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
cam
psi
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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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Inner Mongolia Agricultural University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F15/00—Baling presses for straw, hay or the like
    • A01F15/07—Rotobalers, i.e. machines for forming cylindrical bales by winding and pressing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling

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  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
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  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
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Abstract

The present invention provides a kind of pick-up unit analogy method, device and electronic equipment based on MATLAB, it is related to computer realm, to alleviate the problem of complexity existing in the prior art is high, precision is low, this method is simple and efficient, precision is high, it can accurately realize the simulation of pick-up unit, improve user experience.This method includes：Cam Design is carried out to spring tooth bowl formula pick-up unit to build to obtain cam mathematical model and carry out elastic claw end characteristics of motion design construction to obtain elastic claw motion mathematical model；Receive parameter information and cam follower rule input by user；Analyzed using cam mathematical model according to cam follower rule and parameter information, cam motion result is calculated；Analyzed using elastic claw motion mathematical model according to above-mentioned cam follower rule and parameter information, elastic claw end motion result is calculated；Cam motion result and elastic claw end motion result are exported.

Description

Pick-up unit analogy method, device and electronic equipment based on MATLAB
Technical field
The present invention relates to technical field of data processing, more particularly, to a kind of pick-up unit simulation side based on MATLAB Method, device and electronic equipment.
Background technology
With range improvement and the comprehensive regulation, the demand of grass making machinery can be increased significantly.Development of the West Regions is fought Implementation, the adjustment of the structure of agricultural production and the fast development of environmental industry slightly, grass making machine will more have wide development and application Prospect.Pick-up bale is a type of grass making machinery, and wherein spring tooth bowl formula pick-up unit is its groundwork Component, its performance quality directly influence the working performance of pick-up bale, and the further investigation that pickup is unfolded has necessarily Meaning.
As shown in Figure 1, spring tooth bowl formula pick-up unit mainly by stent 11, suspended axle 10, side guard plate 9, drum protecting plate 8, Jackshaft 7, roller disk 6, roller 5, cam disc 4, crank 3, pipe axis 2 and elastic claw 1 etc. form.Spring tooth bowl formula pick-up unit essence It is the cam with oscillating follower after a reversion.The characteristics of motion of spring tooth bowl formula pick-up unit is that cam disc is motionless, bent Handle and elastic claw point of contact are fixed on roller, and roller is driving elastic claw movement around revolution center rotating.
Spring tooth bowl formula pick-up unit picks up motion state and the pickup that operation quality depends primarily upon pick-up unit elastic claw The working status of device.Pickup rate be weigh spring tooth bowl formula pick-up unit working performance an important indicator, in theory it Determined by elastic claw movement locus, it is that (the misaligned area of two adjacent elastic claw tracks is Lou Jian areas, is such as schemed in reduction Lou Jian areas Shown in 2 shadow region), ensure pickup rate key.
At present, China's spring tooth bowl formula pick-up unit conventional design method is to use graphical method and analytic method, which sets Meter method is not only cumbersome, but also precision is low, in addition, the conventional design method does not have theoretical foundation, limitation is larger, serious to restrict Its use reliability.
Not yet propose effective solution method at present regarding to the issue above.
The content of the invention
In view of this, it is an object of the invention to provide a kind of pick-up unit analogy method based on MATLAB, device and Electronic equipment, to alleviate the problem of complexity existing in the prior art is high, precision is low.
In a first aspect, an embodiment of the present invention provides a kind of pick-up unit analogy method based on MATLAB, applied to bullet Dental roller formula pick-up unit, including：
Cam Design is carried out to spring tooth bowl formula pick-up unit to build to obtain cam mathematical model, and elastic claw is rolled Cartridge type pick-up unit carries out elastic claw end characteristics of motion design construction and obtains elastic claw motion mathematical model；
Receive the cam follower rule of spring tooth bowl formula pick-up unit and parameter information input by user；
Using the cam mathematical model according to the cam follower rule and the parameter information, calculate To cam motion result；
Using the elastic claw motion mathematical model according to the cam follower rule and the parameter information, meter Calculation obtains elastic claw end motion result；
The cam motion result and elastic claw end motion result are exported.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein, institute State and elastic claw motion mathematical model is obtained to elastic claw spring tooth bowl formula pick-up unit progress elastic claw end characteristics of motion design construction, have Body includes：
Respectively by the following equation of motion calculate elastic claw end displacement, elastic claw tip speed, elastic claw end acceleration and Elastic claw cycloid shape：
In formula, the horizontal direction displacement and vertical direction displacement of x, y-elastic claw end；
vx、vyThe horizontal direction component velocity and vertical direction component velocity of-elastic claw end；
ax、ayThe horizontal direction acceleration and vertical direction acceleration of-elastic claw end；
R-radius roller；
L-crank length；
L'-elastic claw length；
ψ0- driven member initial angle；
ψ-driven member pivot angle；
T-time；
γ-elastic claw and crank angle；
First derivative of the ψ '-driven member pivot angle to the time；
Second dervative of the ψ "-driven member pivot angle to the time；
R0- radius of cam base-circle；
The characteristic parameter of λ-cycloid；
R'-elastic claw end the radius of gyration；
H'-cam mechanism maximum pendulum angle, use is designed for new cam.
The possible embodiment of with reference to first aspect the first, an embodiment of the present invention provides second of first aspect Possible embodiment, wherein, it is described that elastic claw spring tooth bowl formula pick-up unit progress Cam Design is built to obtain cam Mathematical model, specifically includes：
Cam Design is carried out based on cam follower rule；Wherein, the cam follower rule is transported including constant speed The dynamic characteristics of motion, the quadratic polynomial characteristics of motion, quintic algebra curve characteristics of motion, cosine acceleration motion rule and sinusoidal acceleration Spend the characteristics of motion.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiment of first aspect, wherein, profit Parameters Optimal Design is carried out to spring tooth bowl formula pick-up unit with the cam mathematical model and the elastic claw motion mathematical model.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiment of first aspect, wherein, institute State and exported the cam motion result and elastic claw end motion result, specifically include：
By the cam motion result and elastic claw end motion result with figure, form or text information at least One kind is exported.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiment of first aspect, wherein, should Method further includes：
Cam actual curve profile in cam motion result, generates cam actual profile point data file；
Cam rail modeling is carried out based on the cam actual profile point data file.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiment of first aspect, wherein, should Method further includes：
School is carried out to the pick-up unit of actual use using the cam mathematical model and the elastic claw motion mathematical model Test.
