刮刷组合式葡萄藤防寒土清土机设计与试验

Design and experiment of grapevine cold⁃proof soil cleaner with combined scraping and brushing

针对我国北方露地葡萄藤防寒土春季清除机械化作业清土不彻底、易伤藤和机具适应差等问题,设计了一种刮刷组合式葡萄藤防寒土清土机。该机采用双翼式刮土板部件、刚性叶轮部件和柔性刷丝部件分别将葡萄藤的上方防寒土、侧边外围防寒土和根部附近防寒土一次性清除。对关键部件进行设计,搭建基于STM32F103的控制系统,实现双翼式刮土板部件的自动避障和机具的自动调平。调平性能试验表明,当调平机架向左倾斜到最大角度或向右倾斜到最大角度时,均能在1 s内完成自动调平过程,且没有明显的超调量;当拖拉机行驶在不平整的葡萄行间时,即使拖拉机车身发生较大的倾斜变化,挂接在后侧机具上的清土部件仍能保持期望的水平状态(±2°以内)进行作业;田间清土试验表明,各清土部件运行稳定,不存在相互作业干涉的情况,清土作业后的清土率约为81.96%,葡萄藤损伤率约为1.67%,满足我国北方露地葡萄藤防寒土清除作业要求。

Aiming at the problems of incomplete soil cleaning,easy damage to the grapevine and poor adaptation by mechanized soil cleaning in the open-field vineyards of northern China,a grapevine cold-proof soil cleaner with combined scraping and brushing is designed.The double-winged scraper components,rigid impeller components and flexible brush wire components are adopted,which can clean the cold-proof soil above the grapevine,the cold-proof soil on the side periphery and the cold-proof soil near the root of the grapevine at one time.The key components were design and a control system based on STM32F103 was built to realize automatic obstacle avoidance of scraper components and automatic leveling of the machine.Leveling performance tests showed that when the leveling frame was tilted to the left to the maximum angle or tilted to the right to the maximum angle,the automatic leveling process can be completed within 1 s,and there is no obvious overshooting.When the tractor was driven on uneven vineyards,the three soil cleaning components maintain the desired leveling angle at all times(within±2°),even if the tractor itself undergoes a large change in tilt.The field soil cleaning test showed that all the working components operated stably and there was no interference.After the soil cleaning operation,the soil cleaning rate was about 81.96%,and the grapevine damage rate was about 1.67%,which met the requirements of open-field grapevine cold-proof soil cleaning in northern China.