基于轮壤接触力学行为的蓝莓采收机行走驱动系统设计  

Design of the walking driving system for a blueberry harvester based on contact mechanical behavior of wheel-soil

作　　者：鲍玉冬[1,2] 杨杰 赵彦玲[1,2] 刘献礼[1,2] 郭艳玲[3] 李志鹏[4] 向敬忠[1] Bao Yudong;Yang Jie;Zhao Yanling;Liu Xianli;Guo Yanling;Li Zhipeng;Xiang Jingzhong(School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China;Key Laboratory of Advanced Manufacturing and Intelligent Technology,Ministry of Education,Harbin University of Science and Technology,Harbin 150080,China;College of Mechanical and Electronical Engineering,Northeast Forestry University,Harbin 150040,China;School of Traffic and Transportation,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]哈尔滨理工大学机械动力工程学院,哈尔滨150080 [2]哈尔滨理工大学先进制造智能化技术教育部重点实验室,哈尔滨150080 [3]东北林业大学机电工程学院,哈尔滨150040 [4]东北林业大学交通学院,哈尔滨150040

出　　处：《农业工程学报》2020年第7期43-52,F0003,共11页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金资助项目(51505110,51575097)。

摘　　要：针对当前中国自走式蓝莓采收机作业通过性差等问题,建立轮壤接触力学模型,分析车轮驱动力矩、负载、沉陷量及挂钩牵引力等力学行为,得到车轮通过性影响因素为土壤属性、车轮结构参数和行走速度。采用离散元法建立蓝莓采收机轮壤接触模型,以车轮结构参数(宽度195、205、215 mm,直径615、627、639 mm)、行走速度0~11 km/h为试验因素,车轮结构参数或行走速度增加时,车轮阻力矩和土壤波动速度随之增加。依据车轮阻力矩设计行走驱动系统,采用闭式静液压四轮行走驱动系统,通过工况适应性仿真验证各车轮输出特性一致,稳定行走;系统可以克服车轮沉陷,平稳越障。通过样机田间试验得到行走驱动系统满足行驶速度范围0~11 km/h要求,运行平稳;车轮沉陷越障时无非目的性转向偏移,越障时间为3.3 s,与仿真结果一致;行走驱动系统与采收系统匹配性良好,采收效率为7.01 kg/min,果树采净率为92%,果树损伤率为11.5%。研究表明建立的轮壤接触模型可靠,行走驱动系统作业通过性效果好,可为蓝莓采收机研发提供参考。A contact mechanics model of the wheel-soil was established to improve the working road surface quality of the self-propelled blueberry harvester in China.After analyzing the mechanical behaviors of the wheel driving torque,wheel load,wheel subsidence and drawbar pull,the influence factors on the contact mechanics model were obtained,including the structure parameters of wheels,the property of ground soils and the walking speed of the harvester.A simulation model of the wheel-soil contact mechanics for the blueberry harvester was established by using the discrete element method.The variation ranges of the wheel resistance torque and the soil fluctuation velocity are obtained when taking the wheel parameters and walking speed as test factors.The simulation results show that the compressive force between the wheel and soil decreases from the center to the periphery in the wheel-soil contact model.The compressive force gradually returns to zero after the traffic passing,and then begins to rise on the approaching road.The resistance torque of the rear wheels is generally higher than that of the front wheels.In the same walking speed of the harvester,the resistance torque of the wheels increases as the increase of the wheel radius and wheel width.The maximum increasing amount of the peak value is 271.6 N·m.When the structure parameters of the wheels are fixed,the walking speed rises from 3.1 km/h to 11 km/h,as well the resistance torque increases.The growth maximum of the peak value is 452.3 N·m.The fluctuation velocity of soil increases as the wheel structure parameters and walking speed increase.The closed hydrostatic four-wheel walking driving system was designed for the self-propelled blueberry harvester based on the extreme values of the resistance torque.The AMESim model of the walking driving system was also established to analyze the condition adaptability in the application.The simulation results show that the motor output torque of the four wheels is up to 86.8 N·m,and the output revolving speed is 83.6 r

关 键 词：机械化 离散元 蓝莓采收机 轮壤接触 行走驱动系统 

分 类 号：S225.93[农业科学—农业机械化工程]