With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiment of first aspect, wherein, should Method further includes：
Judge whether the parameter information overflows；
When the parameter information overflows, error message and proposed projects are prompted.
Second aspect, the embodiment of the present invention also provide a kind of pick-up unit simulator based on MATLAB, including：
Study module, builds to obtain cam mathematical modulo for carrying out Cam Design to spring tooth bowl formula pick-up unit Type, and elastic claw end characteristics of motion design construction is carried out to spring tooth bowl formula pick-up unit and obtains elastic claw motion mathematical model；
Receiving module, for receiving the cam follower rule of spring tooth bowl formula pick-up unit and input by user Parameter information；
Computing module, for utilizing the cam mathematical model according to the cam follower rule and the ginseng Number information is analyzed, and cam motion result is calculated；Using the elastic claw motion mathematical model according to the cam mechanism Driven member rule and the parameter information are analyzed, and elastic claw end motion result is calculated；
Output module, for the cam motion result and elastic claw end motion result to be exported.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, including memory, processor, the memory On be stored with the computer program that can be run on the processor, the processor is realized when performing the computer program The step of stating the method described in first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of meter for the non-volatile program code that can perform with processor Calculation machine computer-readable recording medium, said program code make the processor perform the method described in above-mentioned first aspect.
The embodiment of the present invention brings following beneficial effect：
In the pick-up unit analogy method provided in an embodiment of the present invention based on MATLAB, first by spring tooth bowl Formula pick-up unit carries out Cam Design and builds to obtain cam mathematical model, and carries out bullet to spring tooth bowl formula pick-up unit Tooth ends characteristics of motion design construction obtains elastic claw motion mathematical model；Then the cam machine of spring tooth bowl formula pick-up unit is received Structure driven member rule and parameter information input by user；Next, using above-mentioned cam mathematical model according to above-mentioned cam machine Structure driven member rule and above-mentioned parameter information are analyzed, and cam motion result is calculated；Number is moved using above-mentioned elastic claw Learn model to be analyzed according to above-mentioned cam follower rule and above-mentioned parameter information, the movement of elastic claw end is calculated As a result；Finally above-mentioned cam motion result and above-mentioned elastic claw end motion result are exported.Therefore, the embodiment of the present invention carries The technical solution of confession, on the basis of kinematics analysis, founding mathematical models, to alleviate complexity existing in the prior art High, the problem of precision is low.This method is simple, quick and precision is high, can accurately realize the simulation of pick-up unit, improve use Family Experience Degree, meanwhile, being somebody's turn to do the pick-up unit analogy method based on MATLAB has theoretical foundation, strong applicability, reliability height.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims And specifically noted structure is realized and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate Appended attached drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is the structure diagram of spring tooth bowl formula pick-up unit；
Fig. 2 is the structure diagram of spring tooth bowl formula pick-up unit missing inspection area；
Fig. 3 is a kind of flow diagram of the pick-up unit analogy method based on MATLAB provided in an embodiment of the present invention；
Fig. 4 shows the coordinate system reference chart established during structure mathematical model provided in an embodiment of the present invention；
Fig. 5 is the flow signal of another pick-up unit analogy method based on MATLAB provided in an embodiment of the present invention Figure；
Fig. 6 is the structure diagram of the pick-up unit simulator provided in an embodiment of the present invention based on MATLAB；
Fig. 7 is the structure diagram of electronic equipment provided in an embodiment of the present invention.
Icon：1- elastic claws；2- pipe axis；3- cranks；4- cam discs；5- rollers；6- roller disks；7- jackshafts；8- rollers protect Plate；9- side guard plates；10- suspended axles；11- stents.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with attached drawing to the present invention Technical solution be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Lower all other embodiments obtained, belong to the scope of protection of the invention.
At present, China's spring tooth bowl formula pick-up unit conventional design method is to use graphical method and analytic method, which sets Meter method is not only cumbersome, but also precision is low, in addition, the conventional design method does not have theoretical foundation, limitation is larger, serious to restrict Its use reliability.Based on this, a kind of pick-up unit analogy method based on MATLAB provided in an embodiment of the present invention, device and Electronic equipment, alleviates the problem of complexity existing in the prior art is high, precision is low.
For ease of understanding the present embodiment, first to a kind of picking up based on MATLAB disclosed in the embodiment of the present invention Unit simulation method is picked up to describe in detail.
Embodiment one：
Fig. 3 shows a kind of flow signal of pick-up unit analogy method based on MATLAB provided in an embodiment of the present invention Figure.With reference to Fig. 3, it is somebody's turn to do the pick-up unit analogy method based on MATLAB and can be applied to spring tooth bowl formula pick-up unit, this method bag Include following steps：
Step S101：Cam Design is carried out to spring tooth bowl formula pick-up unit to build to obtain cam mathematical model, with And elastic claw end characteristics of motion design construction is carried out to elastic claw spring tooth bowl formula pick-up unit and obtains elastic claw motion mathematical model.
When building mathematical model, coordinate system is initially set up, the coordinate system of foundation is as shown in figure 4, the coordinate system in Fig. 4 is built Vertical process is：Using the center of circle of cam base circle as coordinate origin, make using direct of travel (Vt) as the positive direction of X-axis, vertical X axis Y-axis, will be far from ground and refers to positive direction of the upwardly direction as Y-axis.
It is above-mentioned that elastic claw spring tooth bowl formula pick-up unit progress Cam Design is built to obtain cam mathematical model, specifically Including：
A is based on cam follower rule and carries out Cam Design；Wherein, cam follower rule includes movement at the uniform velocity fortune Dynamic rule, the quadratic polynomial characteristics of motion, quintic algebra curve characteristics of motion, cosine acceleration motion rule and sinusoidal acceleration fortune Dynamic rule.
