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

Pick-up unit analogy method, device and electronic equipment based on MATLAB Download PDF

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CN107969231A
CN107969231A CN201711170070.1A CN201711170070A CN107969231A CN 107969231 A CN107969231 A CN 107969231A CN 201711170070 A CN201711170070 A CN 201711170070A CN 107969231 A CN107969231 A CN 107969231A
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mrow
msup
msub
psi
cam
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CN107969231B (en
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郁志宏
淮守成
方梅
郭泽楠
张裕
张琪
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Inner Mongolia Agricultural University
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01FPROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F15/00Baling presses for straw, hay or the like
    • A01F15/07Rotobalers, i.e. machines for forming cylindrical bales by winding and pressing
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00Computer-aided design [CAD]
    • G06F30/20Design optimisation, verification or simulation
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00Details relating to CAD techniques
    • G06F2111/10Numerical modelling

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Abstract

本发明提供了一种基于MATLAB的捡拾装置模拟方法、装置及电子设备,涉及计算机领域,以缓解现有技术中存在的复杂度高、精度低的问题,该方法简便快捷,精度高,能够精确的实现捡拾装置的模拟,改善用户体验度。该方法包括:对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型以及进行弹齿端部运动规律设计构建得到弹齿运动数学模型;接收用户输入的参数信息以及凸轮机构从动件规律;利用凸轮数学模型根据凸轮机构从动件规律以及参数信息进行分析,计算得到凸轮运动结果;利用弹齿运动数学模型根据上述凸轮机构从动件规律以及参数信息进行分析,计算得到弹齿端部运动结果;将凸轮运动结果和弹齿端部运动结果进行输出。

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

基于MATLAB的捡拾装置模拟方法、装置及电子设备Picking device simulation method, device and electronic equipment based on MATLAB

技术领域technical field

本发明涉及数据处理技术领域,尤其是涉及一种基于MATLAB的捡拾装置模拟方法、装置及电子设备。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.

背景技术Background technique

随着草原改良和综合治理,对牧草收获机械的需求量会显著加大。西部大开发战略的实施、农业结构的调整及环境业的快速发展,牧草收获机更具将有广阔的发展和应用前景。捡拾压捆机是牧草收获机械的一种类型,其中弹齿滚筒式捡拾装置是它的主要工作部件,它的性能好坏直接影响到捡拾压捆机的工作性能,展开捡拾器的深入研究具有一定的意义。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.

如图1所示,弹齿滚筒式捡拾装置主要由支架11、悬挂轴10、侧护板9、滚筒护板8、中间轴7、滚筒盘6、滚轮5、凸轮盘4、曲柄3、管轴2和弹齿1等组成。弹齿滚筒式捡拾装置实质是一个反转后的摆动从动件凸轮机构。弹齿滚筒式捡拾装置的运动规律是凸轮盘不动,曲柄和弹齿连结点固定在滚筒上,滚筒在绕回转中心转动带动弹齿运动。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.

弹齿滚筒式捡拾装置捡拾作业质量主要取决于捡拾装置弹齿的运动状态和捡拾器的工作状态。捡拾率是衡量弹齿滚筒式捡拾装置工作性能的一个重要指标,在理论上它是由弹齿运动轨迹决定的,它是减小漏捡区(两个相邻弹齿轨迹的不重合区为漏捡区,如图2的阴影区域所示)、保证捡拾率的关键。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.

目前,我国弹齿滚筒式捡拾装置常规设计方法是采用图解法和解析法,该常规设计方法不仅繁锁,而且精度低,此外,该常规设计方法没有理论依据,局限性较大,严重制约其使用可靠性。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.

针对上述问题目前尚未提出有效的解决方法。At present, no effective solution has been proposed for the above problems.

发明内容Contents of the invention

有鉴于此,本发明的目的在于提供一种基于MATLAB的捡拾装置模拟方法、装置及电子设备,以缓解现有技术中存在的复杂度高、精度低的问题。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.

第一方面,本发明实施例提供了一种基于MATLAB的捡拾装置模拟方法,应用于弹齿滚筒式捡拾装置,包括: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:

对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型;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;

接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;Receive the cam mechanism follower rule of the spring tooth drum type pick-up device and the parameter information input by the user;

利用所述凸轮数学模型根据所述凸轮机构从动件规律以及所述参数信息,计算得到凸轮运动结果;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;

利用所述弹齿运动数学模型根据所述凸轮机构从动件规律以及所述参数信息,计算得到弹齿端部运动结果;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;

将所述凸轮运动结果和所述弹齿端部运动结果进行输出。Outputting the result of the cam movement and the movement result of the spring tooth end.

结合第一方面,本发明实施例提供了第一方面的第一种可能的实施方式,其中,所述对弹齿弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型,具体包括: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:

分别通过以下运动方程计算弹齿端部位移、弹齿端部速度、弹齿端部加速度以及弹齿摆线形状: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:

式中,x、y—弹齿端部的水平方向位移和垂直方向位移;In the formula, x, y—horizontal direction displacement and vertical direction displacement of the tip of spring teeth;

vx、vy—弹齿端部的水平方向分速度和垂直方向分速度;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;

ax、ay—弹齿端部的水平方向加速度和垂直方向加速度;a x , a y —horizontal direction acceleration and vertical direction acceleration at the tip of spring teeth;

R—滚筒半径;R—roller radius;

l—曲柄长度;l - crank length;

l'—弹齿长度;l'—length of spring teeth;

ψ0—从动件初始角;ψ 0 —the initial angle of the follower;

ψ—从动件摆角;ψ—follower swing angle;

t—时间;t—time;

γ—弹齿与曲柄夹角;γ—the angle between the spring tooth and the crank;

ψ'—从动件摆角对时间的一阶导数;ψ'—the first derivative of follower swing angle with respect to time;

ψ”—从动件摆角对时间的二阶导数;ψ”—the second derivative of the follower’s swing angle with respect to time;

R0—凸轮基圆半径;R 0 —radius of cam base circle;

λ—摆线的特征参数;λ—characteristic parameter of the cycloid;

R'—弹齿端部回转半径;R'—radius of gyration at the tip of the spring teeth;

h'—凸轮机构最大摆角,为新凸轮设计使用。h'—the maximum swing angle of the cam mechanism, which is used for the new cam design.

