CN107969231B - MATLAB-based pickup device simulation method and device and electronic equipment - Google Patents
MATLAB-based pickup device simulation method and device and electronic equipment Download PDFInfo
- Publication number
- CN107969231B CN107969231B CN201711170070.1A CN201711170070A CN107969231B CN 107969231 B CN107969231 B CN 107969231B CN 201711170070 A CN201711170070 A CN 201711170070A CN 107969231 B CN107969231 B CN 107969231B
- Authority
- CN
- China
- Prior art keywords
- cam
- elastic
- motion
- tooth
- elastic tooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Transmission Devices (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
Abstract
The invention provides a pickup device simulation method and device based on MATLAB and electronic equipment, relates to the field of computers, and aims to solve the problems of high complexity and low precision in the prior art. The method comprises the following steps: designing and constructing a cam mechanism of the elastic tooth drum type pickup device to obtain a cam mathematical model and designing and constructing a motion rule of the end part of the elastic tooth to obtain an elastic tooth motion mathematical model; receiving parameter information input by a user and a cam mechanism follower rule; analyzing by using a cam mathematical model according to the cam mechanism follower rule and the parameter information, and calculating to obtain a cam motion result; analyzing by using a spring tooth motion mathematical model according to the cam mechanism follower rule and the parameter information, and calculating to obtain a spring tooth end motion result; and outputting the motion result of the cam and the motion result of the end part of the elastic tooth.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a pickup device simulation method and device based on MATLAB and electronic equipment.
Background
Along with the improvement and comprehensive treatment of grassland, the demand of the pasture harvesting machine is remarkably increased. Implementation of western big development strategy, adjustment of agricultural structure and rapid development of environmental industry, and the pasture harvester has wide development and application prospects. The picking and baling machine is one type of grass harvesting machine, and the elastic tooth drum type picking device is the main working part of the picking and baling machine, and the performance of the picking and baling machine directly affects the working performance of the picking and baling machine, so that the deep research of the unfolding of the picking and baling machine has certain significance.
As shown in fig. 1, the elastic tooth drum type pickup device mainly comprises a bracket 11, a suspension shaft 10, a side guard plate 9, a drum guard plate 8, an intermediate shaft 7, a drum disc 6, a roller 5, a cam disc 4, a crank 3, a pipe shaft 2, an elastic tooth 1 and the like. The latch roller pickup is essentially a reversed oscillating follower cam mechanism. The motion law of the elastic-tooth drum type pickup device is that a cam disc is stationary, a connecting point of a crank and an elastic tooth is fixed on a drum, and the drum rotates around a rotation center to drive the elastic tooth to move.
The quality of picking operation of the spring tooth drum type picking device mainly depends on the motion state of the spring teeth of the picking device and the working state of the picker. The pick-up rate is an important index for measuring the working performance of the elastic-tooth drum type pick-up device, is theoretically determined by the movement track of the elastic teeth, and is the key for reducing the missed pick-up area (the non-overlapping area of two adjacent elastic-tooth tracks is the missed pick-up area, as shown by the shaded area in fig. 2) and ensuring the pick-up rate.
At present, the conventional design method of the spring-tooth drum type pickup device in China adopts a graphical method and an analytical method, the conventional design method is complex and low in precision, and in addition, the conventional design method has no theoretical basis, has large limitation and seriously restricts the use reliability of the conventional design method.
No effective solution to the above problems has been proposed.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a pickup simulation method and apparatus based on MATLAB, and an electronic device, so as to alleviate the problems of high complexity and low precision in the prior art.
In a first aspect, an embodiment of the present invention provides a method for simulating a pickup apparatus based on MATLAB, applied to an elastic-toothed drum type pickup apparatus, including:
designing and constructing a cam mechanism of the elastic tooth drum type pickup device to obtain a cam mathematical model, and designing and constructing an elastic tooth end part motion rule of the elastic tooth drum type pickup device to obtain an elastic tooth motion mathematical model;
receiving the rule of a cam mechanism follower of the elastic tooth drum type pickup device and parameter information input by a user;
calculating to obtain a cam motion result by utilizing the cam mathematical model according to the cam mechanism follower rule and the parameter information;
calculating to obtain a movement result of the end part of the elastic tooth according to the rule of the cam mechanism driven piece and the parameter information by utilizing the mathematical model of the movement of the elastic tooth;
and outputting the motion result of the cam and the motion result of the end part of the elastic tooth.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the designing and constructing a law of motion of an end of an elastic tooth of the elastic-tooth drum type pickup device to obtain a mathematical model of an elastic-tooth motion specifically includes:
and respectively calculating the displacement of the end part of the elastic tooth, the speed of the end part of the elastic tooth, the acceleration of the end part of the elastic tooth and the cycloid shape of the elastic tooth through the following motion equations:
in the formula, x and y represent the displacement of the end part of the elastic tooth in the horizontal direction and the displacement in the vertical direction;
vx、vy-horizontal component velocity and vertical component velocity of the spring tooth tip;
ax、ay-horizontal and vertical accelerations of the spring tine ends;
r-roller radius;
l-crank length;
l' -spring tooth length;
ψ0-follower initial angle;
psi-follower pivot angle;
t-time;
the included angle between the elastic tooth and the crank is gamma;
psi' -the first derivative of the follower swing angle with respect to time;
psi-the second derivative of follower swing angle over time;
R0-cam base radius;
λ -characteristic parameter of cycloid;
r' -radius of gyration of the spring tooth end;
h' -the maximum swing angle of the cam mechanism, is designed and used for a new cam.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the designing and constructing a cam mechanism for the elastic-toothed drum type pickup device to obtain a cam mathematical model specifically includes:
designing a cam mechanism based on a cam follower rule; the cam follower law comprises a constant-speed motion law, a quadratic polynomial motion law, a quintic polynomial motion law, a cosine acceleration motion law and a sine acceleration motion law.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein a parameter optimization design is performed on the elastic tooth drum type pickup device by using the cam mathematical model and the elastic tooth motion mathematical model.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the outputting the cam motion result and the spring tooth end motion result specifically includes:
and outputting the cam motion result and the spring tooth end motion result in at least one of a graph, a table or text information.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the method further includes:
generating a data file of actual cam contour point according to the actual cam curve contour in the cam motion result;
and performing cam track modeling based on the actual cam profile point data file.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the method further includes:
and verifying the actually used pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the method further includes:
judging whether the parameter information overflows or not;
and when the parameter information overflows, prompting error information and suggesting a scheme.