Cam follower rule is described below：
(1) move at the uniform velocity the characteristics of motion rise equation of motion：
V=h ω/Φ
A=0
Drawback movement equation：
V=-h ω/Φ '
A=0
2) the quadratic polynomial characteristics of motion rise accelerating sections rise equation of motion is
A=4h ω2/Φ2
The rise braking section rise equation of motion is
A=-4h ω2/Φ2
The equation of motion of the accelerating sections such as backhaul is
A=-4h ω2/Φ'2
The braking section equation of motion such as backhaul is
A=4h ω2/Φ'2
3) the quintic algebra curve characteristics of motion rise equation of motion
Drawback movement equation
4) the cosine acceleration motion rule rise equation of motion
Drawback movement equation
5) the sinusoidal acceleration characteristics of motion rise equation of motion
Drawback movement equation
In formula, ψ-driven member pivot angle；V-cam mechanism angular speed；A-cam mechanism angular acceleration；- cam mechanism Corner, corresponds to the ω t in the characteristics of motion design formula of elastic claw end；Φ-cam mechanism lift angle；Φ '-cam mechanism backhaul Angle；ω-cam mechanism angular velocity of rotation；H-cam mechanism maximum pendulum angle；
Under coordinate system shown in Fig. 4, the arbitrary point (being set to B points here) on cam pitch curve curve, its coordinate is
In formula, R represents radius roller, and it be clockwise that cam, which turns to, during η=1, and cam steering is counterclockwise during η=- 1；δ= Driven member rise swaying direction is clockwise when 1, and driven member rise swaying direction is counterclockwise during δ=- 1；ψ puts for driven member Angle, corresponding driven member rule equation；ψ0For driven member initial angle,- cam mechanism corner.
The parametric equation of roller follower disk cam mechanism cam Ditermination of cam profile is as follows：
Wherein, rTFor radius of roller.
Pressure angle formula：
In formula, R expression radius rollers, l-crank length,Represent cam mechanism corner, ψ is driven member pivot angle, corresponding Driven member rule equation；ψ0For driven member initial angle.
The curvature radius formula of arbitrary point (B points) is as follows on theoretical contour：
In formula,Represent cam mechanism corner.
The above-mentioned elastic claw end characteristics of motion design construction that carried out to spring tooth bowl formula pick-up unit obtains elastic claw movement mathematics Model, specifically includes：
B is based on the elastic claw end equation of motion and carries out the characteristics of motion design of elastic claw end；Wherein, elastic claw end equation of motion bag Include the elastic claw end displacement equation of motion (1), the elastic claw tip speed equation of motion (2), elastic claw end acceleration movement equation (3), Cycloid shape equation (5) and maximum pendulum angle accounting equation (6).
During implementation, elastic claw end displacement, elastic claw tip speed, the acceleration of elastic claw end are calculated by the following equation of motion respectively Degree, elastic claw cycloid shape and cam mechanism maximum pendulum angle：
In formula, x, y represent the horizontal direction displacement and vertical direction displacement of elastic claw end respectively；
vx、vyThe horizontal direction component velocity and vertical direction component velocity of elastic claw end are represented respectively；
ax、ayThe horizontal direction acceleration and vertical direction acceleration of elastic claw end are represented respectively；
R-radius roller；L-crank length；L'-elastic claw length；ψ0- driven member initial angle；
ψ-driven member pivot angle；T-time；γ-elastic claw and crank angle；R'-elastic claw end the radius of gyration；
First derivative of the ψ '-driven member pivot angle to the time；Second dervative of the ψ "-driven member pivot angle to the time；
R0- radius of cam base-circle；The characteristic parameter of λ-cycloid；H'-cam mechanism maximum pendulum angle, is designed for new cam Use.
Finally according to above-mentioned Cam Design and the design of the above-mentioned elastic claw end characteristics of motion, structure obtains cam respectively Mathematical model and elastic claw motion mathematical model.
Step S102：Receive the cam follower rule of spring tooth bowl formula pick-up unit and parameter input by user Information.
In the present embodiment, above-mentioned parameter information includes mechanism parameter information and operating parameter information.
Wherein, said mechanism parameter information includes but not limited to swing rod hard-over, lifting movement angle, long-range angle of repose, Motion angle for return travel, elastic claw number, the centre of gyration are away from ground level, radius roller, crank length, elastic claw length, crank and elastic claw Angle, radius of cam base-circle, radius of roller, fixed active length etc..It should be noted that swing rod is triangle with elastic claw, Swing rod change drives elastic claw change.
The cam follower rule of above-mentioned spring tooth bowl formula pick-up unit can be selected by user, when user does not input When, cam follower rule is defaulted as constant velocity motion, and above-mentioned operating parameter information includes machine forwarding speed, roller Rotating speed.Need exist for explanation, machine forwarding speed or drum rotation speed can be the numerical value of any input or on Limit value and lower limit two values, can also be a default working range.
Above-mentioned motion law of follower component of cam mechanism information includes the movement at the uniform velocity characteristics of motion, quadratic polynomial (waits acceleration Deng slow down) characteristics of motion, quintic algebra curve characteristics of motion, cosine acceleration (simple harmonic quantity) characteristics of motion, sinusoidal acceleration (cycloid) The characteristics of motion.
Step S103：Believed using above-mentioned cam mathematical model according to above-mentioned cam follower rule and above-mentioned parameter Breath, is calculated cam motion result.
Wherein, above-mentioned cam motion result includes cam displacement, cam speed, cam acceleration, cam pitch curve wheel At least one of exterior feature, cam actual curve profile, pressure angle and radius of curvature.
Specifically, using above-mentioned cam mathematical model according to above-mentioned cam follower rule and above-mentioned parameter information Analyzed, such as required ginseng in corresponding kinematics formula and formula is extracted according to parameter information input by user Number information, is calculated cam motion result.
