within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A method for simulating a pick-up device based on MATLAB, applied to a spring tooth drum type pick-up device, is characterized in that, comprising: Design and build the cam mechanism of the spring-tooth roller-type pickup device to obtain the cam mathematical model, and design and construct the spring-tooth end motion law of the spring-tooth roller-type pickup device to obtain the spring tooth motion mathematical model; Receive the cam mechanism follower rule of the spring tooth drum type pick-up device and the parameter information input by the user; Using the cam mathematical model to analyze according to the laws of the cam mechanism follower and the parameter information, and calculate the cam motion result; Using the mathematical model of spring tooth movement to analyze according to the law of the cam mechanism follower and the parameter information, and calculate the movement result of the spring tooth end; Outputting the result of the cam movement and the movement result of the spring tooth end. 2. The method according to claim 1, characterized in that, the spring tooth end motion law design and construction of the spring tooth roller type pickup device is carried out to obtain a spring tooth motion mathematical model, which specifically includes: The displacement of the tip of the spring tooth, the velocity of the end of the spring tooth, the acceleration of the end of the spring tooth and the shape of the cycloid of the spring tooth are calculated by the following motion equations: <mrow><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><mi>x</mi><mo>=</mo><msub><mi>v</mi><mi>t</mi></msub><mi>t</mi><mo>+</mo><mi>R</mi><mi></mi><mi>cos</mi><mi>&amp;omega;</mi><mi>t</mi><mo>-</mo><mi>l</mi><mi></mi><mi>cos</mi><mo>&amp;lsqb;</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>&amp;rsqb;</mo><mo>+</mo></mrow></mtd></mtr><mtr><mtd><mrow><msup><mi>l</mi><mo>&amp;prime;</mo></msup><mi>cos</mi><mo>&amp;lsqb;</mo><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow><mo>&amp;rsqb;</mo></mrow></mtd></mtr><mtr><mtd><mrow><mi>y</mi><mo>=</mo><mi>R</mi><mi></mi><mi>s</mi><mi>i</mi><mi>n</mi><mi>&amp;omega;</mi><mi>t</mi><mo>-</mo><mi>l</mi><mi></mi><mi>sin</mi><mo>&amp;lsqb;</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>&amp;rsqb;</mo><mo>+</mo></mrow></mtd></mtr><mtr><mtd><mrow><msup><mi>l</mi><mo>&amp;prime;</mo></msup><mi>sin</mi><mo>&amp;lsqb;</mo><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mi>mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mi>mo></mrow><mo>&amp;rsqb;</mo></mrow></mtd></mtr></mtable></mfenced><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>1</mn><mo>)</mo></mrow></mrow> <mrow><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>v</mi><mi>x</mi></msub><mo>=</mo><msub><mi>v</mi><mi>t</mi></msub><mo>-</mo><mi>R</mi><mi>&amp;omega;</mi><mi>sin</mi><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><mi>l</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mi>sin</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>)</mo></mrow><mo>-</mo></mrow></mtd></mtr><mtr><mtd><mrow><msup><mi>l</mi><mo>&amp;prime;</mo></msup><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mi>sin</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>v</mi><mi>y</mi></msub><mo>=</mo><mi>R</mi><mi>&amp;omega;</mi><mi>cos</mi><mi>&amp;omega;</mi><mi>t</mi><mo>-</mo><mi>l</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mi>cos</mi><mrow><mo>(</mo><mi>&amp;omega;</mo>mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>)</mo></mrow><mo>+</mo></mrow></mtd></mtr><mtr><mtd><mrow><msup><mi>l</mi><mo>&amp;prime;</mo></msup><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mi>cos</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow></mrow></mtd></mtr></mtable></mfenced><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>2</mn><mo>)</mo></mrow></mrow> <mrow><mfenced open = "{" close = ""><mtable><mtr><mtd><mrow><msub><mi>a</mi><mi>x</mi></msub><mo>=</mo><mo>-</mo><msup><mi>R&amp;omega;</mi><mn>2</mn></msup><mi>cos</mi><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><mi>l</mi><msup><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mn>2</mn></msup><mi>cos</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>)</mo></mrow><mo>+</mo></mrow></mtd></mtr><mtr><mtd><mrow><msup><mi>l&amp;psi;</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>sin</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>)</mo></mrow><mo>-</mo><msup><mi>l</mi><mo>&amp;prime;</mo></msup><msup><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mn>2</mn></msup></mrow></mtd></mtr><mtr><mtd><mrow><mo>&amp;CenterDot;</mo><mi>cos</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow><mo>-</mo><msup><mi>l</mi><mo>&amp;prime;</mo></msup><msup><mi>&amp;psi;</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>sin</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow></mrow></mtd></mtr><mtr><mtd><mrow><msub><mi>a</mi><mi>y</mi></msub><mo>=</mo><mo>-</mo><msup><mi>R&amp;omega;</mi><mn>2</mn></msup><mi>sin</mi><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><mi>l</mi><msup><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mn>2</mn></msup><mi>sin</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>)</mo></mrow><mo>-</mo></mrow></mtd></mtr><mtr><mtd><mrow><msup><mi>l&amp;psi;</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>cos</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>)</mo></mrow><mo>+</mo><msup><mi>l</mi><mo>&amp;prime;</mo></msup><msup><mrow><mo>(</mo><mi>&amp;omega;</mi><mo>+</mo><msup><mi>&amp;psi;</mi><mo>&amp;prime;</mo></msup><mo>)</mo></mrow><mn>2</mn></msup></mrow></mtd></mtr><mtr><mtd><mrow><mo>&amp;CenterDot;</mo><mi>sin</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow><mo>+</