In a second aspect, an embodiment of the present invention further provides a pickup simulation apparatus based on MATLAB, including:
the learning module is used for designing and constructing a cam mechanism of the elastic tooth drum type pickup device to obtain a cam mathematical model, and designing and constructing an elastic tooth end part motion rule of the elastic tooth drum type pickup device to obtain an elastic tooth motion mathematical model;
the receiving module is used for receiving the rule of a cam mechanism driven piece of the elastic tooth drum type pickup device and parameter information input by a user;
the calculation module is used for analyzing according to the cam mechanism follower rule and the parameter information by utilizing the cam mathematical model and calculating to obtain a cam motion result; analyzing according to the cam mechanism follower rule and the parameter information by using the elastic tooth motion mathematical model, and calculating to obtain an elastic tooth end motion result;
and the output module is used for outputting the cam motion result and the spring tooth end motion result.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable medium having a non-volatile program code executable by a processor, where the program code causes the processor to execute the method according to the first aspect.
The embodiment of the invention has the following beneficial effects:
in the MATLAB-based pickup device simulation method provided by the embodiment of the invention, firstly, a cam mathematical model is obtained by designing and constructing a cam mechanism of the elastic-tooth drum type pickup device, and an elastic-tooth end motion rule is designed and constructed on the elastic-tooth drum type pickup device to obtain an elastic-tooth motion mathematical model; then receiving the cam mechanism follower rule of the elastic tooth drum type pickup device and parameter information input by a user; then, analyzing by using the cam mathematical model according to the cam mechanism follower rule and the parameter information, and calculating to obtain a cam motion result; analyzing according to the cam mechanism follower rule and the parameter information by using the elastic tooth motion mathematical model, and calculating to obtain an elastic tooth end motion result; and finally, outputting the motion result of the cam and the motion result of the end part of the elastic tooth. Therefore, the technical scheme provided by the embodiment of the invention establishes the mathematical model on the basis of the kinematic analysis so as to relieve the problems of high complexity and low precision in the prior art. The method is simple, rapid and high in precision, can accurately realize the simulation of the pickup device, improves the user experience degree, and meanwhile, has a theoretical basis, strong applicability and high reliability.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of an elastic-tooth roller type pickup device;
FIG. 2 is a schematic view of the structure of the missing inspection area of the elastic-tooth drum type pick-up device;
FIG. 3 is a schematic flow chart of a MATLAB-based pickup simulation method according to an embodiment of the present invention;
FIG. 4 shows a coordinate system reference map established when constructing a mathematical model provided by an embodiment of the present invention;
FIG. 5 is a schematic flow chart of another MATLAB-based pickup simulation method according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a MATLAB-based simulation apparatus for a pickup apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon: 1-elastic teeth; 2-a tubular shaft; 3-a crank; 4-a cam disc; 5-a roller; 6-a drum plate; 7-intermediate shaft; 8-roller guard board; 9-side guard plate; 10-a suspension shaft; 11-bracket.
Detailed Description
To make the objects, 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 with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the conventional design method of the spring-tooth drum type pickup device in China adopts a graphical method and an analytical method, the conventional design method is complex and low in precision, and in addition, the conventional design method has no theoretical basis, has large limitation and seriously restricts the use reliability of the conventional design method. Based on this, the picking-up device simulation method and device based on MATLAB and the electronic device provided by the embodiment of the invention can be used for solving the problems of high complexity and low precision in the prior art.
For the convenience of understanding the embodiment, a method for simulating a pickup device based on MATLAB disclosed in the embodiment of the present invention will be described in detail first.
The first embodiment is as follows:
fig. 3 is a flow chart of a picking-up device simulation method based on MATLAB according to an embodiment of the present invention. Referring to fig. 3, the MATLAB-based simulation method for a pick-up device can be applied to a latch-drum pick-up device, and comprises the following steps:
step S101: the design and construction of a cam mechanism are carried out on the elastic tooth drum type pickup device to obtain a cam mathematical model, and the design and construction of the movement rule of the end part of the elastic tooth are carried out on the elastic tooth drum type pickup device to obtain an elastic tooth movement mathematical model.
When a mathematical model is constructed, a coordinate system is established first, the established coordinate system is shown in fig. 4, and the establishing process of the coordinate system in fig. 4 is as follows: the center of a cam base circle is used as a coordinate origin, a traveling direction (Vt) is used as the positive direction of an X axis, a direction perpendicular to the X axis is used as a Y axis, and a direction pointing upwards away from the ground is used as the positive direction of the Y axis.
The aforesaid carries out cam mechanism design to bullet tooth cylinder pickup attachment and constructs and obtain cam mathematical model, specifically includes:
a, designing a cam mechanism based on a cam follower rule; the cam follower law comprises a constant-speed motion law, a quadratic polynomial motion law, a quintic polynomial motion law, a cosine acceleration motion law and a sine acceleration motion law.
The cam follower law is described as follows:
(1) constant velocity motion law push equation of motion:
v＝hω/Φ
a＝0
the return motion equation:
v＝-hω/Φ'
a＝0
2) the second-order polynomial motion law push-stroke acceleration section push-stroke motion equation is
a＝4hω2/Φ2
The equation of motion of the push stroke is
a＝-4hω2/Φ2
The motion equation of the return equal acceleration section is
a＝-4hω2/Φ'2
The equation of motion of the return equal deceleration section is
a＝4hω2/Φ'2
3) Quintic polynomial motion law push equation of motion
Equation of motion of return stroke
4) Cosine acceleration motion law push equation of motion
Equation of motion of return stroke
5) Sinusoidal acceleration motion law push equation of motion
Equation of motion of return stroke
Where ψ is the follower swing angle; v-cam mechanism angular velocity; a-angular acceleration of the cam mechanism;
the rotation angle of the cam mechanism is ω t in a formula designed corresponding to the movement law of the end part of the elastic tooth; phi represents a lift angle of the cam mechanism; phi' -the cam mechanism return angle; omega-cam rotation angular velocity; h is the maximum swing angle of the cam mechanism;
in the coordinate system shown in fig. 4, the coordinates of an arbitrary point (here, point B) on the theoretical profile curve of the cam are
Wherein, R represents the radius of the roller, when eta is 1, the cam steering is clockwise, and when eta is-1, the cam steering is anticlockwise; when the push stroke of the driven part is equal to 1, the swing direction of the push stroke of the driven part is clockwise, and when the push stroke of the driven part is equal to-1, the swing direction of the push stroke of the driven part is anticlockwise; psi is the swing angle of the driven part and corresponds to a law equation of the driven part; psi0For the initial angle of the driven member,
-cam mechanism rotation angle.