Step S104：Using above-mentioned elastic claw motion mathematical model according to above-mentioned cam follower rule and above-mentioned ginseng Number information is analyzed, and elastic claw end motion result is calculated.
Wherein, above-mentioned elastic claw end motion result includes：Elastic claw end displacement, elastic claw tip speed, elastic claw end accelerate At least one of area is picked up in degree, elastic claw cycloid shape and leakage.
Specifically, the cam follower rule based on parameter information input by user and selection, utilizes above-mentioned bullet The parameter information that tooth motion mathematical model extracts corresponding kinematics formula and computing needs, so that elastic claw end be calculated Portion's motion result.
Step S105：Above-mentioned cam motion result and above-mentioned elastic claw end motion result are exported.
Specifically, by the above-mentioned cam motion result elastic claw end motion result being calculated with figure, form or text At least one of word information is exported, and shows user, improves user experience.The result of output can also be included from chart In obtained maximum pendulum angle (°, degree), maximum pressure angle (°, degree), maximum radius of roller (m, rice), elastic claw end radius of gyration model Enclose (m, rice), trochoidal curve size, elastic claw move to distance (m, rice) between minimum point and the centre of gyration, monocycle missing inspection area area (m2, square metre), Lou Jian areas height (m, rice), the high missing inspection area (m with the ratio at bottom, fixed active length in Lou Jian areas2, square Rice) etc. concrete numerical value information.It is concise directly perceived, improve user experience.
Pick-up unit analogy method provided in an embodiment of the present invention based on MATLAB, first by being picked up to spring tooth bowl formula Pick up device progress Cam Design to build to obtain cam mathematical model, and elastic claw end is carried out to spring tooth bowl formula pick-up unit Portion's characteristics of motion design construction obtains elastic claw motion mathematical model；Then receive spring tooth bowl formula pick-up unit cam mechanism from Moving part rule and parameter information input by user；Next, using above-mentioned cam mathematical model according to above-mentioned cam mechanism from Moving part rule and above-mentioned parameter information are analyzed, and cam motion result is calculated；Mathematical modulo is moved using above-mentioned elastic claw Type is analyzed according to above-mentioned cam follower rule and above-mentioned parameter information, and elastic claw end movement knot is calculated Fruit；Finally above-mentioned cam motion result and above-mentioned elastic claw end motion result are exported.Therefore, the embodiment of the present invention provides Technical solution, on the basis of kinematics analysis, founding mathematical models, and being programmed using Matlab softwares, and to User shows gui interface；Above-mentioned gui interface includes parameter input area and graphing area and output fruiting area；Receive user The parameter of input and the follower motion of selection, carry out analysis and solution, generation result is simultaneously using the mathematical model of structure The result of generation is exported, alleviates the problem of complexity existing in the prior art is high, precision is low.This method is simple, quick, energy Enough simulations for accurately realizing pick-up unit, improve user experience, meanwhile, should the pick-up unit simulation side based on MATLAB Method has theoretical foundation, strong applicability, reliability height.
Consider user when being simulated, in fact it could happen that the situation of maloperation (such as mistake during input data), in order to make Mathematical model more closing to reality demand, improves system reliability, improves user satisfaction.
It is further that this method further includes：Cam number is included according to the boundary condition of the pick-up unit of harvested material Learn in model and elastic claw motion mathematical model.Wherein, above-mentioned boundary condition includes organizational boundaries condition and harvest boundary condition, Organizational boundaries condition includes Cam Design boundary condition, and harvest boundary condition includes the boundary condition and harvest of machine performance The boundary condition of material, elastic claw plan boundary bar is determined according to the boundary condition of the boundary condition of machine performance and harvest material Part.
Above-mentioned Cam Design boundary condition includes but not limited to：
(1) roller is on cam disc, by difference of the random a line more than another two and less than another two and judged.
(2) to ensure that movement is undistorted, roller design maximum radius should be less than minimum profile curvature radius.
Above-mentioned elastic claw plan boundary condition includes but not limited to elastic claw speed designs boundary condition.To harvest material as herbage Pick-up unit elastic claw speed designs boundary condition exemplified by illustrate：Elastic claw absolute velocity is less than 3m/s, and elastic claw, which is thrown, herds The instantaneous horizontal speed of grass is 0 as far as possible.Separately by taking grass pickup device as an example, elastic claw highly should according to ground when elastic claw moves to minimum point Control is in 5cm~15cm.(note：JB/T5160-2010 regulations are that the height for the stubble left is 5cm~15cm).
It is further that this method further includes modeling procedure.
Specifically, the modeling procedure is realized by following steps：Cam first in cam motion result is actual bent Line profile, generates cam actual profile point data file；It is then based on above-mentioned cam actual profile point data file and carries out cam Orbit modeling.
Further, this method further includes：Judge whether above-mentioned parameter information overflows.
Wherein, overflowing includes certain of parameter information input by user not in default parameter area or in parameter information A little parameters do not meet boundary condition.
When above-mentioned parameter information spillover, error message and proposed projects are prompted.
Wherein, frequent fault information and proposed projects are as follows：
1.1. error message：Toggle-action lever is too short, and roller is not in contact with cam
Proposed projects：It please increase the length or increase basic circle of toggle-action lever.
1.2. radius of roller selects improper, motion distortion
It please reduce radius of roller.
Though 1.3. can move undistorted, design requirement is unsatisfactory for
It please reduce radius of roller.
1.4. non-normal working
It please increase drum rotation speed or reduce machine forwarding speed.
1.5. absolute velocity is more than 3m/s, and meeting maximum probability hits lucerne flowers and leaves down
It please reduce drum rotation speed or reduce machine forwarding speed.
1.6. elastic claw can encounter ground
It please increase absolute altitude of the centre of gyration away from ground, because the centre of gyration to ground is moved along negative direction of the y-axis, also Be say reduce height of the centre of gyration away from ground can, such as height of the centre of gyration away from ground is become -0.35 by -0.3.
