液压控制履带自走式温室三七收获机设计与试验  

Design and Test of Hydraulic Control Tracked Self-propelled Greenhouse Panax notoginseng Harvester

作　　者：张兆国[1,2] 王一驰 李汉青 刀方[1,2] 张振东 薛浩田 ZHANG Zhaoguo;WANG Yichi;LI Hanqing;DAO Fang;ZHANG Zhendong;XUE Haotian(Faculty of Agriculture and Food,Kunming University of Science and Technology,Kunming 650500,China;Yunnan Provincial University of Chinese Medicinal Materials Mechanization Engineering Research Center,Kunming 650500,China;College of Engineering,Northeast Agricultural University,Harbin 150030,China)

机构地区：[1]昆明理工大学农业与食品学院,昆明650500 [2]云南省高校中药材机械化工程研究中心,昆明650500 [3]东北农业大学工程学院,哈尔滨150030

出　　处：《农业机械学报》2021年第6期127-135,158,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51865023);云南省重大科技专项(2016ZF001);云南省高校工程研究中心建设计划项目。

摘　　要：针对温室三七收获机械化程度低、收获效率低、破损率高等问题,设计一种液压控制履带自走式温室三七收获机。在满足农艺要求的基础上,使用履带式行走底盘,并对其进行运动学分析,利用RecurDyn对整机直线行走特性进行仿真分析,单侧牵引动力为1357 N,质心波动平稳;建立了根土混合物运动学模型,并确定挖掘部分最优结构参数。利用FluidSIM软件和GX Developer软件开发平台分别设计了本地操作系统和远程控制系统,使整机具有行走、传动和升降功能。田间试验表明:在不同控制模式下,整机能顺利完成直行、转弯和挖掘装置升降等功能,液压控制系统和机械部分工作顺畅,直线行走稳定,行走偏移量为0.49%,液压缸前进、后退速度均为0.22 m/s,误差满足要求;平均伤根率为1.77%,平均损失率为1.48%,无明显埋根现象,满足三七收获机性能要求。Aiming at the problems of low mechanization degree,low harvest efficiency and high harvest damage rate of Panax notoginseng in greenhouse,a self-propelled greenhouse Panax notoginseng harvest machine with hydraulic power transmission system and 380 V three-phase power source was designed,which can complete the harvest of Panax notoginseng,root soil separation and other tasks,its key components were studied.Based on agronomic requirements,the whole machine structure and crawler chassis were designed,and the kinematics model was established.The linear motion characteristics of the complete machine were studied using RecurDyn.The single-side traction power was about 1357 N,and the center of mass fluctuation was stable.By establishing the kinematic model of the root-soil mixture,the optimal structural parameters of the excavation were determined.The hydraulic control design was divided into three parts:walking,driving,and lifting.FluidSIM and GX Developer were used to design the local operating system and remote-control system software,respectively.The field test results showed that the hydraulic control system and the mechanical part worked well under the conditions of excavation.Under different control modes,the harvest machine can complete the functions of straight line,turning,lifting,and lifting chain rotation,etc.The straight-line travel was stable,the travel offset was 0.49%,and the forward and backward velocities of the hydraulic cylinder were 0.22 m/s,respectively,which were basically consistent with the simulation results.The average yield loss rate was 1.48%,and the average root injury rate was 1.77%.There was no obvious root embedding phenomenon,which met the evaluation index of Panax notoginseng harvest machine.

关 键 词：自走式三七收获机 温室 履带底盘 液压系统 

分 类 号：S225.31[农业科学—农业机械化工程]