The parameter equation of the actual cam profile curve of the roller follower disc cam mechanism is as follows:
wherein r isTIs the roller radius.
Pressure angle formula:
wherein R represents the radius of the cylinder, l-the crank length,
indicating angle of rotation of cam mechanism, psi, as followerThe swing angle corresponds to a driven member law equation; psi0Is the follower initial angle.
The formula of the curvature radius of any point (point B) on the theoretical contour line is as follows:
in the formula (I), the compound is shown in the specification,
indicating the cam mechanism rotation angle.
Above-mentioned bullet tooth end motion law design is found and is obtained bullet tooth motion mathematical model to bullet tooth drum-type pickup attachment, specifically includes:
b, designing a movement rule of the end part of the elastic tooth based on a movement equation of the end part of the elastic tooth; the elastic tooth end motion equation comprises an elastic tooth end displacement motion equation (1), an elastic tooth end speed motion equation (2), an elastic tooth end acceleration motion equation (3), a cycloid shape equation (5) and a maximum swing angle calculation equation (6).
When the method is implemented, the displacement of the end part of the elastic tooth, the speed of the end part of the elastic tooth, the acceleration of the end part of the elastic tooth, the cycloid shape of the elastic tooth and the maximum swing angle of the cam mechanism are calculated through the following motion equations respectively:
in the formula, x and y respectively represent the horizontal displacement and the vertical displacement of the end part of the elastic tooth;
vx、vyrespectively representing the horizontal component velocity and the vertical component velocity of the end part of the elastic tooth;
ax、ayrespectively representing the horizontal direction acceleration and the vertical direction acceleration of the end part of the elastic tooth;
r-roller radius; l-crank length; l' -spring tooth length; psi0-follower initial angle;
psi-follower pivot angle; t-time; the included angle between the elastic tooth and the crank is gamma; r' -radius of gyration of the spring tooth end;
psi' -the first derivative of the follower swing angle with respect to time; psi-the second derivative of follower swing angle over time;
R0-cam base radius; λ -characteristic parameter of cycloid; h' -the maximum swing angle of the cam mechanism, is designed and used for a new cam.
And finally, respectively constructing a cam mathematical model and an elastic tooth motion mathematical model according to the design of the cam mechanism and the design of the motion rule of the end part of the elastic tooth.
Step S102: receiving the rule of a cam mechanism follower of the elastic-tooth drum type pickup device and the parameter information input by a user.
In this embodiment, the parameter information includes mechanism parameter information and working parameter information.
The mechanism parameter information includes, but is not limited to, a maximum swing angle of the swing rod, a lift motion angle, a remote repose angle, a return motion angle, the number of spring teeth, a height of a rotation center from the ground, a radius of the roller, a length of the crank, a length of the spring teeth, an included angle between the crank and the spring teeth, a radius of a cam base circle, a radius of the roller, a fixed working length and the like. It should be noted that the swing link and the elastic teeth form a triangle, and the swing link changes to drive the elastic teeth to change.
The cam mechanism follower rule of the elastic tooth roller type pickup device can be selected by a user, when the user does not input, the cam mechanism follower rule defaults to a constant-speed motion rule, and the working parameter information comprises the advancing speed of a machine and the rotating speed of a roller. It should be noted here that the machine forward speed or the drum rotation speed may be any input value, may be two values, i.e., an upper limit value and a lower limit value, and may be a preset working range.
The motion rule information of the cam mechanism driven part comprises a constant-speed motion rule, a quadratic polynomial (equal acceleration and equal deceleration) motion rule, a quintic polynomial motion rule, a cosine acceleration (simple harmonic) motion rule and a sine acceleration (cycloid) motion rule.
Step S103: and calculating to obtain a cam motion result by utilizing the cam mathematical model according to the cam mechanism follower rule and the parameter information.
The cam motion result comprises at least one of cam displacement, cam speed, cam acceleration, cam theoretical curve profile, cam actual curve profile, pressure angle and curvature radius.
Specifically, the cam mathematical model is used for analyzing according to the cam mechanism follower rule and the parameter information, for example, a corresponding kinematic formula and parameter information required in the formula are extracted according to the parameter information input by a user, and a cam motion result is obtained through calculation.
Step S104: and analyzing by using the elastic tooth motion mathematical model according to the cam mechanism follower rule and the parameter information, and calculating to obtain an elastic tooth end motion result.
Wherein, above-mentioned bullet tooth tip motion result includes: at least one of a spring tooth end displacement, a spring tooth end velocity, a spring tooth end acceleration, a spring tooth cycloid shape, and a missed pick area.
Specifically, based on the parameter information input by the user and the selected cam mechanism follower rule, the corresponding kinematic formula and the parameter information required by operation are extracted by using the elastic tooth motion mathematical model, so that the elastic tooth end motion result is obtained through calculation.
Step S105: and outputting the motion result of the cam and the motion result of the end part of the elastic tooth.
Specifically, the calculated movement result of the end of the spring tooth of the cam movement result is output by at least one of a graph, a table or text information and displayed to a user, so that the user experience is improved. The output results may further include a maximum swing angle (°, deg.), a maximum pressure angle (°, deg.), a maximum roller radius (m, m), a range of swing radii of the spring tooth tips (m, m), a trochoid size, a distance between the spring tooth movement to the lowest point and the center of the swing (m, m), a single cycle missed inspection area (m, m) from the graph2Square meter), height of missing pick-up area (m, meter), ratio of height to bottom of missing pick-up area, and area of missing pick-up under fixed working length (m2Square meter), etc. The method is simple and visual, and improves the user experience.