Embodiment two：
As shown in figure 5, on the basis of embodiment one, an embodiment of the present invention provides pickup of the another kind based on MATLAB Unit simulation method, applied to spring tooth bowl formula pick-up unit, being somebody's turn to do the pick-up unit analogy method based on MATLAB includes：
Step S201：Spring tooth bowl formula is picked up using above-mentioned cam mathematical model and above-mentioned elastic claw motion mathematical model and is filled Put carry out Parameters Optimal Design.
Here cam mathematical model and elastic claw motion mathematical model includes boundary condition.
Step S201 is realized especially by following steps：
(1) size (i.e. the feature parameter"λ" of cycloid) for receiving cycloid shape input by user, the elastic claw length for preparing design Degree, radius roller, design work parameter and the first mechanism parameter, and the cam follower rule of user's selection is received, It is actual to obtain elastic claw end displacement, elastic claw tip speed, elastic claw end acceleration movement result, theoretical missing inspection area and cam Curved profile, and cam actual profile point data file is generated according to cam actual curve profile.
Here design work parameter refer to maximum functional parameter (can be obtained by user experience, can also be according to pressure The performance of bundle machine is known)；Above-mentioned first mechanism parameter includes lifting movement angle, long-range angle of repose, motion angle for return travel, elastic claw number Mesh, the centre of gyration are away from ground level, radius roller, crank length, elastic claw length, crank and elastic claw (or swing rod) angle, convex Base radius, radius of roller, fixed active length and cam rail wall thickness are taken turns, but does not include maximum pendulum angle (i.e. cycloid shape Size).
Specifically, it is first determined the optimal cycloid shape (size that can know cycloid shape) and preparation for harvesting material are set The elastic claw length (can be according to the national standard of harvested material pickup, such as grass pickup device JB/T5160-1991) of meter, roller Radius and design work parameter, a kind of determination mode are：It is determined by user's consulting literatures data, i.e., user can be according to field Between condition (harvest material, the condition such as geological environment) determine that (for example herbage requires for the size of optimal cycloid shape of harvest material It is 1.2 to 1.5) and elastic claw length to be designed, radius roller and design work parameter；Another determination mode is：It is logical Access external data base or webpage etc. is crossed to carry out crawling acquisition above-mentioned parameter；Do not limited in the present embodiment.
Then by the size of cycloid shape and the input of ideal operation parameter or maximum functional parameter based on MATLAB programmings The gui interface that system provides, and can edit and remove radius roller, elastic claw length, crank length and song in (modification) gui interface Other mechanism parameters outside angle between handle and elastic claw, such as change cam lifting angle, far not angle, backhaul angle, base radius, rolling Sub- radius, groove width etc.；Operation can obtain each course movement state of pick-up unit and theoretical leakage picks up area and (utilizes cam mathematical modulo Type and elastic claw motion mathematical model are analyzed, and cam actual curve profile in cam motion result, elastic claw end is calculated Portion's displacement, elastic claw tip speed, elastic claw end acceleration movement result (i.e. each course movement state of elastic claw) and theoretical missing inspection Area, cam actual profile point data file.Meanwhile cam actual profile point data text is generated according to cam actual curve profile Part, and preserve the cam actual profile point data file.
(2) the second mechanism parameter input by user and running parameter scope to be designed are received and operating distance is (i.e. fixed Active length), analyzed using cam mathematical model and above-mentioned elastic claw motion mathematical model, obtain the ceiling for accumulation of elastic claw end Under speed, the highest acceleration of elastic claw end, the characteristic parameter of cycloid shape, single Lou Jian areas area and fixed active length Area is picked up in leakage.
Here the leakage under fixation active length picks up area and refers to consider centre of the drum according under the highly fixed active length in ground Leakage pick up area；Above-mentioned second mechanism parameter include swing rod hard-over, lifting movement angle, long-range angle of repose, motion angle for return travel, Elastic claw number, the centre of gyration are pressed from both sides away from ground level, radius roller, crank length, elastic claw length, crank and elastic claw (or swing rod) Angle, radius of cam base-circle, radius of roller and fixed active length.
During specific implementation, user is according to the performance of field condition and designed machine (can also be the machine of actual use) Parameter determines running parameter (pace and drum rotation speed) scope and operating distance, then the machine of pickup is obtained by reverse-engineering Structure parameter (the second mechanism parameter), it is of course also possible to be determined by user, then by obtained said mechanism parameter, running parameter (pace and drum rotation speed) scope and operating distance input, utilize cam mathematical model and above-mentioned elastic claw motion mathematical model Analyzed, operation obtains the maximum linear velocity of pick-up unit elastic claw end, the highest acceleration of elastic claw end, cycloid shape Area is picked up according to the leakage under the highly fixed active length in ground by feature parameter"λ", single Lou Jian areas area and consideration centre of the drum, and generates Corresponding 5 excel files.
(3) the maximum linear velocity file (the maximum linear velocity .xls for being named as elastic claw end here) to elastic claw end and " characteristic parameter file (being named as cycloid size .xls) of cycloid shape is analyzed, and is crushed with harvesting material during pickup Small absolute velocity boundary value, determines running parameter boundary value；With the cycloid scope (can be obtained by consulting literatures) of use, Running parameter boundary value is reduced, obtain spring tooth bowl formula pick-up unit applies running parameter.
(4) area file (area .xls is picked up in the leakage being named as under fixed active length) is picked up to the leakage under fixed active length Analyzed, obtain the optimum matching relation between the minimum target operating parameters of Lou Jian areas area, optimal between running parameter It can prepare with relation for intelligent control；
The application running parameter and minimum with missing rate of spring tooth bowl formula pick-up unit can be obtained by step (3), (4) Optimum matching relation between target pickup running parameter.
(5) repeat step (1)-(4), obtain ideal mechanism parameter.
The ideal mechanism parameter refers to performance high (pace is fast) and missing rate low (Lou Jian areas area is small) is target pair The mechanism parameter answered.
(6) ideal mechanism parameter, repeat step (1), to obtain the cam actual profile point under ideal mechanism parameter are used Data file.
Further, step S201 can also include：
(7) cam actual profile point data file is imported into three-dimensional software and carries out cam rail modeling, and to other cams Disk carries out the modeling that new cam disk is completed in profiling.
