| 蓝莓采收机高通过性自行走装置设计及性能研究 |
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| 引用本文： | 鲍玉冬,梁钊,赵彦玲,刘献礼,杨杰,郭艳玲,李志鹏.蓝莓采收机高通过性自行走装置设计及性能研究[J].农业工程学报,2018,34(24):36-45. |
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| 作者姓名： | 鲍玉冬 梁钊 赵彦玲 刘献礼 杨杰 郭艳玲 李志鹏 |
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| 作者单位： | 1. 哈尔滨理工大学机械动力工程学院，哈尔滨 150080;,1. 哈尔滨理工大学机械动力工程学院，哈尔滨 150080;,1. 哈尔滨理工大学机械动力工程学院，哈尔滨 150080;,1. 哈尔滨理工大学机械动力工程学院，哈尔滨 150080;,1. 哈尔滨理工大学机械动力工程学院，哈尔滨 150080;,2. 东北林业大学机电工程学院，哈尔滨 150040;,3. 东北林业大学交通学院，哈尔滨 150040; |
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| 基金项目： | 国家自然科学基金资助项目（51505110，51575097） |
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| 摘 要： | 针对国内蓝莓采收面临的难题,对蓝莓采收机自行走装置进行设计,该装置由液压驱动,采用框架式结构,由行走车架、发动机、液压执行元件、驾驶区等组成,对车架进行满载弯曲和扭转工况有限元仿真,确定车架强度满足力学性能要求,具有良好载荷配比及抗扭能力。对整机行走、转弯及升降性能分析,确保整机操纵轻便。该装置配置采收系统,对整机上下坡、横坡行驶及横向滑移稳定性分析,获得整机极限翻倾角及不同路面横向滑移角度范围。对样机进行试制及田间试验,试验结果与理论分析基本一致,整机行驶性能良好,最大行驶速度为11km/h,最小转弯半径为3 160 mm,适用果树高度1.1～2.0 m;整机作业稳定性强,上下坡及横向行驶翻倾角分别为51°、50°及44°,横向极限滑移角为40°;自行走装置与采收系统匹配性良好,采收效率为6.95 kg/min,果树重度损伤率为3.5%。
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| 关 键 词： | 机械化 设计 收获 蓝莓采收机 自行走装置 车架结构 稳定性 田间试验 |
| 收稿时间： | 2018/8/7 0:00:00 |
| 修稿时间： | 2018/11/20 0:00:00 |
Design and performance of high trafficability self-propelled device of blueberry harvester |
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| Bao Yudong,Liang Zhao,Zhao Yanling,Liu Xianli,Yang Jie,Guo Yanling and Li Zhipeng.Design and performance of high trafficability self-propelled device of blueberry harvester[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(24):36-45. |
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| Authors: | Bao Yudong Liang Zhao Zhao Yanling Liu Xianli Yang Jie Guo Yanling and Li Zhipeng |
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| Institution: | 1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China;,1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China;,1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China;,1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China;,1. School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China;,2. College of Mechanic and Electronic Engineering, Northeast Forestry University, Harbin 150040, China; and 3. School of Traffic and Transportation, Northeast Forestry University, Harbin 150040, China; |
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| Abstract: | The blueberry trees are cultivated densely in domestic, and there is not enough space for blueberry harvester passing. The imported blueberry harvester cannot play a role in domestic blueberry field. As a result, the blueberry harvester should be improved, especially the self-propelled device of blueberry harvester should be researched. The design goal of the self-propelled device was determined. The self-propelled device was driven by hydraulic pressure. It is composed of the walking frame, an engine, hydraulic components, a driving area, etc. The harvester can pass on the space 2 m×2 m (tree height × ridge distance) and its turning radius is small. The height of the walking frame could be adjusted automatically and the range of height variation was 0 - 400 mm. The device can be adapted to the trees height from 1 - 2 m. The device was driving by four wheels. Its working stability was reliable. The device can be matched to the existing picking and harvest system, as a result the picking efficiency of the harvester can be guaranteed. The structure of the self-propelled device was designed and its main technology parameters were determined. The working principle of the device was illustrated. The walking frame of the device under full loading was analyzed by finite element analysis. The model of the walking frame was established, which was simulated by ANSYS. The form and value of loading on the model were determined. Under the full load bending condition, the maximum stress was 53.61 MPa and the maximum displacement was 0.54 mm on the top of the frame. Under the full load torsion condition, the maximum stress was 183.24 MPa and the maximum displacement that was 3.41 mm happened on the front left arm. The strength of the walking frame met the requirement of mechanical performance under the two working conditions, and it had good load ratio and anti-torsion ability. The driving performance of the harvester was analyzed. It contained the walking performance and turning performance of the harvester and lifting performance of walking frame under full loading. The walking stability of the harvester on the slope was theoretically analyzed. The working posture of the harvester was analyzed, which contains longitudinal uphill and longitudinal downhill and cross slope driving. The experimental prototype of the harvester was accomplished. In order to test the matching performance between self-propelled device and harvesting system and the driving performance and the working stability of the harvester, the field experiment of the harvester was executed. The experiment condition and methods were determined. The control easiness of the vehicle device was guaranteed. The walking speed range was 0 - 11 km/h. The minimum turning radius was 3 160 mm. The lifting performance of the walking frame was reliable, which was fit for picking the trees of 1.1 - 2 m in height. The harvester had strong walking stability. The uphill and downhill and cross slope driving limit tipping angle of the harvester was 51°, 50° and 44°. The cross sliding driving limit angle of the harvester on different road surface was 40°. The experiment results met technical requirements, which was basically consistent with the theoretical values. The reason of the error between experiment value and theoretical values was discussed. The self-propelled device was well matched with the existing picking and harvesting system. The harvesting efficiency of the harvester was 6.95 kg/min and damage rate of the tree branches was 3.5%. The research on the self-propelled device of blueberry harvester can improve the mechanized harvesting level of small berries represented by blueberry in China, promote the matching between domestic blueberry planting agronomy and agricultural machinery, and provide theoretical basis and technical support for the improvement of small berry harvesters. |
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| Keywords: | mechanization design harvesting blueberry harvester self-propelled device frame structure stability field test |
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