结合第一方面的第一种可能的实施方式,本发明实施例提供了第一方面的第二种可能的实施方式,其中,所述对弹齿弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,具体包括: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:

基于凸轮从动件规律进行凸轮机构设计;其中,所述凸轮从动件规律包括等速运动运动规律、二次多项式运动规律、五次多项式运动规律、余弦加速度运动规律和正弦加速度运动规律。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.

结合第一方面,本发明实施例提供了第一方面的第三种可能的实施方式,其中,利用所述凸轮数学模型和所述弹齿运动数学模型对弹齿滚筒式捡拾装置进行参数优化设计。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 .

结合第一方面,本发明实施例提供了第一方面的第四种可能的实施方式,其中,所述将所述凸轮运动结果和所述弹齿端部运动结果进行输出,具体包括: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:

将所述凸轮运动结果和所述弹齿端部运动结果以图形、表格或者文字信息的至少一种进行输出。Outputting the cam movement result and the spring tooth end movement result in at least one of graph, table or text information.

结合第一方面,本发明实施例提供了第一方面的第五种可能的实施方式,其中,该方法还包括: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:

根据凸轮运动结果中的凸轮实际曲线轮廓,生成凸轮实际轮廓点数据文件;According to the cam actual curve profile in the cam motion result, generate the cam actual profile point data file;

基于所述凸轮实际轮廓点数据文件进行凸轮轨道建模。Cam track modeling is performed based on the cam actual contour point data file.

结合第一方面,本发明实施例提供了第一方面的第六种可能的实施方式,其中,该方法还包括: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:

利用所述凸轮数学模型和所述弹齿运动数学模型对实际使用的捡拾装置进行校验。The actually used pick-up device is verified by using the cam mathematical model and the elastic tooth movement mathematical model.

结合第一方面,本发明实施例提供了第一方面的第七种可能的实施方式,其中,该方法还包括: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:

判断所述参数信息是否溢出;judging whether the parameter information overflows;

当所述参数信息溢出时,提示错误信息以及建议方案。When the parameter information overflows, an error message and a suggested solution are prompted.

第二方面,本发明实施例还提供一种基于MATLAB的捡拾装置模拟装置,包括:In the second aspect, the embodiment of the present invention also provides a MATLAB-based pick-up device simulation device, including:

学习模块,用于对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型;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;

接收模块,用于接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;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;

计算模块,用于利用所述凸轮数学模型根据所述凸轮机构从动件规律以及所述参数信息进行分析,计算得到凸轮运动结果;利用所述弹齿运动数学模型根据所述凸轮机构从动件规律以及所述参数信息进行分析,计算得到弹齿端部运动结果;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;

输出模块,用于将所述凸轮运动结果和所述弹齿端部运动结果进行输出。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.

第三方面,本发明实施例还提供一种电子设备,包括存储器、处理器,所述存储器上存储有可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时实现上述第一方面所述的方法的步骤。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.

第四方面,本发明实施例还提供一种具有处理器可执行的非易失的程序代码的计算机可读介质,所述程序代码使所述处理器执行上述第一方面所述的方法。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.

本发明实施例带来了以下有益效果:Embodiments of the present invention bring the following beneficial effects:

在本发明实施例提供的基于MATLAB的捡拾装置模拟方法中,首先通过对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型;然后接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;接下来,利用上述凸轮数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到凸轮运动结果;利用上述弹齿运动数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到弹齿端部运动结果;最后将上述凸轮运动结果和上述弹齿端部运动结果进行输出。因此,本发明实施例提供的技术方案,通过运动学分析的基础上,建立数学模型,以缓解现有技术中存在的复杂度高、精度低的问题。该方法简单、快捷且精度高,能够精确的实现捡拾装置的模拟,提高了用户体验度,同时,该基于MATLAB的捡拾装置模拟方法具有理论基础,适用性强,可靠性高。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.

本发明的其他特征和优点将在随后的说明书中阐述,并且,部分地从说明书中变得显而易见,或者通过实施本发明而了解。本发明的目的和其他优点在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。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.

为使本发明的上述目的、特征和优点能更明显易懂,下文特举较佳实施例,并配合所附附图,作详细说明如下。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.

附图说明Description of drawings

为了更清楚地说明本发明具体实施方式或现有技术中的技术方案,下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施方式,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。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.

图1为弹齿滚筒式捡拾装置的结构示意图;Fig. 1 is the structural schematic diagram of spring teeth drum type pick-up device;

图2为弹齿滚筒式捡拾装置漏检面积的结构示意图;Fig. 2 is a structural schematic diagram of the area missed by the spring-tooth drum type pick-up device;

图3为本发明实施例提供的一种基于MATLAB的捡拾装置模拟方法的流程示意图;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;

图4示出了本发明实施例提供的构建数学模型时建立的坐标系参考图;Fig. 4 shows the reference diagram of the coordinate system established when constructing the mathematical model provided by the embodiment of the present invention;

图5为本发明实施例提供的另一种基于MATLAB的捡拾装置模拟方法的流程示意图;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;

图6为本发明实施例提供的基于MATLAB的捡拾装置模拟装置的结构示意图;FIG. 6 is a schematic structural diagram of a MATLAB-based pick-up device simulation device provided by an embodiment of the present invention;

图7为本发明实施例提供的电子设备的结构示意图。FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

图标:1-弹齿;2-管轴;3-曲柄;4-凸轮盘;5-滚轮;6-滚筒盘;7-中间轴;8-滚筒护板;9-侧护板;10-悬挂轴;11-支架。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.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合附图对本发明的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。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.