It is highly adjustable according to ground in view of centre of the drum in the spring tooth bowl formula pick-up unit in some current harvest machineries, it is convex Wheel disc is replaced and is also convenient for, and the replacement to cam disc is exactly the replacement to cam rail, therefore can also pass through school by this method Test step S202 and realize a tractor serves several purposes.
Step S202：Filled using the pickup of above-mentioned cam mathematical model and above-mentioned elastic claw motion mathematical model to actual use Put and verified.
Here cam mathematical model and elastic claw motion mathematical model includes boundary condition.
When it is implemented, step S202 is performed by following steps：
(1) receive the mechanism parameter of the pick-up unit of cam follower rule input by user and actual use with And any value in the running parameter scope of the pick-up unit of actual use, obtain each course movement state of elastic claw and theoretical leakage is picked up Area.
The pick-up unit (pick-up unit actually used) of cam follower rule and service machine is determined first Mechanism parameter, the mechanism parameter of the pick-up unit of the actual use can pass through measurement or reverse-engineering obtains, service machine Running parameter scope can pass through inquire about obtain；Such as reverse work is passed through by optimal cycloid shape and maximum functional parameter Journey obtaining means parameter.
Then mechanism parameter and running parameter (are respectively selected in pace working range and in drum rotation speed working range One value) input, obtain each course movement state of elastic claw and area is picked up in theoretical leakage.
It should be noted that in the present embodiment, pace and drum rotation speed are by the way of round, and most Step value in the range of low value (lower limit) to the running parameter of peak (upper limit value) is 1.
(2) upper lower limit value of running parameter (machine forwarding speed and drum rotation speed) input by user is received, obtains elastic claw The maximum linear velocity of end, the highest acceleration of elastic claw end, the feature parameter"λ" (size of cycloid shape) of cycloid shape, list Area is picked up according to the leakage under the highly fixed active length in ground by Ge Loujian areas area and consideration centre of the drum, and generates corresponding 5 Excel files.
(3) to " the maximum linear velocity .xls " of elastic claw end and " cycloid size .xls " is analyzed, during pickup Harvest species crush small absolute velocity boundary value, determine running parameter boundary value；With the cycloid scope (consulting literatures) of use, Running parameter boundary value is reduced, obtain spring tooth bowl formula pick-up unit applies running parameter.
(4) to " leakage under fixed active length is picked up area .xls " and analyzed, and finds out with the minimum mesh of Lou Jian areas area Optimum matching relation between running parameter is marked, the optimum matching relation between running parameter can prepare for intelligent control.
(5) when the pick-up unit of actual use cannot meet job requirement (such as actual machine pace be more than application During pace maximum), carry out new cam Track desigh.
The optimal cycloid shape of harvest material is determined first, then inputs cycloid size and ideal operation parameter or maximum work Make gain of parameter maximum pendulum angle, then other specification (measurement and reverse-engineering) input, operation are obtained with elastic claw each stage Area is picked up in motion state and theoretical leakage, and preserves cam actual profile point data file.
(6) imported by the cam actual profile point data file of three-dimensional software and carry out cam rail modeling, and to former convex Wheel disc carries out the modeling that new cam disk is completed in profiling；
(7) new cam disk is processed, and spring tooth bowl formula pick-up unit Central Plains cam disc is replaced, is adjusted after the completion of replacement Whole centre of the drum is according to ground height (make the minimum point that elastic claw moves to the height on ground in zone of reasonableness)；
(8) repeat step (2)-(4), it is new using running parameter and new optimum working parameter to obtain.
Succinct in order to describe, step S202 does not specify part, for details, reference can be made to step S201.
It is further that the mechanism parameter in the present embodiment can be preset as fixed value according to experimental result, for example, elastic claw Number (i.e. elastic claw bar quantity z) is 5, and crank and swing rod angle are 63 °, and swing rod hard-over is 90 °, 110 ° of lifting movement angle, Long-range 130 ° of angle of repose, 120 ° of motion angle for return travel etc., specifically may refer to table 1.
1 cam mechanism structural parameters of table
Embodiment three：
Fig. 6 shows the structure diagram of the pick-up unit simulator provided in an embodiment of the present invention based on MATLAB, With reference to Fig. 6, being somebody's turn to do the pick-up unit simulator based on MATLAB includes：
Study module 200, builds to obtain cam mathematics for carrying out Cam Design to spring tooth bowl formula pick-up unit Model, and elastic claw end characteristics of motion design construction is carried out to spring tooth bowl formula pick-up unit and obtains elastic claw movement mathematical modulo Type.
Receiving module 300, the cam follower rule and user for receiving spring tooth bowl formula pick-up unit are defeated The parameter information entered；
Computing module 400, for using above-mentioned cam mathematical model according to above-mentioned cam follower rule and State parameter information to be analyzed, cam motion result is calculated；Using above-mentioned elastic claw motion mathematical model according to above-mentioned cam Mechanism driven member rule and above-mentioned parameter information are analyzed, and elastic claw end motion result is calculated；
Output module 500, for above-mentioned cam motion result and above-mentioned elastic claw end motion result to be exported.
It is further that the device further includes：
Modeling module 600, for the cam actual curve profile in cam motion result, generates cam actual profile Point data file；Cam rail modeling is carried out based on above-mentioned cam actual profile point data file.
Further, which further includes：
Module 700 is designed, for utilizing above-mentioned cam mathematical model and above-mentioned elastic claw motion mathematical model to spring tooth bowl Formula pick-up unit carries out Parameters Optimal Design.
Correction verification module 800, for utilizing above-mentioned cam mathematical model and above-mentioned elastic claw motion mathematical model to actual use Pick-up unit verified.
Embodiment three：
Referring to Fig. 7, the embodiment of the present invention also provides a kind of electronic equipment 100, including：Processor 40, memory 41, bus 42 and communication interface 43, the processor 40, communication interface 43 and memory 41 connected by bus 42；Processor 40 is used to hold The executable module stored in line storage 41, such as computer program.
