一种并联缆绳牵引式山地果园运输机的建模与分析  

Modeling and analysis of a parallel cable-towed transporter for hilly orchard

作　　者：鲍秀兰[1] 孙培林 胡成[1] 李善军[1] 陈红[1] 杨安定 BAO Xiulan;SUN Peilin;HU Cheng;LI Shanjun;CHEN Hong;YANG Anding(College of Engineering,Huazhong Agricultural University/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment in Mid-Lower Yangtze River,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院/农业农村部长江中下游农业装备重点实验室,武汉430070

出　　处：《华中农业大学学报》2020年第6期121-127,共7页Journal of Huazhong Agricultural University

基　　金：国家自然科学基金项目(51605181);中央高校基本科研业务费专项(2662109PY063);现代农业(柑橘)产业技术体系建设专项(CARS26)。

摘　　要：为进一步提高山地果园运输机的灵活性与可重构性,设计一种缆绳牵引式无轨果园运输机,通过在果山上设立桩点,控制并联钢丝缆绳的运动来实现果园低空运输。在建立并联机构的三维空间路线模型基础上,分析运输机工作过程中缆绳的运动与受力,阐明运输过程中缆绳速度与牵引力的变化规律。仿真结果表明:基于并联结构的缆绳牵引式果园运输机在不同的运输路径偏角下,运输过程中的缆绳速度与牵引力的变化缓慢且均匀。并联机构保证了系统工作时的稳定性,其可重构的特点进一步扩大了运输机的适用范围。In order to further improve the flexibility of mountain orchard transport,this paper proposes a cable-towed trackless transporter for hilly orchard.The low-altitude transportation in orchard is realized by setting up the pile point on the hilly orchard,controlling the movement of paralleled steel cable.According to the actual terrain situation in Ganzhou,the actual standard used by the system model is that the horizontal distance between two piles located at the top of two mountains is set at 3200 m,the mountain height is set at 240 m,and the height difference between adjacent mountains is set within 10-50 m.According to the actual situation of the slope angle,the inclination angle of the transportation route down the mountain was set as 36.87°The total weight of the fruit basket filled with fruit picked was set at 100 kg.The main transportation process of the transporter is as follows:the fruit basket filled with fruit picked is placed on the pile platform at the top of the hill and suspended on the hook at the end of the cable.Each hook is connected to 2-3 cables,and the other end of each cable is connected to a drum connected to the motor and the reducer.Each cable is controlled by a separate motor,and the speed of the cable is controlled by motor speed control,so that the fruit basket can be transported downhill in different paths and speeds.In order to reduce the swing deviation caused by the own mass and motion of cable and eliminate the response hysteresis and critical jitter of system,an independent lifting control device is set up for the fruit basket.The only control is realized by installing the button at the end of the sling to ensure the temporary lifting of the fruit basket not be affected by the movement of cable.Based on three-dimensional route model,the parallel mechanism consists of three piles,and the working scope of the equipment is the triangular area enclosed by the piles.For the convenience of analysis and calculation,the transportation routes of all fruit baskets in the model are approxi

关 键 词：果园运输机 山地果园 并联机构 缆绳牵引 三维路径模型 可重构性 并联机器人 

分 类 号：S229.1[农业科学—农业机械化工程]