目前,我国弹齿滚筒式捡拾装置常规设计方法是采用图解法和解析法,该常规设计方法不仅繁锁,而且精度低,此外,该常规设计方法没有理论依据,局限性较大,严重制约其使用可靠性。基于此,本发明实施例提供的一种基于MATLAB的捡拾装置模拟方法、装置及电子设备,缓解现有技术中存在的复杂度高、精度低的问题。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.

为便于对本实施例进行理解,首先对本发明实施例所公开的一种基于MATLAB的捡拾装置模拟方法进行详细介绍。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.

实施例一:Embodiment one:

图3示出了本发明实施例提供的一种基于MATLAB的捡拾装置模拟方法的流程示意图。参照图3,该基于MATLAB的捡拾装置模拟方法可应用于弹齿滚筒式捡拾装置,该方法包括以下几个步骤: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:

步骤S101:对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型。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.

在构建数学模型时,首先建立坐标系,建立的坐标系如图4所示,图4中的坐标系建立过程为:以凸轮基圆的圆心作为坐标原点,以行进方向(Vt)作为X轴的正方向,垂直X轴作Y轴,将远离地面指向上的方向作为Y轴的正方向。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.

上述对弹齿弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,具体包括: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基于凸轮从动件规律进行凸轮机构设计;其中,凸轮从动件规律包括等速运动运动规律、二次多项式运动规律、五次多项式运动规律、余弦加速度运动规律和正弦加速度运动规律。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.

凸轮从动件规律介绍如下:The cam follower law is introduced as follows:

(1)等速运动运动规律推程运动方程:(1) Isokinetic motion law push motion equation:

v=hω/Φv=hω/Φ

a=0a=0

回程运动方程:Return motion equation:

v=-hω/Φ'v=-hω/Φ'

a=0a=0

2)二次多项式运动规律推程加速段推程运动方程为2) The quadratic polynomial motion law. The motion equation of the thrust acceleration section is

a=4hω22 a=4hω 22

推程减速段推程运动方程为The thrust motion equation of the thrust deceleration section is

a=-4hω22 a=-4hω 22

回程等加速段的运动方程为The motion equation of the acceleration section of the return trip is

a=-4hω2/Φ'2 a=-4hω 2 /Φ' 2

回程等减速段运动方程为The motion equation of deceleration section such as return trip is

a=4hω2/Φ'2 a=4hω 2 /Φ' 2

3)五次多项式运动规律推程运动方程3) The quintic polynomial motion law pushes the motion equation

回程运动方程return equation of motion

4)余弦加速度运动规律推程运动方程4) Cosine acceleration motion law and push motion equation

回程运动方程return equation of motion

5)正弦加速度运动规律推程运动方程5) Motion law of sinusoidal acceleration, push motion equation

回程运动方程return equation of motion

式中,ψ—从动件摆角;v—凸轮机构角速度;a—凸轮机构角加速度;—凸轮机构转角,对应弹齿端部运动规律设计公式中的ωt;Φ—凸轮机构升程角;Φ'—凸轮机构回程角;ω—凸轮机构旋转角速度;h—凸轮机构最大摆角;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;

在图4所示的坐标系下,凸轮理论轮廓曲线上的任意点(这里设为B点),其坐标为Under the coordinate system shown in Figure 4, any point on the cam theoretical profile curve (here set as point B), its coordinates are

式中,R表示滚筒半径,η=1时凸轮转向为顺时针,η=-1时凸轮转向为逆时针;δ=1时从动件推程摆动方向为顺时针,δ=-1时从动件推程摆动方向为逆时针;ψ为从动件摆角,对应从动件规律方程;ψ0为从动件初始角,—凸轮机构转角。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.

滚子从动件盘形凸轮机构凸轮实际轮廓曲线的参数方程如下:The parametric equation of the actual cam profile curve of the roller follower disc cam mechanism is as follows:

其中,rT为滚子半径。Among them, r T is the roller radius.

压力角公式:Pressure angle formula:

式中,R表示滚筒半径,l—曲柄长度,表示凸轮机构转角,ψ为从动件摆角,对应从动件规律方程;ψ0为从动件初始角。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.

理论轮廓线上任意点(B点)的曲率半径公式如下:The formula for the radius of curvature of any point (point B) on the theoretical contour line is as follows:

式中,表示凸轮机构转角。In the formula, Indicates the angle of rotation of the cam mechanism.

上述对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型,具体包括: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基于弹齿端部运动方程进行弹齿端部运动规律设计;其中,弹齿端部运动方程包括弹齿端部位移运动方程(1)、弹齿端部速度运动方程(2)、弹齿端部加速度运动方程(3)、摆线形状方程(5)和最大摆角计算方程(6)。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).

实施时,分别通过以下运动方程计算弹齿端部位移、弹齿端部速度、弹齿端部加速度、弹齿摆线形状以及凸轮机构最大摆角: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:

式中,x、y分别表示弹齿端部的水平方向位移和垂直方向位移;In the formula, x and y represent the horizontal displacement and vertical displacement of the tip of the elastic teeth respectively;

vx、vy分别表示弹齿端部的水平方向分速度和垂直方向分速度;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;

ax、ay分别表示弹齿端部的水平方向加速度和垂直方向加速度;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—滚筒半径;l—曲柄长度;l'—弹齿长度;ψ0—从动件初始角;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—从动件摆角;t—时间;γ—弹齿与曲柄夹角;R'—弹齿端部回转半径;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'—从动件摆角对时间的一阶导数;ψ”—从动件摆角对时间的二阶导数;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;

R0—凸轮基圆半径;λ—摆线的特征参数;h'—凸轮机构最大摆角,为新凸轮设计使用。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.