mo><msup><mi>l</mi><mo>&amp;prime;</mo></msup><msup><mi>&amp;psi;</mi><mrow><mo>&amp;prime;</mo><mo>&amp;prime;</mo></mrow></msup><mi>cos</mi><mrow><mo>(</mo><mi>&amp;omega;</mi><mi>t</mi><mo>+</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>+</mo><mi>&amp;psi;</mi><mo>-</mo><mi>&amp;gamma;</mi><mo>)</mo></mrow></mrow></mtd></mtr></mtable></mfenced><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow> <mrow><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>=</mo><mi>a</mi><mi>r</mi><mi>c</mi><mi>c</mi><mi>o</mi><mi>s</mi><mrow><mo>(</mo><mfrac><mrow><msup><mi>R</mi><mn>2</mn></msup><mo>+</mo><msup><mi>l</mi><mn>2</mn></msup><mo>-</mo><msup><msub><mi>R</mi><mn>0</mn></msub><mn>2</mn></msup></mrow><mrow><mn>2</mn><mi>R</mi><mi>l</mi></mrow></mfrac><mo>)</mo></mrow><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>4</mn><mo>)</mo></mrow></mrow> <mrow><mi>&amp;lambda;</mi><mo>=</mo><mfrac><mrow><msup><mi>R</mi><mo>&amp;prime;</mo></msup><mi>&amp;omega;</mi></mrow><msub><mi>v</mi><mi>t</mi></msub></mfrac><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>5</mn><mo>)</mo></mrow></mrow> <mrow><msup><mi>h</mi><mo>&amp;prime;</mo></msup><mo>=</mo><mi>a</mi><mi>r</mi><mi>c</mi><mi>c</mi><mi>o</mi><mi>s</mi><mo>&amp;lsqb;</mo><mrow><mo>(</mo><mfrac><mrow><msup><mi>R</mi><mn>2</mn></msup><mo>+</mo><msup><mi>l</mi><mrow><mo>&amp;prime;</mo><mn>2</mn></mrow></msup><mo>-</mo><msup><mrow><mo>(</mo><mfrac><mrow><msub><mi>&amp;lambda;v</mi><mi>t</mi></msub></mrow><mi>&amp;omega;</mi></mfrac><mo>)</mo></mrow><mn>2</mn></msup></mrow><mrow><mn>2</mn><msup><mi>Rl</mi><mo>&amp;prime;</mo></msup></mrow></mfrac><mo>)</mo></mrow><mo>&amp;rsqb;</mo><mo>-</mo><msub><mi>&amp;psi;</mi><mn>0</mn></msub><mo>-</mo><mi>&amp;gamma;</mi><mo>-</mo><mo>-</mo><mo>-</mo><mrow><mo>(</mo><mn>6</mn><mo>)</mo></mrow></mrow> In the formula, x, y—horizontal direction displacement and vertical direction displacement of the tip of spring teeth; v _x , v _y — the component velocity in the horizontal direction and the component velocity in the vertical direction at the tip of the bullet tooth; a _x , a _y —horizontal direction acceleration and vertical direction acceleration at the tip of spring teeth; R—roller radius; l - crank length; l'—length of spring teeth; ψ ₀ —the initial angle of the follower; ψ—follower swing angle; t—time; γ—the angle between the spring tooth and the crank; ψ'—the first derivative of follower swing angle with respect to time; ψ”—the second derivative of the follower’s swing angle with respect to time; R ₀ —radius of cam base circle; λ—characteristic parameter of the cycloid; R'—radius of gyration at the tip of the spring teeth; h'—the maximum swing angle of the cam mechanism, which is used in the new cam design. 3. The method according to claim 2, characterized in that, the cam mechanism design and construction of the spring-tooth spring-tooth roller type pick-up device is carried out to obtain a cam mathematical model, which specifically includes: The cam mechanism is designed based on the law of the cam follower; wherein, the law of the cam follower includes the law of constant velocity motion, the law of quadratic polynomial motion, the law of quintic polynomial motion, the law of cosine acceleration motion and the law of sinusoidal acceleration motion. 4. The method according to claim 1, further comprising: Using the mathematical model of the cam and the mathematical model of the motion of the spring tooth, the parameter optimization design of the spring tooth drum type pick-up device is carried out. 5. The method according to claim 1, wherein the outputting the result of the cam movement and the movement result of the tip of the spring tooth specifically comprises: Outputting the cam movement result and the spring tooth end movement result in at least one of graph, table or text information. 6. The method according to claim 1, further comprising: According to the cam actual curve profile in the cam motion result, generate the cam actual profile point data file; Cam track modeling is performed based on the cam actual contour point data file. 7. The method of claim 1, further comprising: The actually used pick-up device is verified by using the cam mathematical model and the elastic tooth movement mathematical model. 8. The method of claim 1, further comprising: judging whether the parameter information overflows; When the parameter information overflows, an error message and a suggested solution are prompted. 9. A pick-up device simulation device based on MATLAB, is characterized in that, comprises: The learning module is used to design and build the cam mechanism of the spring-toothed roller-type pickup device to obtain the cam mathematical model, and to design and construct the spring-tooth end motion law of the spring-toothed roller-type pickup device to obtain the mathematical model of the spring-tooth motion; The receiving module is used to receive the follower rule of the cam mechanism of the spring-tooth drum type pick-up device and the parameter information input by the user; A calculation module, configured to use the mathematical model of the cam to analyze according to the law of the cam mechanism follower and the parameter information, and calculate and obtain the cam motion result; Analyze the law and the parameter information, and calculate the motion result of the tip of the spring tooth; The output module is used for outputting the result of the cam movement and the result of the movement of the tip of the spring tooth. 10. An electronic device, comprising a memory and a processor, the memory stores a computer program that can run on the processor, wherein the processor implements the above-mentioned claim 1 when executing the computer program The step of the method described in any one of to 8.