甘蔗收获机提升机构的运动学与动力学分析

Kinematics and Dynamics Analysis of the Lifting Mechanism of the New-type Sugarcane Harvester

针对原有甘蔗收获机切割器和物流运输系统分步骤提升的繁琐以及提升后切割、喂入角度不一致等现象,设计了一种新型连杆提升机构,利用平行四边形特性保证切割器与喂入输送棍等组成的切割物流运输系统在整体提升过程中的相对位置始终不变,以适应甘蔗种植地垄高不一致的收获作业。通过修正的G-K公式进行新型提升机构的自由度计算,运用闭环矢量法求解机构位置的正逆解,采用动态静力学分析方法建立连杆机构的动态静力学数学模型,为机构的优化设计、电机参数预估及电机选取等提供一定的参考依据。

Aiming at the complicated step-by-step lifting of the original sugarcane harvester cutter and logistics transportation system and the inconsistent of cutting and feeding angle after lifting,a new type of linkage lifting mechanism is designed.To adapt to the inconsistent harvesting operation of sugarcane planting land,the relative position of the cutting logistics transportation system consisting of the cutter and feeding conveyor stick is kept constant during the whole lifting process by using the parallelogram characteristics.The modified G-K formula is used to calculate the degree of freedom of the new lifting mechanism.The closed-loop vector method is used to solve the positive and negative solutions of the mechanism position.The dynamic statics analysis method is used to establish the dynamic static mathematical model of the linkage mechanism,which provides certain reference for the optimization design of the mechanism,the estimation of motor parameters and the selection of the motor.