中文摘要：

为获取一般性的空间行星轮系传动比,以达到直取秧和小穴口的插秧要求,在斜齿交错椭圆锥行星轮系分插机构的基础上,引入非圆锥齿轮,得到一种斜齿交错-非圆锥行星轮系分插机构,并应用于高速宽窄行插秧机当中。建立了非圆锥齿轮副节曲线的数学表达式和机构的运动学模型;基于Matlab开发平台开发了机构参数优化软件,利用该软件分析了节曲线形状、行星架初始安装角、斜齿轮螺旋角和非圆锥齿轮锥距对理想轨迹姿态、直取秧特征和穴口大小的影响,并以理想轨迹姿态、直取秧、小穴口等要求为目标,通过人机交互方式优选机构参数;与斜齿交错-椭圆锥行星轮系分插机构形成的总传动比及其轨迹进行对比,并得出了斜齿交错-非圆锥行星轮系分插机构轨迹在改进直取秧姿态、降低伤苗率等方面作业性能更优的结论。利用仿真软件Adams进行了机构的运动学仿真,加工分插机构实物,利用通用分插机构试验台完成机构插秧轨迹测试,得出斜齿交错-非圆锥行星轮系分插机构可以更好的满足水稻宽窄行插秧的要求,从而验证了非圆锥齿轮在宽窄行分插机构中应用的优越性。

英文摘要：

In order to obtain high-quality wide-narrow distance planting trajectory that can solve the problems such as large horizontal offset of picking seeding trajectory in inclined and shaping wider plant hole, a wide-narrow distance transplanting mechanism with spatial planetary gear train composed of non-circular bevel gears and crossed cylindrical gears was put forward based on spatial planetary gear train composed of elliptical bevel gears and crossed cylindrical gears. Non-circular bevel gears were better than traditional gears, such as circular gears and elliptical gears. In addition, the pitch curve of the non-circular bevel gear was general so that this mechanism could achieve more potential spatial planting trajectories. Transplanting mechanism with this kind of bevel gears was one kind of spatial non-uniform velocity transmission mechanism which could obtain the spatial planting trajectory that met diverse agronomic requirements. The theory of wide-narrow distance transplanting mechanism was introduced and the optimization goal of planting trajectory was designed. A smooth, continuous and closed spherical curve was designed by fitting the free form spline, which was used to represent the big end pitch curve of non-circular bevel gear. The equations of spherical big end pitch curve were given. Based on the D-H matrix transformation, the kinematics optimization model of mechanism was built up. The key points’ displacements of transplanting mechanism were calculated. Several main parameters affecting the wide-narrow distance planting trajectory were analyzed. The shape of non-circular bevel gear’s big end pitch curve played a major role in the shape of wide-narrow distance planting trajectory; the initial angle of planetary carrier was a key parameter affecting the posture of wide-narrow distance planting trajectory; the staggered angle of non-circular bevel gear pair and bevel gear pair’s cone distance had decided the offset of picking and taking seeding trajectory. A optimization program about wide-narro