基于联合仿真的双臂瓣形铲移树机性能分析与试验  

Performance Analysis and Test of Dual Arm Petal Shaped Shovel Tree Digging Machine Based on Co-simulation

作　　者：宁晨 张建[2] 张文福[2] 吴纪元 杜小强[1,3] 贾江鸣 童卫忠 NING Chen;ZHANG Jian;ZHANG Wenfu;WU Jiyuan;DU Xiaoqiang;JIA Jiangming;TONG Weizhong(School of Mechanical Engineering,Zhejiang Sci⁃Tech University,Hangzhou 310018,China;Zhejiang Academy of Forestry,Hangzhou 310023,China;Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province,Hangzhou 310018,China;Changxing Sian Changpeng Machinery Processing Factory,Huzhou 313000,China)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江省林业科学研究院,杭州310023 [3]浙江省种植装备技术重点实验室,杭州310018 [4]长兴泗安畅鹏机械加工厂,湖州313000

出　　处：《农业机械学报》2024年第S2期1-9,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：浙江省“领雁”研发攻关计划项目(2023C02053、2022C01152)

摘　　要：针对我国丘陵山区林木种植密集、地形复杂导致的移树机适应性差、液压系统能效低等问题,对移树机动臂结构进行了设计以及液压缸选型,建立了移树机机-液-离散元联合仿真模型,对整机结构及液压系统性能进行了分析。采用Recurdyn软件,对移树机行走底盘以及动臂进行了动力学仿真,确定了移树机最大抬升负载质量为2 t,动臂最大应力集中在抬升油缸孔前部,最大应力为72.5 MPa。基于移树机机-液-离散元联合仿真模型,对移树机抬升工况、铲刀切削土壤工况、土球摆动工况进行了模拟计算,分析了各执行元件油缸内压力变化曲线以及铲刀切削土壤阻力变化曲线,仿真结果表明:机臂在抬升过程中,抬升油缸压力稳定,压力为5.2 MPa;铲刀在切削土壤过程中,阻力逐渐增大,最大阻力为28900 N;土球摆动工况下翻板油缸内压力随倾斜角度增大而增大,最大压力为8 MPa。开展了移树机林地液压系统测试试验,测试结果表明:机臂抬升过程中抬升油缸压力稳定在5.5 MPa;切削土壤工况下,铲刀油缸压力差为10 MPa,间接计算得出切削阻力为28260 N;土球摆动工况下,翻板油缸压力随倾斜角度增大而增大,最大压力为7.7 MPa。通过移树机仿真试验与液压测试试验对比分析,得到抬升、切削土壤、土球摆动工况下仿真值与实测值相对误差分别为5.5%、2.3%、3.9%,验证了移树机联合仿真模型准确性以及移树机动臂结构与整机液压系统的稳定性。In response to the problems of poor adaptability of tree digging machines and low energy efficiency of hydraulic systems caused by dense forest planting and complex terrain in hilly and mountainous areas of China,the structure of the tree digging machine arm was designed and hydraulic cylinders model was selected,a co-simulation model of tree digging machine was established to analyze the structure and hydraulic system performance of the machine.Dynamic simulations were conducted on the chassis walking and arm of the tree digging machine using Recurdyn software.It was determined that the maximum lifting load of the tree digging machine was 2 t.The maximum stress on the lifting arm was concentrated in the front of the lifting cylinder hole,with a maximum stress of 72.5 MPa.A co-simulation model of the tree digging machine-liquiddiscrete element method was established by using Recurdyn,AMESim,and EDEM software.The lifting condition of the tree digging machine,the soil cutting condition of the shovel,and the soil swinging condition were simulated and calculated.The pressure change curves inside the oil cylinder of each actuator and the soil cutting resistance change curve of the shovel were analyzed.The simulation results showed that during the lifting process of the arm,the pressure of the lifting oil cylinder was stable,with a pressure of 5.2 MPa.During the process of cutting soil,the resistance of the shovel was gradually increased,with a maximum resistance of 28900 N.Under the condition of soil swing,the pressure inside the flap oil cylinder was increased with the increase of tilt angle,and the maximum pressure was 8 MPa.Testing on the hydraulic system of the tree digging machine in woodland was conducted,and the test results showed that the pressure of the lifting cylinder remained stable at 5.5 MPa during the lifting process of the arm.Under the condition of cutting soil,the pressure difference of the shovel cylinder was 10 MPa,and the indirectly calculated cutting resistance was 28260 N.Under the swing condit

关 键 词：移树机 液压系统 联合仿真 液压测试 

分 类 号：S225.3[农业科学—农业机械化工程]