According to the MATLAB-based pickup device simulation method provided by the embodiment of the invention, firstly, a cam mathematical model is obtained by designing and constructing a cam mechanism of the elastic-tooth drum type pickup device, and an elastic-tooth end part motion rule is designed and constructed for the elastic-tooth drum type pickup device to obtain an elastic-tooth motion mathematical model; then receiving the cam mechanism follower rule of the elastic tooth drum type pickup device and parameter information input by a user; then, analyzing by using the cam mathematical model according to the cam mechanism follower rule and the parameter information, and calculating to obtain a cam motion result; analyzing according to the cam mechanism follower rule and the parameter information by using the elastic tooth motion mathematical model, and calculating to obtain an elastic tooth end motion result; and finally, outputting the motion result of the cam and the motion result of the end part of the elastic tooth. Therefore, according to the technical scheme provided by the embodiment of the invention, a mathematical model is established on the basis of kinematic analysis, Matlab software is applied for programming, and a GUI interface is displayed for a user; the GUI interface comprises a parameter input area, a graphic drawing area and an output result area; parameters input by a user and a selected motion rule of the driven part are received, the constructed mathematical model is utilized to analyze and solve, a result is generated and the generated result is output, and the problems of high complexity and low precision in the prior art are solved. The method is simple and rapid, can accurately realize the simulation of the pickup device, improves the user experience degree, and has the advantages of theoretical basis, strong applicability and high reliability.
In order to make the mathematical model closer to the actual requirement, improve the reliability of the system and improve the satisfaction of the user, the situation that misoperation (such as error in data input) may occur when the user performs the simulation is considered.
Further, the method further comprises: the boundary conditions of the pickup device according to the harvested materials are included in a cam mathematical model and an elastic tooth motion mathematical model. The boundary conditions comprise mechanism boundary conditions and harvesting boundary conditions, the mechanism boundary conditions comprise cam mechanism design boundary conditions, the harvesting boundary conditions comprise machine performance boundary conditions and harvested material boundary conditions, and the spring tooth design boundary conditions are determined according to the machine performance boundary conditions and the harvested material boundary conditions.
The cam mechanism design boundary conditions include, but are not limited to:
(1) the roller is on the cam plate, and the difference of one random side is greater than the difference of the other two sides and less than the sum of the other two sides.
(2) To ensure that the movement is not distorted, the maximum design radius of the roller should be less than the minimum radius of curvature.
The spring tooth design boundary conditions include, but are not limited to, spring tooth speed design boundary conditions. The boundary conditions of the spring tooth speed design of the pickup device for harvesting the forage grass are taken as examples for explanation: the absolute speed of the spring teeth is less than 3m/s, and the instantaneous horizontal speed of the pasture thrown by the spring teeth is as 0 as possible. Taking the grass picker as an example, the height of the elastic teeth is controlled to be 5 cm-15 cm according to the ground when the elastic teeth move to the lowest point. (Note: JB/T5160-2010 stipulates that the stubble height is 5 cm-15 cm).
Further, the method comprises a modeling step.
Specifically, the modeling step is realized by the following steps: firstly, generating a data file of actual cam contour point according to the actual cam curve contour in the cam motion result; and then performing cam track modeling based on the cam actual profile point data file.
Further, the method further comprises: and judging whether the parameter information overflows or not.
The overflow includes that the parameter information input by the user is not in a preset parameter range or some parameters in the parameter information do not meet the boundary condition.
When the parameter information overflows, prompting error information and suggesting a scheme.
Wherein, the common error information and the proposal scheme are as follows:
1.1. error information: the crank lever is too short and the roller does not contact the cam
The proposal is as follows: please increase the length of the crank shaft or increase the base circle.
1.2. Improper selection of roller radius and distortion of motion
Please reduce the roller radius.
1.3. Can move without distortion, but does not meet the design requirement
Please reduce the roller radius.
1.4. Abnormal operation
Please increase the drum speed or decrease the machine forward speed.
1.5. The absolute speed is more than 3m/s, and the alfalfa leaves can be fallen out probably
Please reduce the drum speed or reduce the machine forward speed.
1.6. The elastic teeth can touch the ground
If the absolute height of the center of rotation from the ground is increased, the movement from the center of rotation to the ground is in the negative direction of the y-axis, i.e. the height of the center of rotation from the ground is decreased, for example, the height of the center of rotation from the ground is changed from-0.3 to-0.35.
Example two:
as shown in fig. 5, on the basis of the first embodiment, another picking-up device simulation method based on MATLAB is provided in the embodiment of the present invention, and is applied to a latch drum type picking-up device, and the picking-up device simulation method based on MATLAB includes:
step S201: and performing parameter optimization design on the elastic tooth drum type pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model.
The mathematical cam model and the mathematical spring tine motion model herein contain boundary conditions.
The step S201 is specifically realized by the following steps:
(1) receiving the size of a cycloid shape (namely the characteristic parameter lambda of the cycloid), the length of an elastic tooth to be designed, the radius of a roller, a design working parameter and a first mechanism parameter which are input by a user, receiving a cam mechanism follower rule selected by the user, obtaining the displacement of the end part of the elastic tooth, the speed of the end part of the elastic tooth, the acceleration motion result of the end part of the elastic tooth, a theoretical omission area and the actual curve profile of the cam, and generating an actual profile point data file of the cam according to the actual curve profile of the cam.
The design operating parameters herein refer to the maximum operating parameters (which may be obtained through user experience or may be learned from the performance of the baler); the first mechanism parameters comprise a lift motion angle, a remote repose angle, a return motion angle, the number of elastic teeth, the height of a rotation center from the ground, the radius of a roller, the length of a crank, the length of the elastic teeth, the included angle between the crank and the elastic teeth (or a swing rod), the radius of a cam base circle, the radius of a roller, the fixed working length and the wall thickness of a cam track, but the maximum swing angle (namely the size of a cycloid shape) is not included.
Specifically, firstly, the optimal cycloid shape (the size of the cycloid shape can be known) of the harvested material and the length of the elastic tooth to be designed (according to the national standard of the harvested material picker, such as the grass picker JB/T5160-1991), the roller radius and the design working parameters are determined in a way that: the method is determined by a user by looking up literature data, namely the user can determine the size of the optimal cycloid shape of the harvested material (such as 1.2 to 1.5 for the forage grass requirement) and the length of the elastic tooth to be designed, the roller radius and the design working parameters according to field conditions (the harvested material, geological environment and other conditions); another determination method is as follows: the parameters are obtained by accessing an external database or a webpage and the like for crawling; this embodiment is not limited.