最后根据上述凸轮机构设计以及上述弹齿端部运动规律设计分别构建得到凸轮数学模型以及弹齿运动数学模型。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.

步骤S102:接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息。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.

本实施例中,上述参数信息包括机构参数信息和工作参数信息。In this embodiment, the above parameter information includes institutional parameter information and working parameter information.

其中,上述机构参数信息包括但不限于摆杆最大转角,升程运动角,远程休止角,回程运动角,弹齿数目、回转中心距地面高度、滚筒半径、曲柄长度、弹齿长度、曲柄与弹齿夹角、凸轮基圆半径、滚子半径、固定工作长度等。需要说明的是,摆杆与弹齿构成三角形,摆杆变化带动弹齿变化。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.

上述弹齿滚筒式捡拾装置的凸轮机构从动件规律可以由用户选择,当用户未输入时,凸轮机构从动件规律默认为等速运动规律,上述工作参数信息包括机器前进速度、滚筒转速。这里需要说明的是,机器前进速度或者滚筒转速可以是任意输入的数值,也可以是上限值和下限值两个数值,还可以是一个预设的工作范围。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.

上述凸轮机构从动件运动规律信息包括等速运动运动规律、二次多项式(等加速等减速)运动规律、五次多项式运动规律、余弦加速度(简谐)运动规律、正弦加速度(摆线)运动规律。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.

步骤S103:利用上述凸轮数学模型根据上述凸轮机构从动件规律以及上述参数信息,计算得到凸轮运动结果。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.

其中,上述凸轮运动结果包括凸轮位移、凸轮速度、凸轮加速度、凸轮理论曲线轮廓、凸轮实际曲线轮廓、压力角以及曲率半径的至少一种。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.

具体的,利用上述凸轮数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,例如根据用户输入的参数信息提取相对应的运动学公式以及公式中所需要的参数信息,计算得到凸轮运动结果。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.

步骤S104:利用上述弹齿运动数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到弹齿端部运动结果。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.

其中,上述弹齿端部运动结果包括:弹齿端部位移、弹齿端部速度、弹齿端部加速度、弹齿摆线形状以及漏捡面积的至少一种。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.

具体的,基于用户输入的参数信息以及选择的凸轮机构从动件规律,利用上述弹齿运动数学模型提取相对应的运动学公式以及运算需要的参数信息,从而计算得到弹齿端部运动结果。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.

步骤S105:将上述凸轮运动结果和上述弹齿端部运动结果进行输出。Step S105: Outputting the above-mentioned cam motion result and the above-mentioned spring tooth end motion result.

具体的,将上述计算得到的凸轮运动结果弹齿端部运动结果以图形、表格或者文字信息的至少一种进行输出,展示给用户,改善用户体验度。输出的结果还可以包括从图表中得到的最大摆角(°,度)、最大压力角(°,度)、最大滚子半径(m,米)、弹齿端部回转半径范围(m,米)、余摆线大小、弹齿运动到最低点与回转中心间的距离(m,米)、单周期漏检区面积(m2,平方米)、漏捡区高度(m,米)、漏捡区高与底的比、固定工作长度下的漏检面积(m2,平方米)等具体数值信息。简明直观,提高用户体验度。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.

本发明实施例提供的基于MATLAB的捡拾装置模拟方法,首先通过对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型;然后接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;接下来,利用上述凸轮数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到凸轮运动结果;利用上述弹齿运动数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到弹齿端部运动结果;最后将上述凸轮运动结果和上述弹齿端部运动结果进行输出。因此,本发明实施例提供的技术方案,通过运动学分析的基础上,建立数学模型,并应用Matlab软件进行编程,并向用户展示GUI界面;上述GUI界面包括参数输入区和绘制图形区以及输出结果区;接收用户输入的参数以及选择的从动件运动规律,利用构建的数学模型进行分析求解,生成结果并将生成的结果输出,缓解现有技术中存在的复杂度高、精度低的问题。该方法简单、快捷,能够精确的实现捡拾装置的模拟,提高了用户体验度,同时,该基于MATLAB的捡拾装置模拟方法具有理论基础,适用性强,可靠性高。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.

考虑用户在进行模拟时,可能出现误操作(例如输入数据时错误)的情况,为了使数学模型更加贴近实际需求,提高系统可靠性,改善用户满意度。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.

进一步的是,该方法还包括:根据所收获物料的捡拾装置的边界条件纳入凸轮数学模型以及弹齿运动数学模型中。其中,上述边界条件包括机构边界条件和收获边界条件,机构边界条件包括凸轮机构设计边界条件,收获边界条件包括机器性能的边界条件和收获物料的边界条件,根据机器性能的边界条件和收获物料的边界条件确定弹齿设计边界条件。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.

上述凸轮机构设计边界条件包括但不限于:The above-mentioned cam mechanism design boundary conditions include but not limited to:

(1)滚子在凸轮盘上,由随意一条边大于另两条的差且小于另两条的和进行判断。(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)为保证运动不失真,滚子最大设计半径应小于最小曲率半径。(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.