Wherein, memory 41 may include high-speed random access memory (RAM, RandomAccessMemory), also may be used Non-labile memory (non-volatile memory), for example, at least a magnetic disk storage can be further included.By at least One communication interface 43 (can be wired or wireless) realizes the communication between the system network element and at least one other network element Connection, can use internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 42 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data Bus, controlling bus etc..Only represented for ease of representing, in Fig. 7 with a four-headed arrow, it is not intended that an only bus or A type of bus.
Wherein, memory 41 is used for storage program, and the processor 40 performs the journey after execute instruction is received Sequence, the method performed by device that the stream process that foregoing any embodiment of the embodiment of the present invention discloses defines can be applied to handle In device 40, or realized by processor 40.
Processor 40 is probably a kind of IC chip, has the disposal ability of signal.During realization, above-mentioned side Each step of method can be completed by the integrated logic circuit of the hardware in processor 40 or the instruction of software form.Above-mentioned Processor 40 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal Processing, abbreviation DSP), application-specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable Logical device, discrete gate or transistor logic, discrete hardware components.It can realize or perform in the embodiment of the present invention Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor can also be appointed What conventional processor etc..The step of method with reference to disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing Device performs completion, or performs completion with the hardware in decoding processor and software module combination.Software module can be located at Machine memory, flash memory, read-only storage, programmable read only memory or electrically erasable programmable memory, register etc. are originally In the storage medium of field maturation.The storage medium is located at memory 41, and processor 40 reads the information in memory 41, with reference to Its hardware completes the step of above method.
Pick-up unit simulator and electronic equipment provided in an embodiment of the present invention based on MATLAB, with above-described embodiment The pick-up unit analogy method based on MATLAB provided has identical technical characteristic, is asked so can also solve identical technology Topic, reaches identical technique effect.
What the embodiment of the present invention was provided carries out the computer program product of the pick-up unit analogy method based on MATLAB, The computer-readable recording medium for the non-volatile program code that can perform including storing processor, said program code include Instruction can be used for perform previous methods embodiment described in method, specific implementation can be found in embodiment of the method, herein no longer Repeat.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description And the specific work process of electronic equipment, the corresponding process in preceding method embodiment is may be referred to, details are not described herein.
Flow chart and block diagram in attached drawing show multiple embodiment method and computer program products according to the present invention Architectural framework in the cards, function and operation.At this point, each square frame in flow chart or block diagram can represent one A part for module, program segment or code, a part for the module, program segment or code are used for realization comprising one or more The executable instruction of defined logic function.It should also be noted that at some as the work(in the realization replaced, marked in square frame Energy can also be with different from the order marked in attached drawing generation.For example, two continuous square frames can essentially be substantially parallel Ground performs, they can also be performed in the opposite order sometimes, this is depending on involved function.It is also noted that block diagram And/or the combination of each square frame and block diagram in flow chart and/or the square frame in flow chart, work(as defined in performing can be used Can or the dedicated hardware based system of action realize, or reality can be carried out with the combination of specialized hardware and computer instruction It is existing.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ", The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to Easy to describe the present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ", " the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit, Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect Coupling or communication connection, can be electrical, machinery or other forms.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with It is stored in the non-volatile computer read/write memory medium that a processor can perform.Based on such understanding, the present invention The part that substantially contributes in other words to the prior art of technical solution or the part of the technical solution can be with software The form of product embodies, which is stored in a storage medium, including some instructions use so that One computer equipment (can be personal computer, server, or network equipment etc.) performs each embodiment institute of the present invention State all or part of step of method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read- Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with The medium of store program codes.
Finally it should be noted that：Embodiment described above, is only the embodiment of the present invention, to illustrate the present invention Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art The invention discloses technical scope in, it can still modify the technical solution described in previous embodiment or can be light It is readily conceivable that change, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make The essence of appropriate technical solution departs from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention Within the scope of.Therefore, protection scope of the present invention answers the scope of the claims of being subject to.

Claims (10)

  1. A kind of 1. pick-up unit analogy method based on MATLAB, applied to spring tooth bowl formula pick-up unit, it is characterised in that bag Include：
    Cam Design is carried out to spring tooth bowl formula pick-up unit to build to obtain cam mathematical model, and to spring tooth bowl formula Pick-up unit carries out elastic claw end characteristics of motion design construction and obtains elastic claw motion mathematical model；
    Receive the cam follower rule of spring tooth bowl formula pick-up unit and parameter information input by user；
    Analyzed, counted according to the cam follower rule and the parameter information using the cam mathematical model Calculation obtains cam motion result；
    Divided using the elastic claw motion mathematical model according to the cam follower rule and the parameter information Analysis, is calculated elastic claw end motion result；
    The cam motion result and elastic claw end motion result are exported.