Then inputting the size of the cycloid shape and ideal working parameters or maximum working parameters into a GUI (graphical user interface) provided by a system based on MATLAB (matrix laboratory) programming, and editing (modifying) other mechanism parameters in the GUI except the roller radius, the spring tooth length, the crank length and the included angle between the crank and the spring tooth, such as modifying a cam lift angle, a remote repose angle, a return stroke angle, a base circle radius, a roller radius, a groove width and the like; the method can obtain the motion state and the theoretical missed picking area of each stage of the picking device (namely, the cam mathematical model and the elastic tooth motion mathematical model are used for analysis, and the actual cam curve profile, the elastic tooth end displacement, the elastic tooth end speed, the elastic tooth end acceleration motion result (namely the motion state of each stage of the elastic tooth) and the theoretical missed picking area in the cam motion result are obtained through calculation.
(2) And receiving a second mechanism parameter input by a user and a working parameter range and a working distance (namely fixed working length) to be designed, and analyzing by utilizing a cam mathematical model and the elastic tooth motion mathematical model to obtain the highest linear velocity of the end part of the elastic tooth, the highest acceleration of the end part of the elastic tooth, the characteristic parameter of the cycloid shape, the area of a single missed picking area and the missed picking area under the fixed working length.
The missed picking area under the fixed working length refers to the missed picking area under the fixed working length according to the ground height in consideration of the center of the roller; the second mechanism parameters comprise the maximum rotation angle of the oscillating bar, a lift motion angle, a remote repose angle, a return motion angle, the number of elastic teeth, the height of a rotation center from the ground, the radius of the roller, the length of a crank, the length of the elastic teeth, the included angle between the crank and the elastic teeth (or the oscillating bar), the radius of a cam base circle, the radius of the roller and the fixed working length.
During specific implementation, a user determines a working parameter (advancing speed and roller rotating speed) range and a working distance according to field conditions and performance parameters of a designed machine (which can also be a machine used practically), then obtains a mechanism parameter (second mechanism parameter) of the pickup device through reverse engineering, of course, the mechanism parameter, the working parameter (advancing speed and roller rotating speed) range and the working distance are input, a cam mathematical model and the elastic tooth motion mathematical model are used for analysis, the highest linear speed of the elastic tooth end part of the pickup device, the highest acceleration of the elastic tooth end part, the characteristic parameter lambda of the cycloid shape, the area of a single leakage area and the area of the leakage area under the condition that the height of the roller center is considered and the working length is fixed are obtained through operation, and corresponding 5 excel files are generated.
(3) Analyzing a highest linear speed file (named as the highest linear speed of the end part of the elastic tooth, xls) at the end part of the elastic tooth and a characteristic parameter file (named as the cycloid size, xls) in a cycloid shape to determine an absolute speed boundary value when the harvested materials are crushed in the picking process and determine a working parameter boundary value; and (4) reducing the boundary value of the working parameters by adopting the cycloid range (which can be obtained by looking up the literature), and obtaining the application working parameters of the elastic tooth roller type pickup device.
(4) Analyzing a missed picking area file (named as missed picking area under the fixed working length, xls) under the fixed working length to obtain an optimal matching relation between target working parameters, wherein the area of a missed picking area is the minimum, and the optimal matching relation between the working parameters can be prepared for intelligent control;
through the steps (3) and (4), the optimal matching relation between the application working parameters of the elastic-tooth roller type pickup device and the working parameters of the pickup device which aims at the minimum leakage rate can be obtained.
(5) And (5) repeating the steps (1) to (4) to obtain ideal mechanism parameters.
The ideal mechanism parameters are mechanism parameters corresponding to the target of high performance (high advancing speed) and low leakage rate (small area of the missed picking area).
(6) And (3) repeating the step (1) by using the ideal mechanism parameters to obtain the actual cam profile point data file under the ideal mechanism parameters.
Further, the step S201 may further include:
(7) and importing the actual cam contour point data file into three-dimensional software to perform cam track modeling, and profiling other cam disks to complete modeling of new cam disks.
Considering that the height of the roller center in the elastic-tooth roller type pickup device in some harvesting machines can be adjusted according to the ground, the replacement of the cam disc is convenient, and the replacement of the cam disc is the replacement of the cam track, so that the method can also realize one machine with multiple functions through the verification step S202.
Step S202: and verifying the actually used pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model.
The mathematical cam model and the mathematical spring tine motion model herein contain boundary conditions.
In specific implementation, the step S202 is executed by the following steps:
(1) receiving any value in the cam mechanism follower rule input by a user, the mechanism parameters of the actually used pick-up device and the working parameter range of the actually used pick-up device, and obtaining the motion state and the theoretical missed pick area of each stage of the elastic teeth.
Firstly, determining a cam mechanism driven member rule and mechanism parameters of a pickup device of a used machine (namely, the actually used pickup device), wherein the mechanism parameters of the actually used pickup device can be obtained through measurement or reverse engineering, and the working parameter range of the used machine can be obtained through inquiry; for example, the mechanical parameters are obtained by reverse engineering through the optimal cycloid shape and the maximum operating parameters.
And then inputting mechanism parameters and working parameters (one value is selected in a forward speed working range and a roller rotating speed working range) to obtain the motion state and the theoretical missed picking area of each stage of the elastic teeth.
In the present embodiment, the forward speed and the drum rotation speed are rounded, and the step value in the range from the lowest value (lower limit value) to the highest value (upper limit value) of the operating parameters is 1.
(2) Receiving upper and lower limit values of working parameters (machine advancing speed and roller rotating speed) input by a user, obtaining the highest linear speed of the end part of the elastic tooth, the highest acceleration of the end part of the elastic tooth, a characteristic parameter lambda (the size of the cycloid shape) of the cycloid shape, the area of a single missed picking area and the missed picking area under the condition that the working length of the roller center is fixed according to the ground height, and generating corresponding 5 excel files.
(3) Analyzing 'the highest linear speed at the end part of the elastic tooth, xls' and 'the size of a cycloid, xls' to determine a working parameter boundary value according to an absolute speed boundary value when the harvested species are broken in the picking process; and (4) reducing the boundary value of the working parameters by adopting the cycloid range (referred to the literature) to obtain the application working parameters of the elastic tooth roller type pickup device.
(4) The ' missed picking area under the fixed working length ' and the xls ' are analyzed to find out the optimal matching relation among the working parameters which takes the smallest missed picking area as the target, and the optimal matching relation among the working parameters can be prepared for intelligent control.