上述弹齿设计边界条件包括但不限于弹齿速度设计边界条件。以收获物料为牧草的捡拾装置的弹齿速度设计边界条件为例进行说明:弹齿绝对速度小于3m/s,弹齿抛送牧草的瞬时水平速度尽可能为0。另以牧草捡拾器为例,弹齿运动到最低点时弹齿据地高度应控制在5cm~15cm。(注:JB/T5160-2010规定是留茬高度为5cm~15cm)。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).

进一步的是,该方法还包括建模步骤。Further, the method also includes a modeling step.

具体的,该建模步骤通过以下步骤实现:首先根据凸轮运动结果中的凸轮实际曲线轮廓,生成凸轮实际轮廓点数据文件;然后基于上述凸轮实际轮廓点数据文件进行凸轮轨道建模。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.

进一步的,该方法还包括:判断上述参数信息是否溢出。Further, the method further includes: judging whether the above parameter information overflows.

其中,溢出包括用户输入的参数信息不在预设的参数范围内或者参数信息中的某些参数不符合边界条件。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.

当上述参数信息溢出时,提示错误信息以及建议方案。When the above parameter information overflows, an error message and a suggested solution will be prompted.

其中,常见错误信息以及建议方案如下:Among them, common error messages and suggested solutions are as follows:

1.1.错误信息:曲柄杆太短,滚子未接触凸轮1.1. Error message: The crank rod is too short and the roller is not in contact with the cam

建议方案:请增加曲柄杆的长度或增大基圆。Suggested solution: Please increase the length of the crank rod or increase the base circle.

1.2.滚子半径选择不当,运动失真1.2. Improper selection of roller radius and motion distortion

请减小滚子半径。Please reduce the roller radius.

1.3.虽能运动不失真,但不满足设计要求1.3. Although it can move without distortion, it does not meet the design requirements

请减小滚子半径。Please reduce the roller radius.

1.4.非正常工作1.4. Abnormal work

请增大滚筒转速或减小机器前进速度。Please increase drum speed or decrease machine forward speed.

1.5.绝对速度大于3m/s,会大概率打落苜蓿花叶1.5. If the absolute speed is greater than 3m/s, there will be a high probability of knocking down alfalfa flowers and leaves

请减小滚筒转速或减小机器前进速度。Please reduce the drum speed or reduce the machine forward speed.

1.6.弹齿会碰到地面1.6. The spring teeth will touch the ground

请增大回转中心距地面的绝对高度,因回转中心到地面是沿y轴负方向运动,也就是说减小回转中心距地面的高度就可以,例如将回转中心距地面的高度由-0.3变成-0.35。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.

实施例二:Embodiment two:

如图5所示,在实施例一的基础上,本发明实施例提供了另一种基于MATLAB的捡拾装置模拟方法,应用于弹齿滚筒式捡拾装置,该基于MATLAB的捡拾装置模拟方法包括: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:

步骤S201:利用上述凸轮数学模型和上述弹齿运动数学模型对弹齿滚筒式捡拾装置进行参数优化设计。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.

这里的凸轮数学模型和弹齿运动数学模型包含边界条件。The mathematical model of the cam and the mathematical model of spring tooth motion here contain boundary conditions.

该步骤S201具体通过以下步骤实现:The step S201 is specifically implemented through the following steps:

(1)接收用户输入的摆线形状的大小(即摆线的特征参数λ)、准备设计的弹齿长度、滚筒半径、设计工作参数以及第一机构参数,并接收用户选取的凸轮机构从动件规律,获得弹齿端部位移、弹齿端部速度、弹齿端部加速度运动结果、理论漏检面积以及凸轮实际曲线轮廓,并根据凸轮实际曲线轮廓生成凸轮实际轮廓点数据文件。(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.

这里的设计工作参数是指最大工作参数(可以通过用户经验获取,也可以根据压捆机的性能获知);上述第一机构参数包括升程运动角,远程休止角,回程运动角,弹齿数目、回转中心距地面高度、滚筒半径、曲柄长度、弹齿长度、曲柄与弹齿(或者摆杆)夹角、凸轮基圆半径、滚子半径、固定工作长度和凸轮轨道壁厚,但不包括最大摆角(即摆线形状的大小)。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).

具体的,首先确定收获物料的最佳摆线形状(可以获知摆线形状的大小)和准备设计的弹齿长度(可根据所收获物料捡拾器的国家标准,如牧草捡拾器JB/T5160-1991)、滚筒半径和设计工作参数,一种确定方式为:由用户查阅文献资料进行确定,即用户可以根据田间条件(收获物料、地质环境等条件)确定收获物料的最佳摆线形状的大小(比如牧草要求是1.2到1.5)以及待设计的弹齿长度、滚筒半径以及设计工作参数;另一种确定方式为:通过接入外部数据库或者网页等进行爬取获得上述参数;本实施例中不做限定。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.

然后将摆线形状的大小与理想工作参数或最大工作参数输入基于MATLAB编程的系统提供的GUI界面,并可以编辑(修改)GUI界面里的除滚筒半径、弹齿长度、曲柄长度和曲柄与弹齿间的夹角外的其他机构参数,例如修改凸轮升程角,远休角,回程角,基圆半径,滚子半径,槽宽等;运行可获得捡拾装置各阶段运动状态和理论漏捡面积(即利用凸轮数学模型和弹齿运动数学模型进行分析,计算得到凸轮运动结果中的凸轮实际曲线轮廓、弹齿端部位移、弹齿端部速度、弹齿端部加速度运动结果(即弹齿各阶段运动状态)以及理论漏检面积,凸轮实际轮廓点数据文件。同时,根据凸轮实际曲线轮廓生成凸轮实际轮廓点数据文件,并保存该凸轮实际轮廓点数据文件。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)接收用户输入的第二机构参数和待设计的工作参数范围和工作距离(即固定工作长度),利用凸轮数学模型和上述弹齿运动数学模型进行分析,获得弹齿端部的最高线速度、弹齿端部的最高加速度、摆线形状的特征参数、单个漏捡区面积和固定工作长度下的漏捡面积。(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.

