| 自走式果园气爆深松施肥机打穴机构运动学分析与试验 |
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| 引用本文： | 沈从举,张立新,周艳,代亚猛,李帆,张景.自走式果园气爆深松施肥机打穴机构运动学分析与试验[J].农业工程学报,2022,38(1):44-52. |
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| 作者姓名： | 沈从举 张立新 周艳 代亚猛 李帆 张景 |
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| 作者单位： | 1. 石河子大学机械电气工程学院，石河子 832000; 2. 新疆农垦科学院，石河子 832000; 3. 农业农村部西北农业装备重点实验室，石河子 832000;;1. 石河子大学机械电气工程学院，石河子 832000; 3. 农业农村部西北农业装备重点实验室，石河子 832000; |
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| 基金项目： | 国家重点研发计划项目课题（2017YFD0701404）；新疆兵团重大科技项目课题（2013AA001-4）；新疆兵团科技创新人才计划（2020CB013）。 |
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| 摘 要： | 针对果树生长期人工挖坑施肥作业效率低、劳动强度大、成本高而且极易损伤果树根系的问题，该研究基于履带自走式果园气爆深松施肥机打穴机构的设计要求，研制了一种双油缸同步驱动液压打穴机构，以实现施肥插杆垂直插入地面400 mm以下深层土壤，满足整机对果园气爆松土、深位定量施肥的作业要求。首先分析了该打穴机构的组成及工作原理，建立了其运动学模型，研究了打穴油缸及主要构件的运动特性。并在确定优化目标的基础上，采用Visual Basic 6.0开发了可视化的打穴机构运动学辅助分析与优化设计软件，通过人机交互分析，优选出一组满足果园气爆深松施肥机打穴深度和机构运动空间位置要求的打穴机构参数。进一步通过ADAMS软件对打穴机构进行运动仿真，结果表明油缸活塞杆的运动轨迹和摇臂铰点的运动轨迹与理论分析结果一致，优选参数可以满足打穴机构的设计要求。最后在优选参数下，以打穴入土时间和油缸压力为试验指标，分别对3种不同直径插杆（30、35、40 mm）在最大打穴深度要求下进行了试验测试，并对打穴垂直度进行了试验验证。试验结果表明：该打穴机构能够满足各项设计要求，在最大打穴深度760 mm时，油缸最大行程为191 mm；打穴入土时间和油缸压力均随着插杆直径增大而增加，30、35、40 mm直径插杆都满足打穴作业的时间和油缸压力要求，打穴入土时间分别为6.4、7.5、8.2 s，油缸压力分别为18.2、24.2、24.6 MPa。同时对3种直径插杆在相应的打穴入土时间（6.4、7.5、8.2 s）内的油缸活塞杆速度与插杆速度进行了对比分析，对应的插杆入土速度分别为0.119、0.101、0.093 m/s，油缸活塞杆速度分别为0.025、0.021、0.019 m/s，插杆速度和油缸活塞杆速度均随着插杆直径的增大而减小，而且对于3种插杆直径，其前者速度均大于后者速度，二者速度差也随着插杆直径的增大而减小。本文研究可为果园气爆深松施肥机液压打穴机构研发与改进优化提供参考。
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| 关 键 词： | 果园机械 运动学 性能试验 松土追肥 打穴机构 油缸驱动 |
| 收稿时间： | 2021/10/13 0:00:00 |
| 修稿时间： | 2021/11/30 0:00:00 |
Kinematic analysis and tests of the insertion mechanism of a self-propelled orchard gas explosion subsoiling and fertilizing machine |
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| Shen Congju,Zhang Lixin,Zhou Yan,Dai Yameng,Li Fan,Zhang Jing.Kinematic analysis and tests of the insertion mechanism of a self-propelled orchard gas explosion subsoiling and fertilizing machine[J].Transactions of the Chinese Society of Agricultural Engineering,2022,38(1):44-52. |
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| Authors: | Shen Congju Zhang Lixin Zhou Yan Dai Yameng Li Fan Zhang Jing |
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| Institution: | 1. College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832000, China; 3. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture, Shihezi 832000, China;;2. Xinjiang Academy of Agricultural and Reclamation Science, Shihezi 832000, China; 3. Key Laboratory of Northwest Agricultural Equipment of Ministry of Agriculture, Shihezi 832000, China;; 1. Library of China Agricultural University, Beijing 100083, China; 2. Information Research Center, China Agricultural University, Beijing 100083, China; |
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| Abstract: | Automatically mechanical digging has been widely expected for the topsoiling during the growth stage of fruit trees in modern agriculture, due to the high efficiency, low labor intensity, cost saving, and the protection of the roots. In this study, a double-cylinder-driven hydraulic insertion mechanism was proposed to fully meet the working requirements of the whole crawler-type self-propelled machine in the orchard gas explosion subsoiling and deep soil quantitative fertilization. A specific mechanism was also designed to realize a vertical insertion of fertilizing rod into 400 mm or deeper soil. The structure and working parameters of the mechanism were determined for the optimal. A kinematic model of the mechanism was established to explore the kinematic characteristics of the insertion cylinders and components. A Visual Basic 6.0 program was developed to optimize the kinematics of the insertion mechanism. A set of optimized parameters of the insertion mechanism were selected using the human-computer interaction. A motion simulation was performed on the insertion mechanism using ADAMS. Results showed that the motion tracks of the cylinder piston rod point A and the rocker arm hinge point C were the same as the theoretical analysis, indicating that the optimal parameters were fully meet the design requirements of the insertion mechanism. An experimental test was performed on three diameters of rods (30, 35, and 40 mm) under the optimal parameters and the maximum insertion depth, where the insertion time and cylinder pressure were taken as test indicators. It was found that the double-cylinder-driven hydraulic insertion mechanism had fully met the design requirements, including the installation space position of the mechanism, the maximum depth of the insertion rod hole, hydraulic cylinder movement space and piston rod stroke, rocker arm movement and eccentricity, as well as the structural and position parameters. The maximum cylinder stroke was 191 mm when the maximum insertion depth was 760 mm. The insertion time and cylinder pressure increased significantly, with the increase of rod diameter. The rods with three diameters were all fully met the requirements of insertion time and cylinder pressure. The relationship was also determined between the insertion time and the rod speed and cylinder piston speed. The insertion time values were 6.4, 7.5, and 8.2 s for the 30, 35, and 40 mm diameter rod, with the average speed of the rod and cylinder piston of 0.119 and 0.025 m/s, 0.101 and 0.021 m/s, 0.093 and 0.019 m/s, respectively. This finding can provide a strong reference to develop and optimize the gas explosion subsoiling and fertilizing insertion in an orchard. |
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| Keywords: | orchard machinery kinematics performance subsoiling and topdressing insertion mechanism cylinder driving test |
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