(5) When the actual used pick-up device cannot meet the working requirements (e.g. the actual machine advance speed is greater than the application advance speed maximum), a new cam track design is made.
Firstly, determining the optimal cycloid shape of the harvested material, then inputting the cycloid size and ideal working parameters or maximum working parameters to obtain the maximum cycloid angle, then inputting other parameters (measurement and reverse engineering), operating to obtain the motion state of each stage of the elastic tooth and the theoretical missing pick area, and storing the actual profile point data file of the cam.
(6) The method comprises the following steps of (1) carrying out cam track modeling by importing a cam actual contour point data file of three-dimensional software, and profiling an original cam disc to complete modeling of a new cam disc;
(7) processing a new cam disc, replacing the original cam disc in the elastic tooth roller type pickup device, and adjusting the height of the center of the roller according to the ground after the replacement is finished (so that the height from the lowest point to which the elastic tooth moves to the ground is in a reasonable range);
(8) and (4) repeating the steps (2) to (4) to obtain new application working parameters and new optimal working parameters.
For brevity, the step S202 is not described, and refer to the step S201.
Further, the mechanism parameters in this embodiment may be preset as fixed values according to experimental results, for example, the number of the spring teeth (i.e., the number z of the spring tooth rods) is 5, the included angle between the crank and the swing rod is 63 °, the maximum rotation angle of the swing rod is 90 °, the lift motion angle is 110 °, the remote repose angle is 130 °, the return motion angle is 120 °, and the like, which can be specifically seen in table 1.
TABLE 1 structural parameters of cam mechanism
Example three:
fig. 6 is a schematic structural diagram of a picking-up device simulation apparatus based on MATLAB according to an embodiment of the present invention, and referring to fig. 6, the picking-up device simulation apparatus based on MATLAB includes:
and the learning module 200 is used for designing and constructing a cam mechanism of the elastic tooth drum type pickup device to obtain a cam mathematical model, and designing and constructing an elastic tooth end part motion rule of the elastic tooth drum type pickup device to obtain an elastic tooth motion mathematical model.
The receiving module 300 is configured to receive a cam mechanism follower rule of the latch drum type pickup device and parameter information input by a user;
the calculation module 400 is configured to analyze the cam mathematical model according to the cam mechanism follower rule and the parameter information, and calculate a cam motion result; analyzing according to the cam mechanism follower rule and the parameter information by using the elastic tooth motion mathematical model, and calculating to obtain an elastic tooth end motion result;
and the output module 500 is used for outputting the cam motion result and the spring tooth end motion result.
Further, the apparatus further comprises:
the modeling module 600 is used for generating a data file of actual cam profile points according to the actual cam curve profile in the cam motion result; and performing cam track modeling based on the cam actual contour point data file.
Further, the apparatus further comprises:
the design module 700 is configured to perform parameter optimization design on the elastic tooth drum type pickup device by using the cam mathematical model and the elastic tooth motion mathematical model.
And the checking module 800 is used for checking the actually used pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model.
Example three:
referring to fig. 7, an embodiment of the present invention further provides an electronic device 100, including: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the network element of the system 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, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus 42 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
The memory 41 is used for storing a program, the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40, or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 40. The Processor 40 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with 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 may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 41, and the processor 40 reads the information in the memory 41 and completes the steps of the method in combination with the hardware thereof.
The picking-up device simulation device and the electronic equipment based on MATLAB provided by the embodiment of the invention have the same technical characteristics as the picking-up device simulation method based on MATLAB provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product for performing the MATLAB-based picking-up device simulation method according to the embodiment of the present invention includes a computer-readable storage medium storing a processor-executable nonvolatile program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and will not be described herein again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the electronic device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
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 the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). 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 shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A pickup device simulation method based on MATLAB is applied to a spring-tooth drum type pickup device and is characterized by comprising the following steps:
designing and constructing a cam mechanism of the elastic tooth drum type pickup device to obtain a cam mathematical model, and designing and constructing an elastic tooth end part motion rule of the elastic tooth drum type pickup device to obtain an elastic tooth motion mathematical model;
receiving the rule of a cam mechanism follower of the elastic tooth drum type pickup device and parameter information input by a user;
analyzing by using the cam mathematical model according to the cam mechanism follower rule and the parameter information, and calculating to obtain a cam motion result;
analyzing according to the cam mechanism follower rule and the parameter information by using the elastic tooth motion mathematical model, and calculating to obtain an elastic tooth end motion result;
outputting the motion result of the cam and the motion result of the end part of the elastic tooth;
performing parameter optimization design on the elastic tooth drum type pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model; the parameter optimization design of the elastic tooth drum type pick-up device by utilizing the cam mathematical model and the elastic tooth motion mathematical model comprises the following steps:
(1) receiving the size of a cycloid shape input by a user, the length of an elastic tooth to be designed, the radius of a roller, design working parameters and first mechanism parameters, receiving a cam mechanism follower rule selected by the user, obtaining the displacement of the end part of the elastic tooth, the speed of the end part of the elastic tooth, the acceleration motion result of the end part of the elastic tooth, a theoretical undetected area and the actual curve profile of the cam, and generating an actual cam profile point data file according to the actual curve profile of the cam; the design working parameter refers to a maximum working parameter; the first mechanism parameters comprise a lift motion angle, a remote repose angle, a return motion angle, the number of elastic teeth, the height of a rotation center from the ground, the radius of a roller, the length of a crank, the length of the elastic teeth, the included angle between the crank and the elastic teeth, the radius of a cam base circle, the radius of a roller, a fixed working length and the wall thickness of a cam track, but the maximum swing angle is not included;
specifically, firstly, determining the optimal cycloid shape of the harvested materials and the length of the elastic tooth to be designed; then inputting the size of the cycloid shape and ideal working parameters or maximum working parameters into a GUI interface provided by a system based on MATLAB programming;