这里的固定工作长度下的漏捡面积是指考虑滚筒中心据地高度固定工作长度下的漏捡面积;上述第二机构参数包括摆杆最大转角、升程运动角,远程休止角,回程运动角,弹齿数目、回转中心距地面高度、滚筒半径、曲柄长度、弹齿长度、曲柄与弹齿(或者摆杆)夹角、凸轮基圆半径、滚子半径和固定工作长度。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.

具体实现时,用户根据田间条件和所设计机器(也可以是实际使用的机器)的性能参数确定工作参数(前进速度和滚筒转速)范围和工作距离,再由逆向工程获得捡拾器的机构参数(第二机构参数),当然,也可以由用户确定,然后将得到的上述机构参数、工作参数(前进速度和滚筒转速)范围和工作距离输入,利用凸轮数学模型和上述弹齿运动数学模型进行分析,运行获得捡拾装置弹齿端部的最高线速度、弹齿端部的最高加速度、摆线形状的特征参数λ、单个漏捡区面积和考虑滚筒中心据地高度固定工作长度下的漏捡面积,并生成对应的5个excel文件。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)对弹齿端部的最高线速度文件(这里命名为弹齿端部的最高线速度.xls)和“摆线形状的特征参数文件(命名为摆线大小.xls)进行分析,以捡拾过程中收获物料破碎小的绝对速度边界值,确定工作参数边界值;以采用的摆线范围(可以通过查阅文献得到),缩小工作参数边界值,获得弹齿滚筒式捡拾装置的应用工作参数。(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)对固定工作长度下的漏捡面积文件(命名为固定工作长度下的漏捡面积.xls)进行分析,获取以漏捡区面积最小为目标工作参数间最佳匹配关系,工作参数间的最佳匹配关系可为智能控制做准备;(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;

通过步骤(3)、(4)可获得弹齿滚筒式捡拾装置的应用工作参数和以遗漏率最小为目标捡拾器工作参数间最佳匹配关系。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)重复步骤(1)-(4),获得理想机构参数。(5) Repeat steps (1)-(4) to obtain ideal mechanism parameters.

该理想机构参数是指性能高(前进速度快)且遗漏率低(漏捡区面积小)为目标对应的机构参数。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)使用理想机构参数,重复步骤(1),以得到理想机构参数下的凸轮实际轮廓点数据文件。(6) Using the ideal mechanism parameters, repeat step (1) to obtain the actual cam contour point data file under the ideal mechanism parameters.

进一步的,该步骤S201还可以包括:Further, this step S201 may also include:

(7)将凸轮实际轮廓点数据文件导入三维软件进行凸轮轨道建模,并对其他凸轮盘进行仿形完成新凸轮盘的建模。(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.

考虑到目前有些收获机械里的弹齿滚筒式捡拾装置中滚筒中心据地高度可调,凸轮盘更换也方便,对凸轮盘的更换就是对凸轮轨道的更换,因此通过该方法还可以通过校验步骤S202实现一机多用。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.

步骤S202:利用上述凸轮数学模型和上述弹齿运动数学模型对实际使用的捡拾装置进行校验。Step S202: Verify the actually used pick-up device by using the cam mathematical model and the spring tooth movement mathematical model.

这里的凸轮数学模型和弹齿运动数学模型包含边界条件。The mathematical model of the cam and the mathematical model of spring tooth motion here contain boundary conditions.

具体实施时,该步骤S202通过以下步骤执行:During specific implementation, the step S202 is performed through the following steps:

(1)接收用户输入的凸轮机构从动件规律以及实际使用的捡拾装置的机构参数以及实际使用的捡拾装置的工作参数范围中的任一值,获得弹齿各阶段运动状态和理论漏捡面积。(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 .

首先确定凸轮机构从动件规律和所用机器的捡拾装置(即实际使用的捡拾装置)的机构参数,该实际使用的捡拾装置的机构参数可以通过测量或逆向工程获得,所用机器的工作参数范围可以通过查询获得;例如通过最佳摆线形状以及最大工作参数通过逆向工程获得机构参数。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.

然后将机构参数和工作参数(前进速度工作范围内以及滚筒转速工作范围内各选一值)输入,获得弹齿各阶段运动状态和理论漏捡面积。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.

需要说明的是,本实施例中,前进速度和滚筒转速采用四舍五入取整的方式,且最低值(下限值)到最高值(上限值)的工作参数范围内的步进值为1。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)接收用户输入的工作参数(机器前进速度和滚筒转速)的上下限值,获得弹齿端部的最高线速度、弹齿端部的最高加速度、摆线形状的特征参数λ(摆线形状的大小)、单个漏捡区面积和考虑滚筒中心据地高度固定工作长度下的漏捡面积,并生成对应的5个excel文件。(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)对“弹齿端部的最高线速度.xls”和“摆线大小.xls”进行分析,以捡拾过程中收获物种破碎小的绝对速度边界值,确定工作参数边界值;以采用的摆线范围(查阅文献),缩小工作参数边界值,获得弹齿滚筒式捡拾装置的应用工作参数。(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)对“固定工作长度下的漏捡面积.xls”进行分析,找出以漏捡区面积最小为目标工作参数间最佳匹配关系,工作参数间的最佳匹配关系可为智能控制做准备。(4) Analyze the "missing pick-up area under fixed working length. Prepare.

(5)当实际使用的捡拾装置不能满足工作要求(例如实际机器前进速度大于应用前进速度最大值时),进行新凸轮轨道设计。(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.