  2. 2. according to the method described in claim 1, it is characterized in that, described carry out elastic claw end to spring tooth bowl formula pick-up unit Characteristics of motion design construction obtains elastic claw motion mathematical model, specifically includes：
    Elastic claw end displacement, elastic claw tip speed, elastic claw end acceleration and elastic claw are calculated by the following equation of motion respectively Cycloid shape：
    <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> <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>a</mi> <mi>x</mi> </msub> <mo>=</mo> <mo>-</mo> <msup> <mi>R&amp;omega;</mi> <mn>2</mn> </msup> <mi>cos</mi> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <mi>l</mi> <msup> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mo>+</mo> <msup> <mi>&amp;psi;</mi> <mo>&amp;prime;</mo> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mo>+</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mi>l&amp;psi;</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mi>sin</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msup> <mi>l</mi> <mo>&amp;prime;</mo> </msup> <msup> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mo>+</mo> <msup> <mi>&amp;psi;</mi> <mo>&amp;prime;</mo> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&amp;CenterDot;</mo> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>-</mo> <mi>&amp;gamma;</mi> <mo>)</mo> </mrow> <mo>-</mo> <msup> <mi>l</mi> <mo>&amp;prime;</mo> </msup> <msup> <mi>&amp;psi;</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mi>sin</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>-</mo> <mi>&amp;gamma;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>y</mi> </msub> <mo>=</mo> <mo>-</mo> <msup> <mi>R&amp;omega;</mi> <mn>2</mn> </msup> <mi>sin</mi> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <mi>l</mi> <msup> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mo>+</mo> <msup> <mi>&amp;psi;</mi> <mo>&amp;prime;</mo> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mi>sin</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mo>-</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mi>l&amp;psi;</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mo>+</mo> <msup> <mi>l</mi> <mo>&amp;prime;</mo> </msup> <msup> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mo>+</mo> <msup> <mi>&amp;psi;</mi> <mo>&amp;prime;</mo> </msup> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&amp;CenterDot;</mo> <mi>sin</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>-</mo> <mi>&amp;gamma;</mi> <mo>)</mo> </mrow> <mo>+</mo> <msup> <mi>l</mi> <mo>&amp;prime;</mo> </msup> <msup> <mi>&amp;psi;</mi> <mrow> <mo>&amp;prime;</mo> <mo>&amp;prime;</mo> </mrow> </msup> <mi>cos</mi> <mrow> <mo>(</mo> <mi>&amp;omega;</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>+</mo> <mi>&amp;psi;</mi> <mo>-</mo> <mi>&amp;gamma;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
    <mrow> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msup> <mi>R</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>l</mi> <mn>2</mn> </msup> <mo>-</mo> <msup> <msub> <mi>R</mi> <mn>0</mn> </msub> <mn>2</mn> </msup> </mrow> <mrow> <mn>2</mn> <mi>R</mi> <mi>l</mi> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
    <mrow> <mi>&amp;lambda;</mi> <mo>=</mo> <mfrac> <mrow> <msup> <mi>R</mi> <mo>&amp;prime;</mo> </msup> <mi>&amp;omega;</mi> </mrow> <msub> <mi>v</mi> <mi>t</mi> </msub> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>
    <mrow> <msup> <mi>h</mi> <mo>&amp;prime;</mo> </msup> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mo>&amp;lsqb;</mo> <mrow> <mo>(</mo> <mfrac> <mrow> <msup> <mi>R</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>l</mi> <mrow> <mo>&amp;prime;</mo> <mn>2</mn> </mrow> </msup> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>&amp;lambda;v</mi> <mi>t</mi> </msub> </mrow> <mi>&amp;omega;</mi> </mfrac> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> <mrow> <mn>2</mn> <msup> <mi>Rl</mi> <mo>&amp;prime;</mo> </msup> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>-</mo> <msub> <mi>&amp;psi;</mi> <mn>0</mn> </msub> <mo>-</mo> <mi>&amp;gamma;</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>6</mn> <mo>)</mo> </mrow> </mrow>
    In formula, the horizontal direction displacement and vertical direction displacement of x, y-elastic claw end；
    vx、vyThe horizontal direction component velocity and vertical direction component velocity of-elastic claw end；
    ax、ayThe horizontal direction acceleration and vertical direction acceleration of-elastic claw end；
    R-radius roller；
    L-crank length；
    L'-elastic claw length；
    ψ0- driven member initial angle；
    ψ-driven member pivot angle；
    T-time；
    γ-elastic claw and crank angle；
    First derivative of the ψ '-driven member pivot angle to the time；
    Second dervative of the ψ "-driven member pivot angle to the time；
    R0- radius of cam base-circle；
    The characteristic parameter of λ-cycloid；
    R'-elastic claw end the radius of gyration；
    H'-cam mechanism maximum pendulum angle, new cam design use.
  3. 3. according to the method described in claim 2, it is characterized in that, described carry out cam to elastic claw spring tooth bowl formula pick-up unit Mechanism design construction obtains cam mathematical model, specifically includes：
    Cam Design is carried out based on cam follower rule；Wherein, the cam follower rule includes movement at the uniform velocity fortune Dynamic rule, the quadratic polynomial characteristics of motion, quintic algebra curve characteristics of motion, cosine acceleration motion rule and sinusoidal acceleration fortune Dynamic rule.
  4. 4. according to the method described in claim 1, it is characterized in that, further include：
    It is excellent that parameter is carried out to spring tooth bowl formula pick-up unit using the cam mathematical model and the elastic claw motion mathematical model Change design.
  5. It is 5. according to the method described in claim 1, it is characterized in that, described by the cam motion result and the elastic claw end Motion result is exported, and is specifically included：
    By the cam motion result and elastic claw end motion result with least one of figure, form or text information Exported.
  6. 6. according to the method described in claim 1, it is characterized in that, further include：
    Cam actual curve profile in cam motion result, generates cam actual profile point data file；
    Cam rail modeling is carried out based on the cam actual profile point data file.
  7. 7. according to the method described in claim 1, it is characterized in that, further include：
    The pick-up unit of actual use is verified using the cam mathematical model and the elastic claw motion mathematical model.
  8. 8. according to the method described in claim 1, it is characterized in that, further include：
    Judge whether the parameter information overflows；
    When the parameter information overflows, error message and proposed projects are prompted.
  9. A kind of 9. pick-up unit simulator based on MATLAB, it is characterised in that including：
    Study module, builds to obtain cam mathematical model for carrying out Cam Design to spring tooth bowl formula pick-up unit, with And elastic claw end characteristics of motion design construction is carried out to spring tooth bowl formula pick-up unit and obtains elastic claw motion mathematical model；
    Receiving module, for the cam follower rule for receiving spring tooth bowl formula pick-up unit and parameter input by user Information；
    Computing module, for being believed using the cam mathematical model according to the cam follower rule and the parameter Breath is analyzed, and cam motion result is calculated；It is driven according to the cam mechanism using the elastic claw motion mathematical model Part rule and the parameter information are analyzed, and elastic claw end motion result is calculated；
    Output module, for the cam motion result and elastic claw end motion result to be exported.
  10. 10. a kind of electronic equipment, including memory, processor, it is stored with and can runs on the processor on the memory Computer program, it is characterised in that the processor realizes the claims 1 to 8 when performing the computer program The step of method described in one.
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