(2) receiving a second mechanism parameter input by a user, a working parameter range to be designed and a working distance, and analyzing by using a cam mathematical model and the elastic tooth motion mathematical model to obtain the highest linear speed of the end part of the elastic tooth, the highest acceleration of the end part of the elastic tooth, characteristic parameters of a cycloid shape, the area of a single missed picking area and the missed picking area under a fixed working length; the missed picking area under the fixed working length refers to the missed picking area under the fixed working length by considering the height of the center of the roller from the ground; the second mechanism parameters comprise the maximum rotation angle of the oscillating bar, a lift motion angle, a remote repose angle, a return motion angle, the number of elastic teeth, the height of a rotation center from the ground, the radius of the roller, the length of a crank, the length of the elastic teeth, the included angle between the crank and the elastic teeth, the radius of a cam base circle, the radius of the roller and the fixed working length;
during specific implementation, a user determines a working parameter range and a working distance according to field conditions and performance parameters of a designed machine, then obtains mechanism parameters of a pickup device through reverse engineering, inputs the obtained mechanism parameters, the working parameter range and the working distance, analyzes by using a cam mathematical model and an elastic tooth motion mathematical model, operates to obtain the highest linear speed of an elastic tooth end part of the pickup device, the highest acceleration of the elastic tooth end part, a characteristic parameter lambda of a cycloid shape, a single missed pickup area and a missed pickup area under the condition of considering the height of a roller center distance and the ground and fixing the working length, and generates corresponding 5 excel files;
(3) analyzing the highest linear velocity file and the characteristic parameter file of the cycloid shape at the end part of the elastic tooth to determine a working parameter boundary value according to an absolute velocity boundary value when the harvested materials are small in breakage in the picking process; reducing the boundary value of the working parameters in the adopted cycloid range to obtain the application working parameters of the elastic-tooth roller type pickup device;
(4) analyzing the missed picking area file with the fixed working length to obtain the optimal matching relation between the target working parameters with the smallest missed picking area, wherein the optimal matching relation between the working parameters is prepared for intelligent control;
obtaining the optimal matching relation between the application working parameters of the elastic-tooth drum type pickup device and the working parameters of the pickup device taking the leakage rate as the minimum as the target through the steps (3) and (4);
(5) repeating the steps (1) to (4) to obtain ideal mechanism parameters;
the ideal mechanism parameters are mechanism parameters corresponding to a target with high performance and low leakage rate;
(6) and (3) repeating the step (1) by using the ideal mechanism parameters to obtain the actual cam profile point data file under the ideal mechanism parameters.
2. The method as claimed in claim 1, wherein the elastic-tooth-end motion rule design and construction of the elastic-tooth drum-type pickup device are carried out to obtain an elastic-tooth motion mathematical model, which specifically comprises:
and respectively calculating the displacement of the end part of the elastic tooth, the speed of the end part of the elastic tooth, the acceleration of the end part of the elastic tooth and the cycloid shape of the elastic tooth through the following motion equations:
in the formula, x and y represent the displacement of the end part of the elastic tooth in the horizontal direction and the displacement in the vertical direction;
vx、vy-horizontal component velocity and vertical component velocity of the spring tooth tip;
ax、ay-horizontal and vertical accelerations of the spring tine ends;
r-roller radius;
l-crank length;
l' -spring tooth length;
ψ0-follower initial angle;
psi-follower pivot angle;
t-time;
the included angle between the elastic tooth and the crank is gamma;
psi' -the first derivative of the follower swing angle with respect to time;
psi-the second derivative of follower swing angle over time;
R0-cam base radius;
λ -characteristic parameter of cycloid;
r' -radius of gyration of the spring tooth end;
h' -the maximum swing angle of the cam mechanism, the new cam design is used.
3. The method as claimed in claim 2, wherein the cam mechanism design construction of the elastic-tooth roller type pickup device obtains a cam mathematical model, and specifically comprises the following steps:
designing a cam mechanism based on a cam follower rule; the cam follower law comprises a constant-speed motion law, a quadratic polynomial motion law, a quintic polynomial motion law, a cosine acceleration motion law and a sine acceleration motion law.
4. The method according to claim 1, wherein the outputting the cam motion result and the spring tooth end motion result specifically comprises:
and outputting the cam motion result and the spring tooth end motion result in at least one of a graph, a table or text information.
5. The method of claim 1, further comprising:
generating a data file of actual cam contour point according to the actual cam curve contour in the cam motion result;
and performing cam track modeling based on the actual cam profile point data file.
6. The method of claim 1, further comprising:
and verifying the actually used pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model.
7. The method of claim 1, further comprising:
judging whether the parameter information overflows or not;
and when the parameter information overflows, prompting error information and suggesting a scheme.
8. A MATLAB-based pickup simulation apparatus, comprising:
the learning module is used for designing and constructing a cam mechanism of the elastic tooth drum type pickup device to obtain a cam mathematical model, and designing and constructing an elastic tooth end part motion rule of the elastic tooth drum type pickup device to obtain an elastic tooth motion mathematical model;
the receiving module is used for receiving the rule of a cam mechanism driven piece of the elastic tooth drum type pickup device and parameter information input by a user;
the calculation module is used for analyzing according to the cam mechanism follower rule and the parameter information by utilizing the cam mathematical model and calculating to obtain a cam motion result; analyzing according to the cam mechanism follower rule and the parameter information by using the elastic tooth motion mathematical model, and calculating to obtain an elastic tooth end motion result;
the output module is used for outputting the motion result of the cam and the motion result of the end part of the elastic tooth;
the design module is used for carrying out parameter optimization design on the elastic tooth drum type pickup device by utilizing the cam mathematical model and the elastic tooth motion mathematical model; when the cam mathematical model and the elastic tooth motion mathematical model are used for carrying out parameter optimization design on the elastic tooth drum type picking device, the design module is used for:
(1) receiving the size of a cycloid shape input by a user, the length of an elastic tooth to be designed, the radius of a roller, design working parameters and first mechanism parameters, receiving a cam mechanism follower rule selected by the user, obtaining the displacement of the end part of the elastic tooth, the speed of the end part of the elastic tooth, the acceleration motion result of the end part of the elastic tooth, a theoretical undetected area and the actual curve profile of the cam, and generating an actual cam profile point data file according to the actual curve profile of the cam; the design working parameter refers to a maximum working parameter; the first mechanism parameters comprise a lift motion angle, a remote repose angle, a return motion angle, the number of elastic teeth, the height of a rotation center from the ground, the radius of a roller, the length of a crank, the length of the elastic teeth, the included angle between the crank and the elastic teeth, the radius of a cam base circle, the radius of a roller, a fixed working length and the wall thickness of a cam track, but the maximum swing angle is not included;
