Tap chi Khea hgc va Phat tijgn 20 ] 0: Tap sd 1: 140- 148 TRUONG BAI HOC NONG NGillEP HA NQI MOT SO KET QUA NGHIEN OUU VE BAI TOAN TIM QUI DAO DAU MUT TAY TRONG CO CAU VO - NEN CUA MAY NEN ROM TiNH TAI Some Researching Results about Orbital Motion of Gathering and Compressing Mechanism of Straw and Hey Compressing Machine Nguyen Xuan Thiet, Le Minh Lir va Liro'ng Van Vugt Khoa Cry - Dien, Tritnvg Dgi h()c Nr'mg nghiep Hit Npi Dia ehi email tac gia lien lae.' ngxthiet@yahoo.com TOM TAT May nen bo r e m va co kho tmh tai ma bai bao Se cap la loai may t h y c hien nhiem vu nen va bo rem va co kho ti>ng bo, qua trinh d p lieu, nen va bo du'g'c t h y c hien lien tuc, nhjp nhang Vai dieu kien thu hoach 6/ Viet Nam, loai may co tinh Lpng dung cao C c cau v c - nen la c e cau lam viec quan trgng cua may Bai toan dgng hgc c e cau v e - nen du'g'c dat nham xac djnh moi quan he kich thu'O'C giO'a cac khau c e cau thong qua bai toan toi u'u quT dao cua dau mut tay v e nham toi iru hoa kha nang cap lieu cua may Ket qua dira la c e s e thiet ke may sau Tii' khoa: C e cau v e - nen may nen r e m , may nen r e m , may nen co kho SUMMARY Straw and hey compressing machine discussed in this article is a machine to perform the tasks compressing straw and hey into bundles, in which process of compress and bundle is ongoing Under the harvesting conditions in Vietnam, this machine has high applicability Gathering and compressing mechanism is an important working-mechanism of the machine The kinetics problem of gathering and compressing mechanism is set out to determine the relationship between the sizes of parts in the mechanism through optimal problem of orbit of endpoint of the gathering hand The results serve as basis data to design machine Key words: Bundling compressing machine machine, gathering 1, DAT V A N D E Hien nay, m6i nam Viel Nam san xua't hting chue lrieu tan lua, Ifl dd cho mdt sd' lu'dng rdm kh6ng 16, phan ldn lrdng s6' dd van dUdc cdi la phe pham ndng nghiep va bi del bd Hau qua ked theo la lang phi va gay nhiem m6i trudng nghiem lrgng Met lrong cac hudng giai quye'l cho van de la nen bd rdm khd lhanh cac kh6'i kien nhd (vi du nen lhanh khd'i dai x rgng x cao; 700 x 500 x 400 mm) de lhuan lien ehe viec bao quan lam thfle an cho gia sue hoac trdng nam Ben canh do, de phuc vu cho phai lrien nganh chan nu6i Irau bd, ed lai eac vung nguyen lieu ed sau phdi du khd can thie'l phai 140 and compressing mechanism, straw and hey dfldc bd lhanh cac bd de lien cho viec cat trfl va bao quan Trflde thfle te dd, eung da xuat hien nhieu ed sd eung cap may nen bd rdm, cd khd ed ngudn gd'e Ifl Trung Qud'c hoac Nhat Ban Tuy nhien, da phan la cac may lUu ddng mang nhUde diem ldn la cong kenh, gia lhanh cao va bai tien cho viec sfla chfla lhay the hfl hdng, khd ap dung nhieu khu viic d Viel Nam Cung da co mgt vai ed sd nghien eflu ehe lao may ep rdm cd khd linh lai nhflng dac diem cua eac loai may la lam viec gian doan, li'nh cd gidi chua cao, cdn nhieu c6ng doan thu c6ng nhu cua Nha may Z755 (2008), cua Khoa Cd Dien TrUdng Dai hgc Nong nghiep Ha Ngi (2007) Mpt so kSt qua nghien cuu ve bai toan tim qui flao gau mut tay co' cSu \ia - nen May nen rdm, cd khd vdi qua lrinh nen va qua trinh bo lien luc (Hinh 1) la loai may CO Uu diem vUdl Irgi ve nang sua't va dang dugc nghien cflu ehe lao lai Khoa Cd • Dien TrUdng Dai hgc N6ng nghiep Ha Ngi Nghien cflu dgng hgc cd cau vd - nen la bai lean quan lrgng nham xae dinh kieh thude cac khau cd ca'u phuc vu cho viec ihiel ke may, ddng lhdi qua dd cung cap met bai loan cd hgc thu vi dgng lflc hgc may Yeu cau dai eho viee tinh loan la lhay ddi va lim ehieu dai eae khau ed eau vd - nen eho lay vd thfle hien nhiem vu vd td't nha't (Hinh 2) Cd nghia la lai hanh trinh lam viee (BmA) lay vd quel dfldc met dien lieh tren mat phang gia cap lieu (dien tich vd - dien tieh hinh gach ehee) ldn nha't, ddng lhdi tai hanh trinh lrd ve (AnB) lay vd rut ve thuan lien, tranh gay hien lfldng hat rdm trd lai (ldi flu nha't la dau mut tay vd ve iiigl qui dao la dfldng thang nam dudi mat phang cap lieu) VAT LIEU VA PHUONG PHAP NGHIEN CUtJ 2.1 Phan tich cd cau Cd ca'u vd • nen la mdt cd cau khau lien ke't khdp ban le vdi khau OA (Hinh 2) la khau ehu dgng quay deu vdi van l6c goc kh6ng ddi Piston nen lien kel cflng vdi dau mut C cua 0,C lay vd DF lien kel cflng vdi khau DE Yeu cku lam viee doi vdi cd ca'u la piston nen va lay vd DF lam viee nhip nhang, piston qua lrinh nen (piston lam viee) thi tay vd lrong qua li'inh trii ve va piston qua trinh Ira ve lhi tay vd lam viee (vd va dfla nguyen lieu vae khdang nen) Dd'i vdi bai loan ddng hge cd ca'u nay, la ap dung phfldng phap giai bang each tach cd ca'u lhanh cae nhdm Dial hay cdn ggi la nhom hai khau, sau giai Iflng nhom mgt, ke't qua linh loan ihu dUdc tfl nhom se lam diem xual phat de linh nhnm Dint tie'p theo (Hinh 3) Hinh Ban ve tong the ciia may nen rdm, co kho tinh tai ,/ , ^\ ,—M5t phfing gia cap liej Qui dao hoat dpng- Hinh Yeu cau qui dao ciia dau miit tay vd 141 Nguyen Xuan Thiet Le Minh Lw Luxyng Van Vuxyt A Hinh Sc( phan tich cau vO - nen t h a n h cac nhom Diat Hinh Sd nguyen ly cau tao ciia CO cau vcf - nen ^, , i A : »> vim yjk ( 1^ 1 ' s ^ ' 1 1 1 1 ^ ^ ' —^- Hinh Sc< phan tich dong hoc nhom hai khau (nhdm Diat) gdn lien vdi khau j lrong true ^i la dUdng n6'i lien vdi khdp (i, j) vdi khdp (j, k) cdn true Tren cd sd tach nhdm, cd ca'u vd - nen ;;, la true vuong gde vdi (f, Tudng tfl nhfl dfldc tach lhanh nhdm Dial va khau chfl ddng OA (Hinh 4) Dfldi day gidi thieu ldi tren, khau k ed he lea dd tf* - r/i^ vdi gbc toa dd tai khdp (k, I) Gde rpj dUde linh Ifl dfldng giai ldng quat cho mdt nhdm Dial (Vfl Liem lhang Sdng sdng vdi true x theo hfldng dfldng Chinh, 2001) - Ggi j va k la hai khau nd'i dgng vdi den hfldng dfldng ciia true ^,, lrong khau j dfldc nd'i ddng vdi khau Phfldng lrinh tinh toan vi tri x,„„ yj„„ip,, i bang mdt khdp quay (i,j), cdn khau k ngdai (Pi, Ihoa man dieu kien rang huge, nghia la viec ndi vdi khau j nd'i vdi khau bSng hinh ehie'u eua loa eac khdp len hai true met khdp quay (k I) Vi Iri cfla cae khdp (i, tea la phai khep kin (Hinh 3) j), (k, I) dfldc xae dinh bang tea xij, yij, xkl Phfldng trinh: va ykl Ham vi tri cfla cac diem hoae la x,j ãƠ 11 cos ipj - 11, cosrpi, - X,,, = (1) bang hang neu no dUde ndi vdi khdp quay ed y,j -^• Ij sinrpj- l^ sinip,, - y^, = (2) dinh hoac la phu lhugc vao loa q =ip.2 cfla Ky hieu: khau dan Ham s6 eua diem can xac dinh cua nhom khau !a diem (j m) Vi irl eua hai (3) 'r>itj — rijk — ^ , " :^ki khau dfldc xac dinh nhd cac gdc rpj, rp,, va cac _ -Ci,j = Cji,=y,j-yi,i (4) ^ tea cua khdp (j,k) Tfl hinh cd the nhan bieu Ihflc lren dfldc vie't dfldi dang: tha'y, iing vdi chieu dai /,, /,, bat ky se cd vi Ij cosrpj - I,,, cosrpi, - Bj^ (5) Iri tfldng ung cho khdp (j, k) He lea ^i - q Ij sinrpj = 11, sinip,, - €,,, (6) 2.2 Cc* sd ly thuye't va trinh tuf tinh toan 14: Mpt s6 kSt qua nghien cuu vg bai toan tim qui dao (Jau mut tay oa cau \ia - nen Binh p h u d n g iflng phUdng l r i n h va s a u eong lai la eo: / / = // - - 2Bj,, It cos ipi, - 2C,, It sinrpt + B/ • + c , / De rfll ggn bieu ihflc la dai: (7) 2B,J, B-„ + ^^- - ' (sin ipiJ^ • ^'rf - ^ M V ^ Tfl nghiem lren, la t i n h dUde: Icosipi,), Icosipi,)., •• - Ce t h e t h a y t r i n h p h u h g p vdi n h o m Gia tri cfla ca gia tri c u a hai hai hai sin n g h i e m c u a phUdng p h U d n g a n vi t r i cua goc ipi,, ip/,., xac d i n h l a n cos cua no dUdc - Gia Iri c u a akj, bkj wkj dugc linh loan nhd edng Ihfle (8), (12) b a n g each l h a y ddi chi sd cho n h a u - Viec p h a n lich d g n g hgc cua mgi cd ca'u dugc tae l h a n h Ifl cae n h o m Dial dflgc lien h a n h Iflng bflde Tfl gia tri da biet ve chieu dai (Ij, lk) va cae h a m vi t r i cfla eae khdp chd (i, j) va (k, I) t i n h Inan h a m vi Iri cac diem can lim Tiep de'n diem n a y lai la diem x u a l p h a i de l i n h eae D i a l liep t h e o hoae dfldc xem la diem t r g n g t a m , eae ehi sd' i, j , k I dfldc t h a y the' b a n g cac chi so' mdi cua k h a u dfldc k h a c s a l Cd ca'u vd - n e n dfldc t a c h l h a n h cac n h o m Dial Sfl d u n g ngdn ngfl Scilab d6 giai bai l o a n dgng hgc cd ca'u n a y ( H i n h 6) 143 NguySn Xuan Thiet Le Minh Lw, Lwong Van Vuxyt Begin V Nhap du' lieu 12, 13, T (p = ; 2n V Tea dg diem A J Giai nhom Diat ACO, ; Giai nhom Diat C D O , V Giai nhom Diat D E B ^r loa diem C Toa diem F • END Hinh Sof thuat giai DONG HOC CO CAU VO - NEN : ;v i ^ "=>\ p V ^ (F) ' ::i:i:i:n:: H i "•'.1 : ^\(D) ^ t \ n kA) ^ |(Ey 1= 250:11=600:12=600;I3=650:»=300J5=220:I6=560:I21= /• 148 ... lam viee nhip nhang, piston qua lrinh nen (piston lam viee) thi tay vd lrong qua li''inh trii ve va piston qua trinh Ira ve lhi tay vd lam viee (vd va dfla nguyen lieu vae khdang nen) Dd''i vdi... vdi quy dao chuyen dgng cua dau mut tay vd d hinh 10, hanh lrinh vd la mdt dUdng eong ldi, hanh trinh tra ve gan nhU la mdi dUdng thang che kha nang vd cua tay vd tdt hdn ca, Vi vay eac thdng...Mpt so kSt qua nghien cuu ve bai toan tim qui flao gau mut tay co'' cSu \ia - nen May nen rdm, cd khd vdi qua lrinh nen va qua trinh bo lien luc (Hinh 1) la