首先确定收获物料的最佳摆线形状,然后输入摆线大小与理想工作参数或最大工作参数获得最大摆角,再把其他参数(测量和逆向工程)输入,运行就可以获得弹齿各阶段运动状态和理论漏捡面积,并保存凸轮实际轮廓点数据文件。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)通过三维软件的凸轮实际轮廓点数据文件导入进行凸轮轨道建模,并对原凸轮盘进行仿形完成新凸轮盘的建模;(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)加工新凸轮盘,并对弹齿滚筒式捡拾装置中原凸轮盘进行更换,更换完成后调整滚筒中心据地高度(使弹齿运动到的最低点到地面的高度在合理范围);(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)重复步骤(2)-(4),以获得新的应用工作参数和新的最佳工作参数。(8) Steps (2)-(4) are repeated to obtain new applied working parameters and new optimal working parameters.

为了描述简洁,该步骤S202未说明之处,具体可参见步骤S201。For brevity of description, for details not described in step S202, refer to step S201 for details.

进一步的是,本实施例中的机构参数可以根据实验结果预设为固定值,例如,弹齿数目(即弹齿杆数量z)为5,曲柄与摆杆夹角为63°,摆杆最大转角为90°,升程运动角110°,远程休止角130°,回程运动角120°等,具体可以参见表1。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.

表1 凸轮机构结构参数Table 1 Structural parameters of cam mechanism

实施例三:Embodiment three:

图6示出了本发明实施例提供的基于MATLAB的捡拾装置模拟装置的结构示意图,参照图6,该基于MATLAB的捡拾装置模拟装置包括: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:

学习模块200,用于对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型。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.

接收模块300,用于接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;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;

计算模块400,用于利用上述凸轮数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到凸轮运动结果;利用上述弹齿运动数学模型根据上述凸轮机构从动件规律以及上述参数信息进行分析,计算得到弹齿端部运动结果;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;

输出模块500,用于将上述凸轮运动结果和上述弹齿端部运动结果进行输出。The output module 500 is configured to output the above-mentioned cam motion result and the above-mentioned spring tooth end motion result.

进一步的是,该装置还包括:Further, the device also includes:

建模模块600,用于根据凸轮运动结果中的凸轮实际曲线轮廓,生成凸轮实际轮廓点数据文件;基于上述凸轮实际轮廓点数据文件进行凸轮轨道建模。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.

进一步的,该装置还包括:Further, the device also includes:

设计模块700,用于利用上述凸轮数学模型和上述弹齿运动数学模型对弹齿滚筒式捡拾装置进行参数优化设计。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.

校验模块800,用于利用上述凸轮数学模型和上述弹齿运动数学模型对实际使用的捡拾装置进行校验。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.

实施例三:Embodiment three:

参见图7,本发明实施例还提供一种电子设备100,包括:处理器40,存储器41,总线42和通信接口43,所述处理器40、通信接口43和存储器41通过总线42连接;处理器40用于执行存储器41中存储的可执行模块,例如计算机程序。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.

其中,存储器41可能包含高速随机存取存储器(RAM,RandomAccessMemory),也可能还包括非不稳定的存储器(non-volatile memory),例如至少一个磁盘存储器。通过至少一个通信接口43(可以是有线或者无线)实现该系统网元与至少一个其他网元之间的通信连接,可以使用互联网,广域网,本地网,城域网等。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.

总线42可以是ISA总线、PCI总线或EISA总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示,图7中仅用一个双向箭头表示,但并不表示仅有一根总线或一种类型的总线。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.

其中,存储器41用于存储程序,所述处理器40在接收到执行指令后,执行所述程序,前述本发明实施例任一实施例揭示的流过程定义的装置所执行的方法可以应用于处理器40中,或者由处理器40实现。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.

处理器40可能是一种集成电路芯片,具有信号的处理能力。在实现过程中,上述方法的各步骤可以通过处理器40中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器40可以是通用处理器,包括中央处理器(Central Processing Unit,简称CPU)、网络处理器(Network Processor,简称NP)等;还可以是数字信号处理器(Digital SignalProcessing,简称DSP)、专用集成电路(Application Specific Integrated Circuit,简称ASIC)、现成可编程门阵列(Field-Programmable Gate Array,简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成,或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器,闪存、只读存储器,可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器41,处理器40读取存储器41中的信息,结合其硬件完成上述方法的步骤。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.

本发明实施例提供的基于MATLAB的捡拾装置模拟装置及电子设备,与上述实施例提供的基于MATLAB的捡拾装置模拟方法具有相同的技术特征,所以也能解决相同的技术问题,达到相同的技术效果。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. .

本发明实施例所提供的进行基于MATLAB的捡拾装置模拟方法的计算机程序产品,包括存储了处理器可执行的非易失的程序代码的计算机可读存储介质,所述程序代码包括的指令可用于执行前面方法实施例中所述的方法,具体实现可参见方法实施例,在此不再赘述。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.

所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,上述描述的装置及电子设备的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。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.

附图中的流程图和框图显示了根据本发明的多个实施例方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上,流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分,所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意,在有些作为替换的实现中,方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如,两个连续的方框实际上可以基本并行地执行,它们有时也可以按相反的顺序执行,这依所涉及的功能而定。也要注意的是,框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合,可以用执行规定的功能或动作的专用的基于硬件的系统来实现,或者可以用专用硬件与计算机指令的组合来实现。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.

在本发明的描述中,需要说明的是,术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。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.

在本申请所提供的几个实施例中,应该理解到,所揭露的系统、装置和方法,可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,又例如,多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。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.

所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个处理器可执行的非易失的计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。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. .