specifically, firstly, determining the optimal cycloid shape of the harvested materials and the length of the elastic tooth to be designed; then inputting the size of the cycloid shape and ideal working parameters or maximum working parameters into a GUI interface provided by a system based on MATLAB programming;
(2) receiving a second mechanism parameter input by a user, a working parameter range to be designed and a working distance, and analyzing by using a cam mathematical model and the elastic tooth motion mathematical model to obtain the highest linear speed of the end part of the elastic tooth, the highest acceleration of the end part of the elastic tooth, characteristic parameters of a cycloid shape, the area of a single missed picking area and the missed picking area under a fixed working length; the missed picking area under the fixed working length refers to the missed picking area under the fixed working length by considering the height of the center of the roller from the ground; the second mechanism parameters comprise the maximum rotation angle of the oscillating bar, a lift motion angle, a remote repose angle, a return motion angle, the number of elastic teeth, the height of a rotation center from the ground, the radius of the roller, the length of a crank, the length of the elastic teeth, the included angle between the crank and the elastic teeth, the radius of a cam base circle, the radius of the roller and the fixed working length;
during specific implementation, a user determines a working parameter range and a working distance according to field conditions and performance parameters of a designed machine, then obtains mechanism parameters of a pickup device through reverse engineering, inputs the obtained mechanism parameters, the working parameter range and the working distance, analyzes by using a cam mathematical model and an elastic tooth motion mathematical model, operates to obtain the highest linear speed of an elastic tooth end part of the pickup device, the highest acceleration of the elastic tooth end part, a characteristic parameter lambda of a cycloid shape, a single missed pickup area and a missed pickup area under the condition of considering the height of a roller center distance and the ground and fixing the working length, and generates corresponding 5 excel files;
(3) analyzing the highest linear velocity file and the characteristic parameter file of the cycloid shape at the end part of the elastic tooth to determine a working parameter boundary value according to an absolute velocity boundary value when the harvested materials are small in breakage in the picking process; reducing the boundary value of the working parameters in the adopted cycloid range to obtain the application working parameters of the elastic-tooth roller type pickup device;
(4) analyzing the missed picking area file with the fixed working length to obtain the optimal matching relation between the target working parameters with the smallest missed picking area, wherein the optimal matching relation between the working parameters is prepared for intelligent control;
obtaining the optimal matching relation between the application working parameters of the elastic-tooth drum type pickup device and the working parameters of the pickup device taking the leakage rate as the minimum as the target through the steps (3) and (4);
(5) repeating the steps (1) to (4) to obtain ideal mechanism parameters;
the ideal mechanism parameters are mechanism parameters corresponding to a target with high performance and low leakage rate;
(6) and (3) repeating the step (1) by using the ideal mechanism parameters to obtain the actual cam profile point data file under the ideal mechanism parameters.
9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711170070.1A CN107969231B (en) | 2017-11-21 | 2017-11-21 | MATLAB-based pickup device simulation method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711170070.1A CN107969231B (en) | 2017-11-21 | 2017-11-21 | MATLAB-based pickup device simulation method and device and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107969231A CN107969231A (en) | 2018-05-01 |
| CN107969231B true CN107969231B (en) | 2020-11-27 |
Family
ID=62010727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711170070.1A Active CN107969231B (en) | 2017-11-21 | 2017-11-21 | MATLAB-based pickup device simulation method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107969231B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR112022012303A2 (en) * | 2020-01-20 | 2022-09-06 | Redlands Ashlyn Motors Plc | CONTINUOUS BALER |
| CN115004951B (en) * | 2022-05-31 | 2024-07-09 | 石河子大学 | Mechanical and pneumatic cooperation type amplitude modulation pickup method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2846913A1 (en) * | 2013-03-15 | 2014-09-15 | Specialty Enterprises, Llc | A planar linkage, methods of decoupling, mitigating shock and resonance, and controlling agricultural spray booms mounted on ground vehicles |
| CN103797906B (en) * | 2013-12-24 | 2015-09-30 | 西北农林科技大学 | Based on the bionic, drag-reducing subsoiling spade of power function curve |
| CA2911886C (en) * | 2014-12-16 | 2021-02-23 | Cnh Industrial Canada, Ltd. | System and method for monitoring mass flow stability at variable air flow rates in an air seeder |
-
2017
- 2017-11-21 CN CN201711170070.1A patent/CN107969231B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107969231A (en) | 2018-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107969231B (en) | MATLAB-based pickup device simulation method and device and electronic equipment | |
| US10366335B2 (en) | Systems and methods for symbolic analysis | |
| US9652366B2 (en) | Code change analysis to optimize testing lifecycle | |
| CN1881218A (en) | Clustering apparatus, clustering method | |
| CN103853899B (en) | Fatigue life calculation method for shaft parts | |
| CN111185909B (en) | Robot operation condition acquisition method and device, robot and storage medium | |
| CN105095912A (en) | Data clustering method and device | |
| CN107480268A (en) | Data query method and device | |
| CN110851339A (en) | Method and device for reporting buried point data, storage medium and terminal equipment | |
| CN112052619B (en) | Air pollution particle information optimization method and device and electronic equipment | |
| CN105224252A (en) | Date storage method and device | |
| CN112066862A (en) | Position calibration method and device for linear displacement steering engine and terminal | |
| CN103455417B (en) | A kind of software error alignment system based on Markov model and location of mistake method | |
| TWI727639B (en) | Method and device for tracing block chain transactions | |
| CN114722091A (en) | Data processing method, data processing device, storage medium and processor | |
| CN109597642A (en) | A kind of code statistical method, device, server, equipment and readable medium | |
| CN109959407B (en) | Method and device for quickly detecting linearity of steering engine position sensor | |
| CN111368459B (en) | Wind power generation support tower cylinder vibration fatigue evaluation method, device, medium and terminal | |
| Tan et al. | Alternated inertial algorithms for split feasibility problems | |
| CN116292538B (en) | Hydro-cylinder binding method, system, device and medium based on digital twin | |
| CN112214854A (en) | Excavator oil consumption prediction method and system and electronic equipment | |
| CN117542405A (en) | Saccharide binding site-oriented prediction method, apparatus, device, and storage medium | |
| CN103530132A (en) | Method for transplanting CPU (central processing unit) serial programs to MIC (microphone) platform | |
| CN113987690B (en) | Method, system, equipment and storage medium for analyzing fatigue stress of undercarriage | |
| CN111380562A (en) | Method and device for calibrating odometer parameters of double-wheel differential robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |