油茶抚育机爬坡性能试验

Experimental study on climbing performance of Camellia oleifera tending machine

为了提高油茶林地的耕整管护水平,专门设计研制了一款适合南方丘陵地区使用的油茶抚育机。首先,介绍了油茶抚育机整体结构和相关参数;构建油茶抚育机爬坡运动学方程,并对爬坡过程的稳定性进行分析;基于RecurDyn动力学仿真软件搭建油茶抚育机的多体运动学模型,同时基于贝氏理论建立爬坡仿真的坡面,坡面坡度设定为30°;开展油茶林地软地面工况下的爬坡运动学仿真。结合设计参数及仿真试验结果研制一台油茶抚育机样机,选择油茶抚育机重心高度和行驶速度为试验因素,进行油茶抚育机样机实地爬坡性能正交试验。结果表明:重心高度对油茶抚育机爬坡过程稳定性影响大,行驶速度的影响小。从实地试验数据可知,当油茶抚育机重心位置为420 mm,爬坡速度为1.5 m/s时,油茶抚育机爬坡过程最稳定,其俯仰角的平均值为18.7°。与同一条件下的仿真试验的结果相比,实地试验与仿真试验的吻合程度为93.1%,两者基本吻合,验证了油茶抚育机动力学模型的可行性。试验证明,所设计的油茶抚育机满足爬坡性能要求。

Camellia oleifera is one of the important cash crops in China.However,the current plantation of Camellia oleifera trees mainly relies on manual care,which has the drawbacks of low efficiency,high labor intensity,high production cost and unsatisfactory operation procedure.To address the above-mentioned drawbacks,a Camellia oleifera tending machine was designed in this study.Considering that the hilly forest working conditions of the tending machine,it was desired to develop the tending machine with good climbing performance.In this study,the whole structure and relative parameters of the Camellia oleifera tending machine was investigated.The 3d model of the incubator was developed with the 3d parametric software Inventor.The kinematics equation of the Camellia oleifera tending machine was established and the stability of the climbing process was analyzed.The multi-body kinematics model was constructed based on the crawler kit in the RecurDyn dynamics simulation software.The simulation model was established based on Bayes Theorem.The center of gravity height and driving speed of the Camellia oleifera tending machine were selected as the factors of simulation test to carry out the kinematics simulation of climbing slope under the condition of the camellia woodland soft ground.The simulation results were as follows:the stability of the climbing process of the Camellia oleifera tending machine tended to be stable with the decrease of gravity center.In the climbing process of the tending machine,the speed had the greatest influence in the acceleration process and the least influence in constant speed process on the stability of the tending machine.A prototype was made for testing,and two factors and three levels of orthogonal test were designed with the center of gravity height and driving speed as experimental factors.The field climbing performance orthogonal test of the prototype of the Camellia oleifera tending machine was conducted.The results showed that the height of the center of gravity had a great influence on the climbing stability of the tending machine,and the driving speed had a small influence.According to the field test data,when the center of gravity of the tending machine was 420 mm and the climbing speed was 1.5 m/s,the climbing process of the tending machine was the most stable.The average of the angle of pitch was 18.7°.Compared with the simulation test under the same condition,the field test and simulation test were 93.1%consistent.The experimental results were in good agreement with the simulation results.The feasibility of the mechanical model was verified.The designed Camellia oleifera tending machine can meet the requirements of climbing performance.