移栽机自动升降底盘设计与试验研究

Transplanting Machine Automatic Lifting Chassis Design and Simulation Analysis

针对旱地移栽机插深一致的需要,设计了一种基于双四杆机构的移栽机自动升降仿形底盘,包括底盘机架、导向轮、驱动轮、仿形机构、升降机构和液压控制回路等。对双四杆底盘升降机构进行理论分析,建立了底盘升降高度与液压缸伸缩量之间的数学模型。用Solid Works建立了该移栽机升降底盘的虚拟样机模型,并将虚拟样机模型导入ADAMS中,基于ADAMS/Hydraulics建立了移栽机自动升降底盘的机液联合仿真模型,进行机液联合仿真分析,得到了底盘高度、液压缸受力等相关参数变化。仿真结果验证了理论分析了的正确性,表明所设计的底盘升降机构和液压回路能够满足工作需求。以自制的2ZXW-2型穴盘苗自动移栽机为试验对象,以底盘和垄面间距稳定性及钵苗栽植深度均匀性作为评价指标,对样机仿形作业性能进行试验研究。试验结果表明:作业中底盘和垄面的间距能够基本保持稳定,钵苗栽植深度合格率为98%,栽植深度变异系数0.036,自动升降仿形底盘满足设计要求,很好地保证了钵苗栽植深度的均匀性。

In this paper, in accordance with the planting need of transplanting machine inserted deep consistent, we design a transplanting machine automatically lifting profile chassis based on double four-bar linkage mechanism, including chassis frame, guide wheel, driving wheel, profiling mechanism, lifting mechanism and hydraulic control circuit and so on. Theoretical analysis was carried out on the double four-bar chassis lifting mechanism. We established the virtual pro- totype model of the transplanting machine lift chassis by modeling software SolidWorks, and imported the virtual prototype model into rigid motion simulation software ADAMS to carry out the kinematics simulation analysis. We established the hydraulic circuit in the environment of ADAMS/Hydraulics, and connected to the mechanical system virtually, then we took simulation analysis on mechanical-hydraulic system. We obtained the chassis height, hydraulic cylinder force and relevant parameters, the simulation results verify the correctness of theoretical analysis of the lifting mechanism show that the design of the chassis and hydraulic circuit can meet the job requirements. We took the home-made 2ZXW-2 plug seedling automatic transplantingmachine as the experimental object. We used ultrasonic sensor, data acquisition analyzer testequipment, etc. to research the profiling performance of the profiling mechanism in the process of working. We select the stability of the spacing between the chassis andthe ridge surface and the uniformity of seedling planting depth as the e- valuation index of profiling work performance. The distance measurement test result shows that the spacing between the chassis and the ridge surface can keep stable. Planting experiment shows that percent of pass about plugseedling planting depth is 98 % and the variation coefficient of planting depth is small. Results show that the automatic lifting and profiling system can meet the design requirements and good to ensure the uniformity of plug seedling planting depth.