最后应说明的是:以上所述实施例,仅为本发明的具体实施方式,用以说明本发明的技术方案,而非对其限制,本发明的保护范围并不局限于此,尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化,或者对其中部分技术特征进行等同替换;而这些修改、变化或者替换,并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应所述以权利要求的保护范围为准。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)

1.一种基于MATLAB的捡拾装置模拟方法,应用于弹齿滚筒式捡拾装置,其特征在于,包括: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: 对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型;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; 接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;Receive the cam mechanism follower rule of the spring tooth drum type pick-up device and the parameter information input by the user; 利用所述凸轮数学模型根据所述凸轮机构从动件规律以及所述参数信息进行分析,计算得到凸轮运动结果;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; 利用所述弹齿运动数学模型根据所述凸轮机构从动件规律以及所述参数信息进行分析,计算得到弹齿端部运动结果;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; 将所述凸轮运动结果和所述弹齿端部运动结果进行输出。Outputting the result of the cam movement and the movement result of the spring tooth end. 2.根据权利要求1所述的方法,其特征在于,所述对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型,具体包括: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: 分别通过以下运动方程计算弹齿端部位移、弹齿端部速度、弹齿端部加速度以及弹齿摆线形状: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</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>-</mo> <mi>&amp;gamma;</mi> <mo>)</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><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;</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>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><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><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><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> <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> 式中,x、y—弹齿端部的水平方向位移和垂直方向位移;In the formula, x, y—horizontal direction displacement and vertical direction displacement of the tip of spring teeth; vx、vy—弹齿端部的水平方向分速度和垂直方向分速度;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; ax、ay—弹齿端部的水平方向加速度和垂直方向加速度;a x , a y —horizontal direction acceleration and vertical direction acceleration at the tip of spring teeth; R—滚筒半径;R—roller radius; l—曲柄长度;l - crank length; l'—弹齿长度;l'—length of spring teeth; ψ0—从动件初始角;ψ 0 —the initial angle of the follower; ψ—从动件摆角;ψ—follower swing angle; t—时间;t—time; γ—弹齿与曲柄夹角;γ—the angle between the spring tooth and the crank; ψ'—从动件摆角对时间的一阶导数;ψ'—the first derivative of follower swing angle with respect to time; ψ”—从动件摆角对时间的二阶导数;ψ”—the second derivative of the follower’s swing angle with respect to time; R0—凸轮基圆半径;R 0 —radius of cam base circle; λ—摆线的特征参数;λ—characteristic parameter of the cycloid; R'—弹齿端部回转半径;R'—radius of gyration at the tip of the spring teeth; h'—凸轮机构最大摆角,新凸轮设计使用。h'—the maximum swing angle of the cam mechanism, which is used in the new cam design. 3.根据权利要求2所述的方法,其特征在于,所述对弹齿弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,具体包括: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: 基于凸轮从动件规律进行凸轮机构设计;其中,所述凸轮从动件规律包括等速运动运动规律、二次多项式运动规律、五次多项式运动规律、余弦加速度运动规律和正弦加速度运动规律。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.根据权利要求1所述的方法,其特征在于,还包括:4. The method according to claim 1, further comprising: 利用所述凸轮数学模型和所述弹齿运动数学模型对弹齿滚筒式捡拾装置进行参数优化设计。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.根据权利要求1所述的方法,其特征在于,所述将所述凸轮运动结果和所述弹齿端部运动结果进行输出,具体包括: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: 将所述凸轮运动结果和所述弹齿端部运动结果以图形、表格或者文字信息的至少一种进行输出。Outputting the cam movement result and the spring tooth end movement result in at least one of graph, table or text information. 6.根据权利要求1所述的方法,其特征在于,还包括:6. The method according to claim 1, further comprising: 根据凸轮运动结果中的凸轮实际曲线轮廓,生成凸轮实际轮廓点数据文件;According to the cam actual curve profile in the cam motion result, generate the cam actual profile point data file; 基于所述凸轮实际轮廓点数据文件进行凸轮轨道建模。Cam track modeling is performed based on the cam actual contour point data file. 7.根据权利要求1所述的方法,其特征在于,还包括:7. The method of claim 1, further comprising: 利用所述凸轮数学模型和所述弹齿运动数学模型对实际使用的捡拾装置进行校验。The actually used pick-up device is verified by using the cam mathematical model and the elastic tooth movement mathematical model. 8.根据权利要求1所述的方法,其特征在于,还包括:8. The method of claim 1, further comprising: 判断所述参数信息是否溢出;judging whether the parameter information overflows; 当所述参数信息溢出时,提示错误信息以及建议方案。When the parameter information overflows, an error message and a suggested solution are prompted. 9.一种基于MATLAB的捡拾装置模拟装置,其特征在于,包括:9. A pick-up device simulation device based on MATLAB, is characterized in that, comprises: 学习模块,用于对弹齿滚筒式捡拾装置进行凸轮机构设计构建得到凸轮数学模型,以及对弹齿滚筒式捡拾装置进行弹齿端部运动规律设计构建得到弹齿运动数学模型;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; 接收模块,用于接收弹齿滚筒式捡拾装置的凸轮机构从动件规律以及用户输入的参数信息;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; 计算模块,用于利用所述凸轮数学模型根据所述凸轮机构从动件规律以及所述参数信息进行分析,计算得到凸轮运动结果;利用所述弹齿运动数学模型根据所述凸轮机构从动件规律以及所述参数信息进行分析,计算得到弹齿端部运动结果;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; 输出模块,用于将所述凸轮运动结果和所述弹齿端部运动结果进行输出。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. 10.一种电子设备,包括存储器、处理器,所述存储器上存储有可在所述处理器上运行的计算机程序,其特征在于,所述处理器执行所述计算机程序时实现上述权利要求1至8任一项所述的方法的步骤。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.
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